import { vec2 } from "gl-matrix";
import { CollisionResult } from "./collider/collider";
import CollisionObject from "./collisionObject";
interface Edge {
    p0: vec2;
    p1: vec2;
    e: vec2;
    max: vec2;
    normal?: vec2;
}
export interface ContactPoint {
    point: vec2;
    normal: vec2;
    depth: number;
    contactA?: vec2;
    contactB?: vec2;
    tangent?: vec2;
    massNormal?: number;
    massTangent?: number;
    bias?: number;
    impulseNormal?: number;
    impulseTangent?: number;
    impulseNormalPosition?: number;
}
/**
 * Information about a collision which has occured between two objects.
 */
export default class Manifold {
    /**
     * An object in the collision.
     */
    a: CollisionObject;
    /**
     * Another object in the collision.
     */
    b: CollisionObject;
    /**
     * The penetration depth of the collision.
     */
    depth: number;
    /**
     * The collision normal, should always point from **a** to **b**.
     */
    normal: vec2;
    /**
     * The penetration vector, this is the collision normal scaled by the penetration depth.
     */
    penetration: vec2;
    /**
     * Minimum restitution between **a** and **b**.
     */
    epsilon: number;
    /**
     * static friction scalar.
     */
    sf: number;
    /**
     * dynamic friction scalar.
     */
    df: number;
    /**
     * The contact points of the collision.
     */
    contactPoints: ContactPoint[];
    /**
     * store used edges [inc, ref]
     */
    edges: Edge[];
    positionImpulse: {
        a: vec2;
        b: vec2;
    };
    isDead: boolean;
    /**
     * Creates a {@link Manifold} describing a collision between **a** and **b** in detail.
     *
     * @param a First collision object
     * @param b Second collision object
     * @param collision {@link CollisionResult} from collision test
     * @param gravity The collision world's gravity vector
     * @param delta The time since the last update
     */
    constructor(a: CollisionObject, b: CollisionObject, collision: CollisionResult, gravity: vec2, delta: number);
    update(m: Manifold): void;
    /**
     * Merge this manifold with the given manifold and contact points.
     *
     * @param m The manifold to merge with
     * @param contacts The manifold's new contact points
     */
    private mergeManifold;
    /**
     * Compares two contact points using a distance heuristic to determine wether they should be considered the same contact.
     *
     * @param c1 A contact point
     * @param c2 A contact point
     * @returns If the 2 contact points match
     */
    private compareContacts;
    /**
     * Marks the manifold as dead and decrements the objects involved's `totalContacts` counts.
     */
    kill(): void;
    /**
     * Calculates the position impulse for objects `a` and `b` in the manifold.
     *
     * @see [MatterJS Position Solving](https://github.com/liabru/matter-js/blob/master/src/collision/Resolver.js)
     *
     * @param delta The time since the last update
     */
    solvePositionImpulse(delta: number): void;
    /**
     * Precompute some additional information about the contact points for impulse resolution.
     *
     * Calculates and applies accumulative impulse.
     *
     * @param delta The time since the last udpate
     */
    preStepImpulse(delta: number): void;
    /**
     * Calculates the contact points of the collision.
     *
     * @see [Dyn4j Contact Points](https://dyn4j.org/2011/11/contact-points-using-clipping/)
     *
     * @returns The points of contact for the collision
     */
    private calculateContactPoints;
    /**
     * Finds the best edge of a {@link CollisionObject} in a given direction.
     *
     * The best edge is defined as the edge most perpendicular to the given direction.
     *
     * @param obj The collision object to calculate the edge for
     * @param direction The direction in which to calculate the edge
     * @returns The best edge of `obj` for the direction given
     */
    private bestEdge;
    /**
     * Clips the edge points (p0, p1) if they are past **o** along the direction.
     *
     * @param p0 The first point to clip
     * @param p1 The second point to clip
     * @param direction The direction to clip in
     * @param o The vector to clip past
     */
    private clipPoints;
    /**
     * Translates the manifold's incident edge by the given vector.
     *
     * @param v The vector to translate by
     */
    translateIncEdge(v: vec2): void;
    /**
     * Translates the provided edge by the given vector.
     *
     * @param edge The edge to translate
     * @param v The vector to translate by
     */
    private translateEdge;
}
export {};