import { Vector2, IVector2 } from '@esengine/ecs-framework-math';
import { I as IORCALine, e as IORCASolver, c as IORCASolverConfig, a as IAvoidanceAgent, b as IObstacle, g as ISpatialIndex, f as INeighborResult } from './CollisionResolver-CSgWsegP.js';

/**
 * @zh 2D 线性规划求解器
 * @en 2D Linear Programming Solver
 *
 * @zh 用于 ORCA 算法中的速度优化求解
 * @en Used for velocity optimization in ORCA algorithm
 */

/**
 * @zh 2D 线性规划
 * @en 2D Linear Programming
 *
 * @zh 在多个半平面约束下找到最优速度
 * @en Find optimal velocity under multiple half-plane constraints
 *
 * @param lines - @zh 约束线列表 @en List of constraint lines
 * @param radius - @zh 最大速度（圆盘半径）@en Maximum speed (disk radius)
 * @param optVelocity - @zh 首选速度 @en Preferred velocity
 * @param directionOpt - @zh 是否优化方向 @en Whether to optimize direction
 * @param result - @zh 结果向量（输出）@en Result vector (output)
 * @returns @zh 第一个失败的约束索引，如果成功则返回 lines.length @en Index of first failed constraint, or lines.length if successful
 */
declare function linearProgram2(lines: readonly IORCALine[], radius: number, optVelocity: IVector2, directionOpt: boolean, result: Vector2): number;
/**
 * @zh 3D 线性规划（回退方案）
 * @en 3D Linear Programming (fallback)
 *
 * @zh 当 2D 线性规划失败时，使用此方法找到最小穿透的速度
 * @en When 2D LP fails, use this to find velocity with minimum penetration
 *
 * @zh 重要：障碍物约束线（前 numObstLines 条）具有最高优先级，绝不会被违反
 * @en Important: Obstacle constraint lines (first numObstLines) have highest priority and are never violated
 *
 * @param lines - @zh 约束线列表 @en List of constraint lines
 * @param numObstLines - @zh 障碍物约束线数量 @en Number of obstacle constraint lines
 * @param beginLine - @zh 开始处理的线索引 @en Index of line to start processing
 * @param radius - @zh 最大速度 @en Maximum speed
 * @param result - @zh 结果向量（输入/输出）@en Result vector (input/output)
 */
declare function linearProgram3(lines: IORCALine[], numObstLines: number, beginLine: number, radius: number, result: Vector2): void;
/**
 * @zh ORCA 线性规划求解结果
 * @en ORCA Linear Programming solve result
 */
interface IORCALPResult {
    /**
     * @zh 计算得到的速度
     * @en Computed velocity
     */
    velocity: Vector2;
    /**
     * @zh 是否找到可行解（满足所有约束）
     * @en Whether a feasible solution was found (satisfies all constraints)
     */
    feasible: boolean;
    /**
     * @zh 违反的约束数量
     * @en Number of violated constraints
     */
    violatedConstraints: number;
}
/**
 * @zh 求解 ORCA 线性规划
 * @en Solve ORCA Linear Programming
 *
 * @zh 综合使用 2D 和 3D 线性规划求解最优速度
 * @en Use both 2D and 3D LP to solve for optimal velocity
 *
 * @zh 注意：此函数不包含回退逻辑，调用方应通过返回的 feasible 标志判断是否需要流量控制
 * @en Note: This function does not include fallback logic, caller should check feasible flag for flow control
 *
 * @param lines - @zh ORCA 约束线列表 @en List of ORCA constraint lines
 * @param numObstLines - @zh 障碍物约束线数量 @en Number of obstacle lines
 * @param maxSpeed - @zh 最大速度 @en Maximum speed
 * @param preferredVelocity - @zh 首选速度 @en Preferred velocity
 * @returns @zh 求解结果，包含速度和可行性标志 @en Solve result with velocity and feasibility flag
 */
declare function solveORCALinearProgram(lines: IORCALine[], numObstLines: number, maxSpeed: number, preferredVelocity: IVector2): IORCALPResult;

/**
 * @zh ORCA 避让算法求解器
 * @en ORCA Avoidance Algorithm Solver
 *
 * @zh 实现最优互惠碰撞避免（ORCA）算法，用于多代理局部避让
 * @en Implements Optimal Reciprocal Collision Avoidance (ORCA) algorithm for multi-agent local avoidance
 */

/**
 * @zh ORCA 求解器实现
 * @en ORCA Solver implementation
 *
 * @zh 实现最优互惠碰撞避免算法，计算代理的安全速度
 * @en Implements Optimal Reciprocal Collision Avoidance algorithm to compute safe velocities for agents
 */
declare class ORCASolver implements IORCASolver {
    private readonly config;
    constructor(config?: IORCASolverConfig);
    /**
     * @zh 计算代理的新速度
     * @en Compute new velocity for agent
     *
     * @param agent - @zh 当前代理 @en Current agent
     * @param neighbors - @zh 邻近代理列表 @en List of neighboring agents
     * @param obstacles - @zh 障碍物列表 @en List of obstacles
     * @param deltaTime - @zh 时间步长 @en Time step
     * @returns @zh 计算得到的新速度 @en Computed new velocity
     */
    computeNewVelocity(agent: IAvoidanceAgent, neighbors: readonly IAvoidanceAgent[], obstacles: readonly IObstacle[], deltaTime: number): IVector2;
    /**
     * @zh 计算代理的新速度（带完整结果）
     * @en Compute new velocity for agent (with full result)
     *
     * @param agent - @zh 当前代理 @en Current agent
     * @param neighbors - @zh 邻近代理列表 @en List of neighboring agents
     * @param obstacles - @zh 障碍物列表 @en List of obstacles
     * @param deltaTime - @zh 时间步长 @en Time step
     * @returns @zh 完整求解结果 @en Full solve result
     */
    computeNewVelocityWithResult(agent: IAvoidanceAgent, neighbors: readonly IAvoidanceAgent[], obstacles: readonly IObstacle[], deltaTime: number): IORCALPResult & {
        numLines: number;
    };
    /**
     * @zh 创建代理间的 ORCA 约束线
     * @en Create ORCA constraint lines for agent-agent avoidance
     */
    private createAgentORCALines;
    /**
     * @zh 创建障碍物的 ORCA 约束线
     * @en Create ORCA constraint lines for obstacle avoidance
     */
    private createObstacleORCALines;
}
/**
 * @zh 创建 ORCA 求解器
 * @en Create ORCA solver
 *
 * @param config - @zh 可选配置参数 @en Optional configuration parameters
 * @returns @zh ORCA 求解器实例 @en ORCA solver instance
 */
declare function createORCASolver(config?: IORCASolverConfig): ORCASolver;

/**
 * @zh KD-Tree 空间索引
 * @en KD-Tree Spatial Index
 *
 * @zh 用于快速查询指定范围内的邻近代理
 * @en Used for fast neighbor queries within specified range
 */

/**
 * @zh KD-Tree 空间索引
 * @en KD-Tree spatial index
 *
 * @zh 每帧重建，支持高效的范围查询
 * @en Rebuilt every frame, supports efficient range queries
 */
declare class KDTree implements ISpatialIndex {
    private agents;
    private agentIndices;
    private nodes;
    /**
     * @zh 最大叶节点大小
     * @en Maximum leaf size
     */
    private readonly maxLeafSize;
    /**
     * @zh 构建 KD-Tree
     * @en Build KD-Tree
     */
    build(agents: readonly IAvoidanceAgent[]): void;
    /**
     * @zh 递归构建 KD-Tree
     * @en Recursively build KD-Tree
     */
    private buildRecursive;
    /**
     * @zh 按 X 坐标排序
     * @en Sort by X coordinate
     */
    private sortByX;
    /**
     * @zh 按 Y 坐标排序
     * @en Sort by Y coordinate
     */
    private sortByY;
    /**
     * @zh 查询邻居
     * @en Query neighbors
     */
    queryNeighbors(position: IVector2, radius: number, maxResults: number, excludeId?: number): INeighborResult[];
    /**
     * @zh 递归查询
     * @en Recursive query
     */
    private queryRecursive;
    /**
     * @zh 清空索引
     * @en Clear the index
     */
    clear(): void;
    /**
     * @zh 获取代理数量
     * @en Get agent count
     */
    get agentCount(): number;
}
/**
 * @zh 创建 KD-Tree
 * @en Create KD-Tree
 */
declare function createKDTree(): KDTree;

export { KDTree as K, ORCASolver as O, createKDTree as a, linearProgram3 as b, createORCASolver as c, linearProgram2 as l, solveORCALinearProgram as s };