import { vec2 } from "gl-matrix";
import CollisionObject from "../collisionObject";
import CollisionPair from "../collisionPair";
import Ray from "../ray";
import AABB from "./aabb";
import AABBNode from "./aabbNode";
/**
 * Represents a tree data structure which contains nodes that store {@link AABB}s.
 *
 * This tree is used to speed up the physics engine's broadphase.
 *
 * @see [Intro to AABB Trees](https://www.azurefromthetrenches.com/introductory-guide-to-aabb-tree-collision-detection/)
 * @see [Physics Broadphase - AABB Tree](http://allenchou.net/2014/02/game-physics-broadphase-dynamic-aabb-tree/)
 */
export default class AABBTree {
    root: AABBNode;
    margin: number;
    leafMarginScale: number;
    leafMarginSlop: number;
    leafMarginMin: number;
    leafMarginMax: number;
    pairs: CollisionPair[];
    /**
     * The number of nodes which had to be reinserted in the last tree update.
     */
    insertionsLastUpdate: number;
    /**
     * Updates the tree.
     */
    update(): void;
    /**
     * Updates a leaf node's aabb's margin based on the aabb's bound {@link CollisionObject}.
     *
     * @param leaf The leaf node to update
     * @param force Force the margin to be updated even when there is an insufficient margin difference
     * @returns The new margin or false if the margin wasn't updated.
     */
    private updateAABBMargin;
    /**
     * Obtains all the pairs of {@link CollisionObject}s which could possibly be colliding.
     *
     * @returns An array containing the {@link CollisionPair}s
     */
    collectPairs(): CollisionPair[];
    /**
     * Sets the `childrenCrossed` flag to false on all nodes in the tree.
     */
    private clearChildrenCrossedFlag;
    private crossChildren;
    /**
     * Collects {@link CollisionPair}s.
     *
     * @param a An {@link AABBNode} to check for pairs
     * @param b An {@link AABBNode} to check for pairs
     */
    private collectPairsHelper;
    /**
     * Picks aabbs in the tree.
     *
     * @param point The point to pick {@link AABB}s at.
     * @returns The picked aabbs
     */
    pick(point: vec2): AABB[];
    /**
     * Raycasts against aabbs in the tree.
     *
     * @param ray The ray to cast.
     */
    raycast(ray: Ray): AABB[];
    /**
     * Inserts an aabb into the tree.
     *
     * @param aabb The {@link AABB} to insert
     */
    add(aabb: AABB): void;
    /**
     * Removes the leaf node containing the {@link AABB} bounding the given {@link CollisionObject}.
     *
     * @param obj The {@link CollisionObject} to remove
     */
    remove(obj: CollisionObject): void;
    /**
     * Inserts a node into the tree.
     *
     * @param node The {@link AABBNode} to insert
     */
    private addNode;
    /**
     * Remove the given node and replace the parent with the node's sibling
     *
     * @param node The node to remove
     */
    private removeNode;
    /**
     * Calculates and returns the height of the root node. (the height of the tree)
     */
    getHeight(): number;
    /**
     * Calculates the height of the given node.
     *
     * @param node The node to start at
     */
    getHeight(node: AABBNode): number;
}