import { mat2, vec2 } from "gl-matrix";
import CollisionObject from "../collisionObject";
export interface ConstraintOptions {
    a: CollisionObject;
    anchorA: vec2;
    b: CollisionObject;
    anchorB: vec2;
}
/**
 * Represents a distance constraint between two bodies or a body and a point.
 *
 * The constraint points are in local space of their body.
 *
 * If the constraint is between a body and a point then the given point is in world space.
 */
export default abstract class Constraint {
    a: CollisionObject;
    anchorA: vec2;
    rotA: number;
    b: CollisionObject;
    anchorB: vec2;
    rotB: number;
    point: vec2;
    errorBias: number;
    maxBias: number;
    maxForce: number;
    /**
     * Creates a new {@link Constraint} between two bodies.
     *
     * @param a The first body
     * @param b The second body
     */
    constructor(a: CollisionObject, b: CollisionObject);
    /**
     * Creates a new {@link Constraint} with the given options.
     *
     * @param opts The constraint options
     */
    constructor(opts: ConstraintOptions);
    /**
     * Creates a new {@link Constraint} between a body and a point.
     *
     * @param a The body to constrain
     * @param point A point in world space
     */
    constructor(a: CollisionObject, point: vec2);
    /**
     * Prepares for constraint solving.
     *
     * @param dt The time since the last update
     */
    abstract preSolve(dt: number): void;
    /**
     * Solves the constraint.
     *
     * @param dt The time since the last update
     */
    abstract solve(dt: number): void;
    /**
     * Performs post solve operations.
     *
     * @param dt The time since the last update
     */
    abstract postSolve(dt: number): void;
    /**
     * Determines wether or not the constraint is between a body and a point.
     *
     * @returns Wether or not the constraint is between a body and a point.
     */
    isBodyToPoint(): boolean;
    protected applyImpulses(impulse: number, direction: vec2): void;
    protected applyImpulses(impulse: vec2): void;
    /**
     * Updates the constraint's anchor points to match the rotations of their bodies.
     */
    protected updateAnchors(): void;
    /**
     * Calculate the relative velocity of the bodies in the constraint.
     *
     * @param pointA The anchor point on body a
     * @param pointB The anchor point on body b
     * @returns The relative velocity between body a and b or body a and the anchor point
     */
    protected calculateRelativeVelocity(pointA: vec2, pointB: vec2): vec2;
    /**
     * Calculates the velocity bias coefficient.
     *
     * @param dt The time since the last update
     */
    protected biasCoef(dt: number): number;
    /**
     * Computes the k scalar value for the given body.
     *
     * @param body The body to calculate for
     * @param r The anchor point on the body
     * @param n The constraint's delta normal
     * @returns The k scalar value for the given body
     */
    protected kScalarBody(body: CollisionObject, r: vec2, n: vec2): number;
    /**
     * Computes the k scalar value for the constraint.
     *
     * @param n The constraint's delta normal
     * @returns The k scalar value for the constraint
     */
    protected kScalar(n: vec2): number;
    /**
     * Computes the k tensor matrix for the constraint.
     *
     * @see [Chipmunk2D kTensor](https://github.com/slembcke/Chipmunk2D/blob/master/include/chipmunk/chipmunk_private.h#L229)
     *
     * @returns k tensor matrix
     */
    protected kTensor(): mat2;
}