@gg-web-engine/ammo 0.0.30 → 0.0.37

package/dist/ammo.js/ammo.d.ts

@@ -0,0 +1,2578 @@
+export default Ammo;
+declare function Ammo<T>(target?: T): Promise<T & typeof Ammo>;
+declare module Ammo {
+  function destroy(obj: any): void;
+  function getPointer(obj: any): number;
+  function compare(obj1: any, obj2: any): boolean;
+  function _malloc(size: number): number;
+  function _free(ptr: number): void;
+  const HEAP8: Int8Array;
+  const HEAP16: Int16Array;
+  const HEAP32: Int32Array;
+  const HEAPU8: Uint8Array;
+  const HEAPU16: Uint16Array;
+  const HEAPU32: Uint32Array;
+  const HEAPF32: Float32Array;
+  const HEAPF64: Float64Array;
+  class TopLevelFunctions {
+    quatRotate_(rotation: btQuaternion, v: btVector3): btVector3;
+    set_gContactAddedCallback(cb: unknown): void;
+  }
+  class AdapterFunctions {
+    setInternalTickCallback(world: btDynamicsWorld, cb: unknown, worldUserInfo?: unknown, isPreTick?: boolean): void;
+  }
+  class Clone {
+    Vector3(v: btVector3): btVector3;
+    Quaternion(q: btQuaternion): btQuaternion;
+  }
+  class btIDebugDraw {
+    drawLine(from: btVector3, to: btVector3, color: btVector3): void;
+    drawContactPoint(
+      pointOnB: btVector3,
+      normalOnB: btVector3,
+      distance: number,
+      lifeTime: number,
+      color: btVector3,
+    ): void;
+    reportErrorWarning(warningString: string): void;
+    draw3dText(location: btVector3, textString: string): void;
+    setDebugMode(debugMode: number): void;
+    getDebugMode(): number;
+  }
+  class DebugDrawer {
+    constructor();
+    drawLine(from: btVector3, to: btVector3, color: btVector3): void;
+    drawContactPoint(
+      pointOnB: btVector3,
+      normalOnB: btVector3,
+      distance: number,
+      lifeTime: number,
+      color: btVector3,
+    ): void;
+    reportErrorWarning(warningString: string): void;
+    draw3dText(location: btVector3, textString: string): void;
+    setDebugMode(debugMode: number): void;
+    getDebugMode(): number;
+  }
+  class btVector3 {
+    constructor();
+    constructor(x: number, y: number, z: number);
+    length(): number;
+    x(): number;
+    y(): number;
+    z(): number;
+    setX(x: number): void;
+    setY(y: number): void;
+    setZ(z: number): void;
+    setValue(x: number, y: number, z: number): void;
+    normalize(): void;
+    normalized(): btVector3;
+    rotate(wAxis: btVector3, angle: number): btVector3;
+    dot(v: btVector3): number;
+    angle(v: btVector3): number;
+    absolute(): btVector3;
+    cross(v: btVector3): btVector3;
+    triple(v1: btVector3, v2: btVector3): number;
+    minAxis(): number;
+    maxAxis(): number;
+    furthestAxis(): number;
+    closestAxis(): number;
+    setInterpolate3(v0: btVector3, v1: btVector3, rt: number): void;
+    op_mul(x: number): btVector3;
+    op_add(v: btVector3): btVector3;
+    op_sub(v: btVector3): btVector3;
+  }
+  class btVector4 extends btVector3 {
+    constructor();
+    constructor(x: number, y: number, z: number, w: number);
+    w(): number;
+    absolute4(): btVector4;
+    maxAxis4(): number;
+    minAxis4(): number;
+    closestAxis4(): number;
+    op_set(v: btVector4): void;
+    length(): number;
+    x(): number;
+    y(): number;
+    z(): number;
+    setX(x: number): void;
+    setY(y: number): void;
+    setZ(z: number): void;
+    normalize(): void;
+    normalized(): btVector3;
+    rotate(wAxis: btVector3, angle: number): btVector3;
+    dot(v: btVector3): number;
+    angle(v: btVector3): number;
+    absolute(): btVector3;
+    cross(v: btVector3): btVector3;
+    triple(v1: btVector3, v2: btVector3): number;
+    minAxis(): number;
+    maxAxis(): number;
+    furthestAxis(): number;
+    closestAxis(): number;
+    setInterpolate3(v0: btVector3, v1: btVector3, rt: number): void;
+    op_mul(x: number): btVector3;
+    op_add(v: btVector3): btVector3;
+    op_sub(v: btVector3): btVector3;
+  }
+  class btQuadWord {
+    x(): number;
+    y(): number;
+    z(): number;
+    w(): number;
+    setX(x: number): void;
+    setY(y: number): void;
+    setZ(z: number): void;
+    setW(w: number): void;
+  }
+  class btQuaternion extends btQuadWord {
+    constructor();
+    constructor(x: number, y: number, z: number, w: number);
+    setValue(x: number, y: number, z: number, w: number): void;
+    setEulerZYX(z: number, y: number, x: number): void;
+    setRotation(axis: btVector3, angle: number): void;
+    normalize(): void;
+    length2(): number;
+    length(): number;
+    dot(q: btQuaternion): number;
+    normalized(): btQuaternion;
+    getAxis(): btVector3;
+    inverse(): btQuaternion;
+    getAngle(): number;
+    getAngleShortestPath(): number;
+    angle(q: btQuaternion): number;
+    angleShortestPath(q: btQuaternion): number;
+    op_add(q: btQuaternion): btQuaternion;
+    op_sub(q: btQuaternion): btQuaternion;
+    op_mul(s: number): btQuaternion;
+    op_mulq(q: btQuaternion): btQuaternion;
+    op_div(s: number): btQuaternion;
+  }
+  class btMatrix3x3 {
+    setEulerZYX(ex: number, ey: number, ez: number): void;
+    getRotation(q: btQuaternion): void;
+    getRow(y: number): btVector3;
+  }
+  class btTransform {
+    constructor();
+    constructor(q: btQuaternion, v: btVector3);
+    setIdentity(): void;
+    setOrigin(origin: btVector3): void;
+    setRotation(rotation: btQuaternion): void;
+    getOrigin(): btVector3;
+    getRotation(): btQuaternion;
+    getBasis(): btMatrix3x3;
+    setFromOpenGLMatrix(m: ReadonlyArray<number>): void;
+    inverse(): btTransform;
+    op_mul(t: btTransform): btTransform;
+  }
+  class btMotionState {
+    getWorldTransform(worldTrans: btTransform): void;
+    setWorldTransform(worldTrans: btTransform): void;
+  }
+  class MotionState {
+    constructor();
+    getWorldTransform(worldTrans: btTransform): void;
+    setWorldTransform(worldTrans: btTransform): void;
+  }
+  class btDefaultMotionState extends btMotionState {
+    constructor(startTrans?: btTransform, centerOfMassOffset?: btTransform);
+    get_m_graphicsWorldTrans(): btTransform;
+    set_m_graphicsWorldTrans(m_graphicsWorldTrans: btTransform): void;
+    m_graphicsWorldTrans: btTransform;
+  }
+  class btSpatialForceVector {
+    get_m_topVec(): btVector3;
+    set_m_topVec(m_topVec: btVector3): void;
+    m_topVec: btVector3;
+    get_m_bottomVec(): btVector3;
+    set_m_bottomVec(m_bottomVec: btVector3): void;
+    m_bottomVec: btVector3;
+    constructor();
+    constructor(angular: btVector3, linear: btVector3);
+    setVector(angular: btVector3, linear: btVector3): void;
+    addVector(angular: btVector3, linear: btVector3): void;
+    getLinear(): btVector3;
+    getAngular(): btVector3;
+    setLinear(linear: btVector3): void;
+    setAngular(angular: btVector3): void;
+    addAngular(angular: btVector3): void;
+    addLinear(linear: btVector3): void;
+    setZero(): void;
+    op_add(vec: btSpatialForceVector): btSpatialForceVector;
+    op_sub(vec: btSpatialForceVector): btSpatialForceVector;
+  }
+  class btSpatialMotionVector {
+    get_m_topVec(): btVector3;
+    set_m_topVec(m_topVec: btVector3): void;
+    m_topVec: btVector3;
+    get_m_bottomVec(): btVector3;
+    set_m_bottomVec(m_bottomVec: btVector3): void;
+    m_bottomVec: btVector3;
+    constructor();
+    constructor(angular: btVector3, linear: btVector3);
+    setVector(angular: btVector3, linear: btVector3): void;
+    addVector(angular: btVector3, linear: btVector3): void;
+    getAngular(): btVector3;
+    getLinear(): btVector3;
+    setAngular(angular: btVector3): void;
+    setLinear(linear: btVector3): void;
+    addAngular(angular: btVector3): void;
+    addLinear(linear: btVector3): void;
+    setZero(): void;
+    dot(b: btSpatialForceVector): number;
+    op_add(vec: btSpatialMotionVector): btSpatialMotionVector;
+    op_sub(vec: btSpatialMotionVector): btSpatialMotionVector;
+  }
+  class btSymmetricSpatialDyad {
+    get_m_topLeftMat(): btMatrix3x3;
+    set_m_topLeftMat(m_topLeftMat: btMatrix3x3): void;
+    m_topLeftMat: btMatrix3x3;
+    get_m_topRightMat(): btMatrix3x3;
+    set_m_topRightMat(m_topRightMat: btMatrix3x3): void;
+    m_topRightMat: btMatrix3x3;
+    get_m_bottomLeftMat(): btMatrix3x3;
+    set_m_bottomLeftMat(m_bottomLeftMat: btMatrix3x3): void;
+    m_bottomLeftMat: btMatrix3x3;
+    constructor();
+    constructor(topLeftMat: btMatrix3x3, topRightMat: btMatrix3x3, bottomLeftMat: btMatrix3x3);
+    setMatrix(topLeftMat: btMatrix3x3, topRightMat: btMatrix3x3, bottomLeftMat: btMatrix3x3): void;
+    addMatrix(topLeftMat: btMatrix3x3, topRightMat: btMatrix3x3, bottomLeftMat: btMatrix3x3): void;
+    setIdentity(): void;
+    op_sub(mat: btSymmetricSpatialDyad): btSymmetricSpatialDyad;
+  }
+  type btCollisionObject_CollisionFlags =
+    | 'btCollisionObject::CF_DYNAMIC_OBJECT'
+    | 'btCollisionObject::CF_STATIC_OBJECT'
+    | 'btCollisionObject::CF_KINEMATIC_OBJECT'
+    | 'btCollisionObject::CF_NO_CONTACT_RESPONSE'
+    | 'btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK'
+    | 'btCollisionObject::CF_CHARACTER_OBJECT'
+    | 'btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT'
+    | 'btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING'
+    | 'btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING'
+    | 'btCollisionObject::CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR'
+    | 'btCollisionObject::CF_HAS_FRICTION_ANCHOR'
+    | 'btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER';
+  type btCollisionObject_CollisionObjectTypes =
+    | 'btCollisionObject::CO_COLLISION_OBJECT'
+    | 'btCollisionObject::CO_RIGID_BODY'
+    | 'btCollisionObject::CO_GHOST_OBJECT'
+    | 'btCollisionObject::CO_SOFT_BODY'
+    | 'btCollisionObject::CO_HF_FLUID'
+    | 'btCollisionObject::CO_USER_TYPE'
+    | 'btCollisionObject::CO_FEATHERSTONE_LINK';
+  type btCollisionObject_AnisotropicFrictionFlags =
+    | 'btCollisionObject::CF_ANISOTROPIC_FRICTION_DISABLED'
+    | 'btCollisionObject::CF_ANISOTROPIC_FRICTION'
+    | 'btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION';
+  class btCollisionObject {
+    getAnisotropicFriction(): btVector3;
+    setAnisotropicFriction(anisotropicFriction: btVector3, frictionMode: number): void;
+    hasAnisotropicFriction(frictionMode?: number): boolean;
+    getCollisionShape(): btCollisionShape;
+    getContactProcessingThreshold(): number;
+    setContactProcessingThreshold(contactProcessingThreshold: number): void;
+    getActivationState(): number;
+    setActivationState(newState: number): void;
+    forceActivationState(newState: number): void;
+    activate(forceActivation?: boolean): void;
+    setDeactivationTime(time: number): void;
+    getDeactivationTime(): number;
+    isActive(): boolean;
+    isKinematicObject(): boolean;
+    isStaticObject(): boolean;
+    isStaticOrKinematicObject(): boolean;
+    getRestitution(): number;
+    getFriction(): number;
+    getRollingFriction(): number;
+    getSpinningFriction(): number;
+    getContactStiffness(): number;
+    getContactDamping(): number;
+    setRestitution(rest: number): void;
+    setFriction(frict: number): void;
+    setRollingFriction(frict: number): void;
+    setSpinningFriction(frict: number): void;
+    setContactStiffnessAndDamping(stiffness: number, damping: number): void;
+    getWorldTransform(): btTransform;
+    getCollisionFlags(): number;
+    setCollisionFlags(flags: number): void;
+    setWorldTransform(worldTrans: btTransform): void;
+    setCollisionShape(collisionShape: btCollisionShape): void;
+    setCcdMotionThreshold(ccdMotionThreshold: number): void;
+    setCcdSweptSphereRadius(radius: number): void;
+    getUserIndex(): number;
+    getUserIndex2(): number;
+    getUserIndex3(): number;
+    setUserIndex(index: number): void;
+    setUserIndex2(index: number): void;
+    setUserIndex3(index: number): void;
+    getUserPointer(): unknown;
+    setUserPointer(userPointer: unknown): void;
+    getBroadphaseHandle(): btBroadphaseProxy;
+  }
+  class btCollisionObjectWrapper {
+    getWorldTransform(): btTransform;
+    getCollisionObject(): btCollisionObject;
+    getCollisionShape(): btCollisionShape;
+  }
+  class RayResultCallback {
+    hasHit(): boolean;
+    get_m_collisionFilterGroup(): number;
+    set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
+    m_collisionFilterGroup: number;
+    get_m_collisionFilterMask(): number;
+    set_m_collisionFilterMask(m_collisionFilterMask: number): void;
+    m_collisionFilterMask: number;
+    get_m_closestHitFraction(): number;
+    set_m_closestHitFraction(m_closestHitFraction: number): void;
+    m_closestHitFraction: number;
+    get_m_collisionObject(): btCollisionObject;
+    set_m_collisionObject(m_collisionObject: btCollisionObject): void;
+    m_collisionObject: btCollisionObject;
+    get_m_flags(): number;
+    set_m_flags(m_flags: number): void;
+    m_flags: number;
+  }
+  class ClosestRayResultCallback extends RayResultCallback {
+    constructor(from: btVector3, to: btVector3);
+    get_m_rayFromWorld(): btVector3;
+    set_m_rayFromWorld(m_rayFromWorld: btVector3): void;
+    m_rayFromWorld: btVector3;
+    get_m_rayToWorld(): btVector3;
+    set_m_rayToWorld(m_rayToWorld: btVector3): void;
+    m_rayToWorld: btVector3;
+    get_m_hitNormalWorld(): btVector3;
+    set_m_hitNormalWorld(m_hitNormalWorld: btVector3): void;
+    m_hitNormalWorld: btVector3;
+    get_m_hitPointWorld(): btVector3;
+    set_m_hitPointWorld(m_hitPointWorld: btVector3): void;
+    m_hitPointWorld: btVector3;
+  }
+  class btConstCollisionObjectArray {
+    size(): number;
+    at(n: number): btCollisionObject;
+  }
+  class btScalarArray {
+    size(): number;
+    at(n: number): number;
+  }
+  class AllHitsRayResultCallback extends RayResultCallback {
+    constructor(from: btVector3, to: btVector3);
+    get_m_collisionObjects(): btConstCollisionObjectArray;
+    set_m_collisionObjects(m_collisionObjects: btConstCollisionObjectArray): void;
+    m_collisionObjects: btConstCollisionObjectArray;
+    get_m_rayFromWorld(): btVector3;
+    set_m_rayFromWorld(m_rayFromWorld: btVector3): void;
+    m_rayFromWorld: btVector3;
+    get_m_rayToWorld(): btVector3;
+    set_m_rayToWorld(m_rayToWorld: btVector3): void;
+    m_rayToWorld: btVector3;
+    get_m_hitNormalWorld(): btVector3Array;
+    set_m_hitNormalWorld(m_hitNormalWorld: btVector3Array): void;
+    m_hitNormalWorld: btVector3Array;
+    get_m_hitPointWorld(): btVector3Array;
+    set_m_hitPointWorld(m_hitPointWorld: btVector3Array): void;
+    m_hitPointWorld: btVector3Array;
+    get_m_hitFractions(): btScalarArray;
+    set_m_hitFractions(m_hitFractions: btScalarArray): void;
+    m_hitFractions: btScalarArray;
+  }
+  class btManifoldPoint {
+    getPositionWorldOnA(): btVector3;
+    getPositionWorldOnB(): btVector3;
+    getAppliedImpulse(): number;
+    getDistance(): number;
+    get_m_localPointA(): btVector3;
+    set_m_localPointA(m_localPointA: btVector3): void;
+    m_localPointA: btVector3;
+    get_m_localPointB(): btVector3;
+    set_m_localPointB(m_localPointB: btVector3): void;
+    m_localPointB: btVector3;
+    get_m_positionWorldOnB(): btVector3;
+    set_m_positionWorldOnB(m_positionWorldOnB: btVector3): void;
+    m_positionWorldOnB: btVector3;
+    get_m_positionWorldOnA(): btVector3;
+    set_m_positionWorldOnA(m_positionWorldOnA: btVector3): void;
+    m_positionWorldOnA: btVector3;
+    get_m_normalWorldOnB(): btVector3;
+    set_m_normalWorldOnB(m_normalWorldOnB: btVector3): void;
+    m_normalWorldOnB: btVector3;
+    get_m_userPersistentData(): any;
+    set_m_userPersistentData(m_userPersistentData: any): void;
+    m_userPersistentData: any;
+  }
+  class ContactResultCallback {
+    addSingleResult(
+      cp: btManifoldPoint,
+      colObj0Wrap: btCollisionObjectWrapper,
+      partId0: number,
+      index0: number,
+      colObj1Wrap: btCollisionObjectWrapper,
+      partId1: number,
+      index1: number,
+    ): number;
+  }
+  class ConcreteContactResultCallback {
+    constructor();
+    addSingleResult(
+      cp: btManifoldPoint,
+      colObj0Wrap: btCollisionObjectWrapper,
+      partId0: number,
+      index0: number,
+      colObj1Wrap: btCollisionObjectWrapper,
+      partId1: number,
+      index1: number,
+    ): number;
+  }
+  class LocalShapeInfo {
+    get_m_shapePart(): number;
+    set_m_shapePart(m_shapePart: number): void;
+    m_shapePart: number;
+    get_m_triangleIndex(): number;
+    set_m_triangleIndex(m_triangleIndex: number): void;
+    m_triangleIndex: number;
+  }
+  class LocalConvexResult {
+    constructor(
+      hitCollisionObject: btCollisionObject,
+      localShapeInfo: LocalShapeInfo,
+      hitNormalLocal: btVector3,
+      hitPointLocal: btVector3,
+      hitFraction: number,
+    );
+    get_m_hitCollisionObject(): btCollisionObject;
+    set_m_hitCollisionObject(m_hitCollisionObject: btCollisionObject): void;
+    m_hitCollisionObject: btCollisionObject;
+    get_m_localShapeInfo(): LocalShapeInfo;
+    set_m_localShapeInfo(m_localShapeInfo: LocalShapeInfo): void;
+    m_localShapeInfo: LocalShapeInfo;
+    get_m_hitNormalLocal(): btVector3;
+    set_m_hitNormalLocal(m_hitNormalLocal: btVector3): void;
+    m_hitNormalLocal: btVector3;
+    get_m_hitPointLocal(): btVector3;
+    set_m_hitPointLocal(m_hitPointLocal: btVector3): void;
+    m_hitPointLocal: btVector3;
+    get_m_hitFraction(): number;
+    set_m_hitFraction(m_hitFraction: number): void;
+    m_hitFraction: number;
+  }
+  class ConvexResultCallback {
+    hasHit(): boolean;
+    get_m_collisionFilterGroup(): number;
+    set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
+    m_collisionFilterGroup: number;
+    get_m_collisionFilterMask(): number;
+    set_m_collisionFilterMask(m_collisionFilterMask: number): void;
+    m_collisionFilterMask: number;
+    get_m_closestHitFraction(): number;
+    set_m_closestHitFraction(m_closestHitFraction: number): void;
+    m_closestHitFraction: number;
+  }
+  class ClosestConvexResultCallback extends ConvexResultCallback {
+    constructor(convexFromWorld: btVector3, convexToWorld: btVector3);
+    get_m_hitCollisionObject(): btCollisionObject;
+    set_m_hitCollisionObject(m_hitCollisionObject: btCollisionObject): void;
+    m_hitCollisionObject: btCollisionObject;
+    get_m_convexFromWorld(): btVector3;
+    set_m_convexFromWorld(m_convexFromWorld: btVector3): void;
+    m_convexFromWorld: btVector3;
+    get_m_convexToWorld(): btVector3;
+    set_m_convexToWorld(m_convexToWorld: btVector3): void;
+    m_convexToWorld: btVector3;
+    get_m_hitNormalWorld(): btVector3;
+    set_m_hitNormalWorld(m_hitNormalWorld: btVector3): void;
+    m_hitNormalWorld: btVector3;
+    get_m_hitPointWorld(): btVector3;
+    set_m_hitPointWorld(m_hitPointWorld: btVector3): void;
+    m_hitPointWorld: btVector3;
+  }
+  class btCollisionShape {
+    setLocalScaling(scaling: btVector3): void;
+    getLocalScaling(): btVector3;
+    calculateLocalInertia(mass: number, inertia: btVector3): void;
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btConvexShape extends btCollisionShape {}
+  class btConvexTriangleMeshShape extends btConvexShape {
+    constructor(meshInterface: btStridingMeshInterface, calcAabb?: boolean);
+  }
+  class btBoxShape extends btCollisionShape {
+    constructor(boxHalfExtents: btVector3);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btCapsuleShape extends btCollisionShape {
+    constructor(radius: number, height: number);
+    setMargin(margin: number): void;
+    getMargin(): number;
+    getUpAxis(): number;
+    getRadius(): number;
+    getHalfHeight(): number;
+  }
+  class btCapsuleShapeX extends btCapsuleShape {
+    constructor(radius: number, height: number);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btCapsuleShapeZ extends btCapsuleShape {
+    constructor(radius: number, height: number);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btCylinderShape extends btCollisionShape {
+    constructor(halfExtents: btVector3);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btCylinderShapeX extends btCylinderShape {
+    constructor(halfExtents: btVector3);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btCylinderShapeZ extends btCylinderShape {
+    constructor(halfExtents: btVector3);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btSphereShape extends btCollisionShape {
+    constructor(radius: number);
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btMultiSphereShape extends btCollisionShape {
+    constructor(positions: btVector3, radii: ReadonlyArray<number>, numPoints: number);
+  }
+  class btConeShape extends btCollisionShape {
+    constructor(radius: number, height: number);
+  }
+  class btConeShapeX extends btConeShape {
+    constructor(radius: number, height: number);
+  }
+  class btConeShapeZ extends btConeShape {
+    constructor(radius: number, height: number);
+  }
+  class btIntArray {
+    size(): number;
+    at(n: number): number;
+  }
+  class btFace {
+    get_m_indices(): btIntArray;
+    set_m_indices(m_indices: btIntArray): void;
+    m_indices: btIntArray;
+    get_m_plane(): ReadonlyArray<number>;
+    set_m_plane(m_plane: ReadonlyArray<number>): void;
+    m_plane: ReadonlyArray<number>;
+  }
+  class btVector3Array {
+    constructor();
+    size(): number;
+    at(n: number): btVector3;
+    clear(): void;
+    pop_back(): void;
+    resize(newsize: number, fillData: btVector3): void;
+    expandNonInitializing(): btVector3;
+    expand(fillValue: btVector3): btVector3;
+    push_back(Val: btVector3): void;
+    capacity(): number;
+    reserve(Count: number): void;
+  }
+  class btQuaternionArray {
+    constructor();
+    size(): number;
+    at(n: number): btQuaternion;
+    clear(): void;
+    pop_back(): void;
+    resize(newsize: number, fillData: btQuaternion): void;
+    expandNonInitializing(): btQuaternion;
+    expand(fillValue: btQuaternion): btQuaternion;
+    push_back(Val: btQuaternion): void;
+    capacity(): number;
+    reserve(Count: number): void;
+  }
+  class btMatrix3x3Array {
+    constructor();
+    size(): number;
+    at(n: number): btMatrix3x3;
+    clear(): void;
+    pop_back(): void;
+    resize(newsize: number, fillData: btMatrix3x3): void;
+    expandNonInitializing(): btMatrix3x3;
+    expand(fillValue: btMatrix3x3): btMatrix3x3;
+    push_back(Val: btMatrix3x3): void;
+    capacity(): number;
+    reserve(Count: number): void;
+  }
+  class btFaceArray {
+    constructor();
+    size(): number;
+    at(n: number): btFace;
+    clear(): void;
+    pop_back(): void;
+    resize(newsize: number, fillData: btFace): void;
+    expandNonInitializing(): btFace;
+    expand(fillValue: btFace): btFace;
+    push_back(Val: btFace): void;
+    capacity(): number;
+    reserve(Count: number): void;
+  }
+  class btConvexPolyhedron {
+    get_m_vertices(): btVector3Array;
+    set_m_vertices(m_vertices: btVector3Array): void;
+    m_vertices: btVector3Array;
+    get_m_faces(): btFaceArray;
+    set_m_faces(m_faces: btFaceArray): void;
+    m_faces: btFaceArray;
+  }
+  class btConvexHullShape extends btCollisionShape {
+    constructor(points?: ReadonlyArray<number>, numPoints?: number);
+    addPoint(point: btVector3, recalculateLocalAABB?: boolean): void;
+    setMargin(margin: number): void;
+    getMargin(): number;
+    getNumVertices(): number;
+    initializePolyhedralFeatures(shiftVerticesByMargin: number): boolean;
+    recalcLocalAabb(): void;
+    getConvexPolyhedron(): btConvexPolyhedron;
+  }
+  class btShapeHull {
+    constructor(shape: btConvexShape);
+    buildHull(margin: number): boolean;
+    numVertices(): number;
+    getVertexPointer(): btVector3;
+  }
+  class btCompoundShape extends btCollisionShape {
+    constructor(enableDynamicAabbTree?: boolean);
+    addChildShape(localTransform: btTransform, shape: btCollisionShape): void;
+    removeChildShape(shape: btCollisionShape): void;
+    removeChildShapeByIndex(childShapeindex: number): void;
+    getNumChildShapes(): number;
+    getChildShape(index: number): btCollisionShape;
+    updateChildTransform(
+      childIndex: number,
+      newChildTransform: btTransform,
+      shouldRecalculateLocalAabb?: boolean,
+    ): void;
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btStridingMeshInterface {
+    setScaling(scaling: btVector3): void;
+  }
+  class btIndexedMesh {
+    get_m_numTriangles(): number;
+    set_m_numTriangles(m_numTriangles: number): void;
+    m_numTriangles: number;
+  }
+  class btIndexedMeshArray {
+    size(): number;
+    at(n: number): btIndexedMesh;
+  }
+  class btTriangleMesh extends btStridingMeshInterface {
+    constructor(use32bitIndices?: boolean, use4componentVertices?: boolean);
+    addTriangle(vertex0: btVector3, vertex1: btVector3, vertex2: btVector3, removeDuplicateVertices?: boolean): void;
+    addTriangleIndices(index1: number, index2: number, index3: number): void;
+    findOrAddVertex(vertex: btVector3, removeDuplicateVertices: boolean): number;
+    addIndex(index: number): void;
+    getIndexedMeshArray(): btIndexedMeshArray;
+  }
+  type PHY_ScalarType = 'PHY_FLOAT' | 'PHY_DOUBLE' | 'PHY_INTEGER' | 'PHY_SHORT' | 'PHY_FIXEDPOINT88' | 'PHY_UCHAR';
+  class btTriangleCallback {
+    processTriangle(triangle: btVector3, partId: number, triangleIndex: number): void;
+  }
+  class btTriangleCallback_implJS {
+    processTriangle(triangle: btVector3, partId: number, triangleIndex: number): void;
+  }
+  class btConcaveShape extends btCollisionShape {}
+  class btEmptyShape extends btConcaveShape {
+    constructor();
+  }
+  class btStaticPlaneShape extends btConcaveShape {
+    constructor(planeNormal: btVector3, planeConstant: number);
+  }
+  class btTriangleMeshShape extends btConcaveShape {}
+  class btBvhTriangleMeshShape extends btTriangleMeshShape {
+    constructor(meshInterface: btStridingMeshInterface, useQuantizedAabbCompression: boolean, buildBvh?: boolean);
+    performRaycast(callback: btTriangleCallback, raySource: btVector3, rayTarget: btVector3): void;
+  }
+  class btHeightfieldTerrainShape extends btConcaveShape {
+    constructor(
+      heightStickWidth: number,
+      heightStickLength: number,
+      heightfieldData: unknown,
+      heightScale: number,
+      minHeight: number,
+      maxHeight: number,
+      upAxis: number,
+      hdt: PHY_ScalarType,
+      flipQuadEdges: boolean,
+    );
+    setMargin(margin: number): void;
+    getMargin(): number;
+  }
+  class btAABB {
+    constructor(V1: btVector3, V2: btVector3, V3: btVector3, margin: number);
+    invalidate(): void;
+    increment_margin(margin: number): void;
+    copy_with_margin(other: btAABB, margin: number): void;
+  }
+  class btPrimitiveTriangle {
+    constructor();
+  }
+  class btTriangleShapeEx {
+    constructor(p1: btVector3, p2: btVector3, p3: btVector3);
+    getAabb(t: btTransform, aabbMin: btVector3, aabbMax: btVector3): void;
+    applyTransform(t: btTransform): void;
+  }
+  class btPrimitiveManagerBase {
+    is_trimesh(): boolean;
+    get_primitive_count(): number;
+    get_primitive_box(prim_index: number, primbox: btAABB): void;
+    get_primitive_triangle(prim_index: number, triangle: btPrimitiveTriangle): void;
+  }
+  type eGIMPACT_SHAPE_TYPE =
+    | 'CONST_GIMPACT_COMPOUND_SHAPE'
+    | 'CONST_GIMPACT_TRIMESH_SHAPE_PART'
+    | 'CONST_GIMPACT_TRIMESH_SHAPE';
+  class btTetrahedronShapeEx {
+    constructor();
+    setVertices(v0: btVector3, v1: btVector3, v2: btVector3, v3: btVector3): void;
+  }
+  class btGImpactShapeInterface extends btConcaveShape {
+    updateBound(): void;
+    postUpdate(): void;
+    getShapeType(): number;
+    getName(): string;
+    getGImpactShapeType(): eGIMPACT_SHAPE_TYPE;
+    getPrimitiveManager(): btPrimitiveManagerBase;
+    getNumChildShapes(): number;
+    childrenHasTransform(): boolean;
+    needsRetrieveTriangles(): boolean;
+    needsRetrieveTetrahedrons(): boolean;
+    getBulletTriangle(prim_index: number, triangle: btTriangleShapeEx): void;
+    getBulletTetrahedron(prim_index: number, tetrahedron: btTetrahedronShapeEx): void;
+    getChildShape(index: number): btCollisionShape;
+    getChildTransform(index: number): btTransform;
+    setChildTransform(index: number, transform: btTransform): void;
+  }
+  class CompoundPrimitiveManager extends btPrimitiveManagerBase {
+    get_m_compoundShape(): btGImpactCompoundShape;
+    set_m_compoundShape(m_compoundShape: btGImpactCompoundShape): void;
+    m_compoundShape: btGImpactCompoundShape;
+    get_primitive_count(): number;
+    get_primitive_box(prim_index: number, primbox: btAABB): void;
+    get_primitive_triangle(prim_index: number, triangle: btPrimitiveTriangle): void;
+  }
+  class btGImpactCompoundShape extends btGImpactShapeInterface {
+    constructor(children_has_transform?: boolean);
+    childrenHasTransform(): boolean;
+    getPrimitiveManager(): btPrimitiveManagerBase;
+    getCompoundPrimitiveManager(): CompoundPrimitiveManager;
+    getNumChildShapes(): number;
+    addChildShape(localTransform: btTransform, shape: btCollisionShape): void;
+    getChildShape(index: number): btCollisionShape;
+    getChildAabb(child_index: number, t: btTransform, aabbMin: btVector3, aabbMax: btVector3): void;
+    getChildTransform(index: number): btTransform;
+    setChildTransform(index: number, transform: btTransform): void;
+    calculateLocalInertia(mass: number, inertia: btVector3): void;
+    getName(): string;
+    getGImpactShapeType(): eGIMPACT_SHAPE_TYPE;
+  }
+  class TrimeshPrimitiveManager extends btPrimitiveManagerBase {
+    get_m_margin(): number;
+    set_m_margin(m_margin: number): void;
+    m_margin: number;
+    get_m_meshInterface(): btStridingMeshInterface;
+    set_m_meshInterface(m_meshInterface: btStridingMeshInterface): void;
+    m_meshInterface: btStridingMeshInterface;
+    get_m_part(): number;
+    set_m_part(m_part: number): void;
+    m_part: number;
+    get_m_lock_count(): number;
+    set_m_lock_count(m_lock_count: number): void;
+    m_lock_count: number;
+    get_numverts(): number;
+    set_numverts(numverts: number): void;
+    numverts: number;
+    get_type(): PHY_ScalarType;
+    set_type(type: PHY_ScalarType): void;
+    type: PHY_ScalarType;
+    get_stride(): number;
+    set_stride(stride: number): void;
+    stride: number;
+    get_indexstride(): number;
+    set_indexstride(indexstride: number): void;
+    indexstride: number;
+    get_numfaces(): number;
+    set_numfaces(numfaces: number): void;
+    numfaces: number;
+    get_indicestype(): PHY_ScalarType;
+    set_indicestype(indicestype: PHY_ScalarType): void;
+    indicestype: PHY_ScalarType;
+    constructor(manager?: TrimeshPrimitiveManager);
+    lock(): void;
+    unlock(): void;
+    is_trimesh(): boolean;
+    get_vertex_count(): number;
+    get_indices(face_index: number, i0: number, i1: number, i2: number): void;
+    get_vertex(vertex_index: number, vertex: btVector3): void;
+    get_bullet_triangle(prim_index: number, triangle: btTriangleShapeEx): void;
+  }
+  class btGImpactMeshShapePart extends btGImpactShapeInterface {
+    constructor(meshInterface: btStridingMeshInterface, part: number);
+    getTrimeshPrimitiveManager(): TrimeshPrimitiveManager;
+    getVertexCount(): number;
+    getVertex(vertex_index: number, vertex: btVector3): void;
+    getPart(): number;
+  }
+  class btGImpactMeshShape extends btGImpactShapeInterface {
+    constructor(meshInterface: btStridingMeshInterface);
+    getMeshInterface(): btStridingMeshInterface;
+    getMeshPartCount(): number;
+    getMeshPart(index: number): btGImpactMeshShapePart;
+    calculateSerializeBufferSize(): number;
+  }
+  class btCollisionAlgorithmConstructionInfo {
+    constructor();
+    constructor(dispatcher: btDispatcher, temp: number);
+    get_m_dispatcher1(): btDispatcher;
+    set_m_dispatcher1(m_dispatcher1: btDispatcher): void;
+    m_dispatcher1: btDispatcher;
+    get_m_manifold(): btPersistentManifold;
+    set_m_manifold(m_manifold: btPersistentManifold): void;
+    m_manifold: btPersistentManifold;
+  }
+  class btCollisionAlgorithm {}
+  class btActivatingCollisionAlgorithm extends btCollisionAlgorithm {}
+  class btGImpactCollisionAlgorithm extends btActivatingCollisionAlgorithm {
+    constructor(
+      ci: btCollisionAlgorithmConstructionInfo,
+      body0Wrap: btCollisionObjectWrapper,
+      body1Wrap: btCollisionObjectWrapper,
+    );
+    registerAlgorithm(dispatcher: btCollisionDispatcher): void;
+  }
+  class btDefaultCollisionConstructionInfo {
+    constructor();
+  }
+  class btDefaultCollisionConfiguration {
+    constructor(info?: btDefaultCollisionConstructionInfo);
+  }
+  class btPersistentManifold {
+    constructor();
+    getBody0(): btCollisionObject;
+    getBody1(): btCollisionObject;
+    getNumContacts(): number;
+    getContactPoint(index: number): btManifoldPoint;
+  }
+  class btDispatcher {
+    getNumManifolds(): number;
+    getManifoldByIndexInternal(index: number): btPersistentManifold;
+  }
+  class btCollisionDispatcher extends btDispatcher {
+    constructor(conf: btDefaultCollisionConfiguration);
+  }
+  class btOverlappingPairCallback {}
+  class btOverlappingPairCache {
+    setInternalGhostPairCallback(ghostPairCallback: btOverlappingPairCallback): void;
+    getNumOverlappingPairs(): number;
+  }
+  class btAxisSweep3 {
+    constructor(
+      worldAabbMin: btVector3,
+      worldAabbMax: btVector3,
+      maxHandles?: number,
+      pairCache?: btOverlappingPairCache,
+      disableRaycastAccelerator?: boolean,
+    );
+  }
+  class btBroadphaseInterface {
+    getOverlappingPairCache(): btOverlappingPairCache;
+  }
+  class btCollisionConfiguration {}
+  class btDbvtBroadphase extends btBroadphaseInterface {
+    constructor();
+  }
+  class btBroadphaseProxy {
+    get_m_collisionFilterGroup(): number;
+    set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
+    m_collisionFilterGroup: number;
+    get_m_collisionFilterMask(): number;
+    set_m_collisionFilterMask(m_collisionFilterMask: number): void;
+    m_collisionFilterMask: number;
+  }
+  class btRigidBodyConstructionInfo {
+    constructor(mass: number, motionState: btMotionState, collisionShape: btCollisionShape, localInertia?: btVector3);
+    get_m_linearDamping(): number;
+    set_m_linearDamping(m_linearDamping: number): void;
+    m_linearDamping: number;
+    get_m_angularDamping(): number;
+    set_m_angularDamping(m_angularDamping: number): void;
+    m_angularDamping: number;
+    get_m_friction(): number;
+    set_m_friction(m_friction: number): void;
+    m_friction: number;
+    get_m_rollingFriction(): number;
+    set_m_rollingFriction(m_rollingFriction: number): void;
+    m_rollingFriction: number;
+    get_m_restitution(): number;
+    set_m_restitution(m_restitution: number): void;
+    m_restitution: number;
+    get_m_linearSleepingThreshold(): number;
+    set_m_linearSleepingThreshold(m_linearSleepingThreshold: number): void;
+    m_linearSleepingThreshold: number;
+    get_m_angularSleepingThreshold(): number;
+    set_m_angularSleepingThreshold(m_angularSleepingThreshold: number): void;
+    m_angularSleepingThreshold: number;
+    get_m_additionalDamping(): boolean;
+    set_m_additionalDamping(m_additionalDamping: boolean): void;
+    m_additionalDamping: boolean;
+    get_m_additionalDampingFactor(): number;
+    set_m_additionalDampingFactor(m_additionalDampingFactor: number): void;
+    m_additionalDampingFactor: number;
+    get_m_additionalLinearDampingThresholdSqr(): number;
+    set_m_additionalLinearDampingThresholdSqr(m_additionalLinearDampingThresholdSqr: number): void;
+    m_additionalLinearDampingThresholdSqr: number;
+    get_m_additionalAngularDampingThresholdSqr(): number;
+    set_m_additionalAngularDampingThresholdSqr(m_additionalAngularDampingThresholdSqr: number): void;
+    m_additionalAngularDampingThresholdSqr: number;
+    get_m_additionalAngularDampingFactor(): number;
+    set_m_additionalAngularDampingFactor(m_additionalAngularDampingFactor: number): void;
+    m_additionalAngularDampingFactor: number;
+  }
+  class btRigidBody extends btCollisionObject {
+    constructor(constructionInfo: btRigidBodyConstructionInfo);
+    getCenterOfMassTransform(): btTransform;
+    setCenterOfMassTransform(xform: btTransform): void;
+    setSleepingThresholds(linear: number, angular: number): void;
+    getLinearSleepingThreshold(): number;
+    getAngularSleepingThreshold(): number;
+    getLinearDamping(): number;
+    getAngularDamping(): number;
+    setDamping(lin_damping: number, ang_damping: number): void;
+    applyDamping(timeStep: number): void;
+    setMassProps(mass: number, inertia: btVector3): void;
+    getInvMass(): number;
+    getMass(): number;
+    getLinearFactor(): btVector3;
+    setLinearFactor(linearFactor: btVector3): void;
+    applyTorque(torque: btVector3): void;
+    applyForce(force: btVector3, rel_pos: btVector3): void;
+    applyCentralImpulse(impulse: btVector3): void;
+    applyTorqueImpulse(torque: btVector3): void;
+    applyImpulse(impulse: btVector3, rel_pos: btVector3): void;
+    applyPushImpulse(impulse: btVector3, rel_pos: btVector3): void;
+    getPushVelocity(): btVector3;
+    getTurnVelocity(): btVector3;
+    setPushVelocity(v: btVector3): void;
+    setTurnVelocity(v: btVector3): void;
+    applyCentralPushImpulse(impulse: btVector3): void;
+    applyTorqueTurnImpulse(torque: btVector3): void;
+    getCenterOfMassPosition(): btVector3;
+    getOrientation(): btQuaternion;
+    getTotalForce(): btVector3;
+    getTotalTorque(): btVector3;
+    getInvInertiaDiagLocal(): btVector3;
+    setInvInertiaDiagLocal(diagInvInertia: btVector3): void;
+    updateInertiaTensor(): void;
+    getLinearVelocity(): btVector3;
+    getAngularVelocity(): btVector3;
+    setLinearVelocity(lin_vel: btVector3): void;
+    setAngularVelocity(ang_vel: btVector3): void;
+    getVelocityInLocalPoint(rel_pos: btVector3): btVector3;
+    getPushVelocityInLocalPoint(rel_pos: btVector3): btVector3;
+    translate(v: btVector3): void;
+    getMotionState(): btMotionState;
+    setMotionState(motionState: btMotionState): void;
+    getAngularFactor(): btVector3;
+    setAngularFactor(angularFactor: btVector3): void;
+    upcast(colObj: btCollisionObject): btRigidBody;
+    getAabb(aabbMin: btVector3, aabbMax: btVector3): void;
+    applyGravity(): void;
+    clearGravity(): void;
+    getGravity(): btVector3;
+    setGravity(acceleration: btVector3): void;
+    getBroadphaseProxy(): btBroadphaseProxy;
+    clearForces(): void;
+    setFlags(flags: number): void;
+    getFlags(): number;
+  }
+  class btSolverBody {
+    get_m_worldTransform(): btTransform;
+    set_m_worldTransform(m_worldTransform: btTransform): void;
+    m_worldTransform: btTransform;
+    get_m_deltaLinearVelocity(): btVector3;
+    set_m_deltaLinearVelocity(m_deltaLinearVelocity: btVector3): void;
+    m_deltaLinearVelocity: btVector3;
+    get_m_deltaAngularVelocity(): btVector3;
+    set_m_deltaAngularVelocity(m_deltaAngularVelocity: btVector3): void;
+    m_deltaAngularVelocity: btVector3;
+    get_m_angularFactor(): btVector3;
+    set_m_angularFactor(m_angularFactor: btVector3): void;
+    m_angularFactor: btVector3;
+    get_m_linearFactor(): btVector3;
+    set_m_linearFactor(m_linearFactor: btVector3): void;
+    m_linearFactor: btVector3;
+    get_m_invMass(): btVector3;
+    set_m_invMass(m_invMass: btVector3): void;
+    m_invMass: btVector3;
+    get_m_pushVelocity(): btVector3;
+    set_m_pushVelocity(m_pushVelocity: btVector3): void;
+    m_pushVelocity: btVector3;
+    get_m_turnVelocity(): btVector3;
+    set_m_turnVelocity(m_turnVelocity: btVector3): void;
+    m_turnVelocity: btVector3;
+    get_m_linearVelocity(): btVector3;
+    set_m_linearVelocity(m_linearVelocity: btVector3): void;
+    m_linearVelocity: btVector3;
+    get_m_angularVelocity(): btVector3;
+    set_m_angularVelocity(m_angularVelocity: btVector3): void;
+    m_angularVelocity: btVector3;
+    get_m_externalForceImpulse(): btVector3;
+    set_m_externalForceImpulse(m_externalForceImpulse: btVector3): void;
+    m_externalForceImpulse: btVector3;
+    get_m_externalTorqueImpulse(): btVector3;
+    set_m_externalTorqueImpulse(m_externalTorqueImpulse: btVector3): void;
+    m_externalTorqueImpulse: btVector3;
+    get_m_originalBody(): btRigidBody;
+    set_m_originalBody(m_originalBody: btRigidBody): void;
+    m_originalBody: btRigidBody;
+    setWorldTransform(worldTransform: btTransform): void;
+    getWorldTransform(): btTransform;
+    getVelocityInLocalPointNoDelta(rel_pos: btVector3, velocity: btVector3): void;
+    getVelocityInLocalPointObsolete(rel_pos: btVector3, velocity: btVector3): void;
+    getAngularVelocity(angVel: btVector3): void;
+    applyImpulse(linearComponent: btVector3, angularComponent: btVector3, impulseMagnitude: number): void;
+    internalApplyPushImpulse(linearComponent: btVector3, angularComponent: btVector3, impulseMagnitude: number): void;
+    getDeltaLinearVelocity(): btVector3;
+    getDeltaAngularVelocity(): btVector3;
+    getPushVelocity(): btVector3;
+    getTurnVelocity(): btVector3;
+  }
+  class btSolverBodyArray {
+    size(): number;
+    at(n: number): btSolverBody;
+  }
+  class btConstraintSetting {
+    constructor();
+    get_m_tau(): number;
+    set_m_tau(m_tau: number): void;
+    m_tau: number;
+    get_m_damping(): number;
+    set_m_damping(m_damping: number): void;
+    m_damping: number;
+    get_m_impulseClamp(): number;
+    set_m_impulseClamp(m_impulseClamp: number): void;
+    m_impulseClamp: number;
+  }
+  class btJointFeedback {
+    get_m_appliedForceBodyA(): btVector3;
+    set_m_appliedForceBodyA(m_appliedForceBodyA: btVector3): void;
+    m_appliedForceBodyA: btVector3;
+    get_m_appliedTorqueBodyA(): btVector3;
+    set_m_appliedTorqueBodyA(m_appliedTorqueBodyA: btVector3): void;
+    m_appliedTorqueBodyA: btVector3;
+    get_m_appliedForceBodyB(): btVector3;
+    set_m_appliedForceBodyB(m_appliedForceBodyB: btVector3): void;
+    m_appliedForceBodyB: btVector3;
+    get_m_appliedTorqueBodyB(): btVector3;
+    set_m_appliedTorqueBodyB(m_appliedTorqueBodyB: btVector3): void;
+    m_appliedTorqueBodyB: btVector3;
+  }
+  class btTypedConstraint {
+    getOverrideNumSolverIterations(): number;
+    setOverrideNumSolverIterations(overideNumIterations: number): void;
+    enableFeedback(needsFeedback: boolean): void;
+    needsFeedback(): boolean;
+    setJointFeedback(jointFeedback: btJointFeedback): void;
+    getJointFeedback(): btJointFeedback;
+    getAppliedImpulse(): number;
+    getConstraintType(): btTypedConstraintType;
+    getBreakingImpulseThreshold(): number;
+    setBreakingImpulseThreshold(threshold: number): void;
+    getParam(num: number, axis: number): number;
+    setParam(num: number, value: number, axis: number): void;
+    isEnabled(): boolean;
+    setEnabled(enabled: boolean): void;
+    getRigidBodyA(): btRigidBody;
+    getRigidBodyB(): btRigidBody;
+    getUserConstraintType(): number;
+    setUserConstraintType(userConstraintType: number): void;
+    getFixedBody(): btRigidBody;
+  }
+  type btTypedConstraintType =
+    | 'POINT2POINT_CONSTRAINT_TYPE'
+    | 'HINGE_CONSTRAINT_TYPE'
+    | 'CONETWIST_CONSTRAINT_TYPE'
+    | 'D6_CONSTRAINT_TYPE'
+    | 'SLIDER_CONSTRAINT_TYPE'
+    | 'CONTACT_CONSTRAINT_TYPE'
+    | 'D6_SPRING_CONSTRAINT_TYPE'
+    | 'GEAR_CONSTRAINT_TYPE'
+    | 'FIXED_CONSTRAINT_TYPE'
+    | 'MAX_CONSTRAINT_TYPE';
+  type btConstraintParams =
+    | 'BT_CONSTRAINT_ERP'
+    | 'BT_CONSTRAINT_STOP_ERP'
+    | 'BT_CONSTRAINT_CFM'
+    | 'BT_CONSTRAINT_STOP_CFM';
+  class btPoint2PointConstraint extends btTypedConstraint {
+    constructor(rbA: btRigidBody, rbB: btRigidBody, pivotInA: btVector3, pivotInB: btVector3);
+    constructor(rbA: btRigidBody, pivotInA: btVector3);
+    setPivotA(pivotA: btVector3): void;
+    setPivotB(pivotB: btVector3): void;
+    getPivotInA(): btVector3;
+    getPivotInB(): btVector3;
+    get_m_setting(): btConstraintSetting;
+    set_m_setting(m_setting: btConstraintSetting): void;
+    m_setting: btConstraintSetting;
+  }
+  class btGeneric6DofConstraint extends btTypedConstraint {
+    constructor(
+      rbA: btRigidBody,
+      rbB: btRigidBody,
+      frameInA: btTransform,
+      frameInB: btTransform,
+      useLinearFrameReferenceFrameA: boolean,
+    );
+    constructor(rbB: btRigidBody, frameInB: btTransform, useLinearFrameReferenceFrameB: boolean);
+    setLinearLowerLimit(linearLower: btVector3): void;
+    setLinearUpperLimit(linearUpper: btVector3): void;
+    setAngularLowerLimit(angularLower: btVector3): void;
+    setAngularUpperLimit(angularUpper: btVector3): void;
+    getFrameOffsetA(): btTransform;
+  }
+  class btGeneric6DofSpringConstraint extends btGeneric6DofConstraint {
+    constructor(
+      rbA: btRigidBody,
+      rbB: btRigidBody,
+      frameInA: btTransform,
+      frameInB: btTransform,
+      useLinearFrameReferenceFrameA: boolean,
+    );
+    constructor(rbB: btRigidBody, frameInB: btTransform, useLinearFrameReferenceFrameB: boolean);
+    enableSpring(index: number, onOff: boolean): void;
+    setStiffness(index: number, stiffness: number): void;
+    setDamping(index: number, damping: number): void;
+    setEquilibriumPoint(index: number, val: number): void;
+    setEquilibriumPoint(index: number): void;
+    setEquilibriumPoint(): void;
+  }
+  class btSequentialImpulseConstraintSolver {
+    constructor();
+  }
+  class btConeTwistConstraint extends btTypedConstraint {
+    constructor(rbA: btRigidBody, rbB: btRigidBody, rbAFrame: btTransform, rbBFrame: btTransform);
+    constructor(rbA: btRigidBody, rbAFrame: btTransform);
+    setLimit(limitIndex: number, limitValue: number): void;
+    setAngularOnly(angularOnly: boolean): void;
+    setDamping(damping: number): void;
+    enableMotor(b: boolean): void;
+    setMaxMotorImpulse(maxMotorImpulse: number): void;
+    setMaxMotorImpulseNormalized(maxMotorImpulse: number): void;
+    setMotorTarget(q: btQuaternion): void;
+    setMotorTargetInConstraintSpace(q: btQuaternion): void;
+  }
+  class btHingeConstraint extends btTypedConstraint {
+    constructor(
+      rbA: btRigidBody,
+      rbB: btRigidBody,
+      pivotInA: btVector3,
+      pivotInB: btVector3,
+      axisInA: btVector3,
+      axisInB: btVector3,
+      useReferenceFrameA?: boolean,
+    );
+    constructor(
+      rbA: btRigidBody,
+      rbB: btRigidBody,
+      rbAFrame: btTransform,
+      rbBFrame: btTransform,
+      useReferenceFrameA?: boolean,
+    );
+    constructor(rbA: btRigidBody, rbAFrame: btTransform, useReferenceFrameA?: boolean);
+    getHingeAngle(): number;
+    setLimit(low: number, high: number, softness: number, biasFactor: number, relaxationFactor?: number): void;
+    enableAngularMotor(enableMotor: boolean, targetVelocity: number, maxMotorImpulse: number): void;
+    setAngularOnly(angularOnly: boolean): void;
+    enableMotor(enableMotor: boolean): void;
+    setMaxMotorImpulse(maxMotorImpulse: number): void;
+    setMotorTarget(targetAngle: number, dt: number): void;
+  }
+  class btSliderConstraint extends btTypedConstraint {
+    constructor(
+      rbA: btRigidBody,
+      rbB: btRigidBody,
+      frameInA: btTransform,
+      frameInB: btTransform,
+      useLinearReferenceFrameA: boolean,
+    );
+    constructor(rbB: btRigidBody, frameInB: btTransform, useLinearReferenceFrameA: boolean);
+    getLinearPos(): number;
+    getAngularPos(): number;
+    setLowerLinLimit(lowerLimit: number): void;
+    setUpperLinLimit(upperLimit: number): void;
+    setLowerAngLimit(lowerAngLimit: number): void;
+    setUpperAngLimit(upperAngLimit: number): void;
+    setPoweredLinMotor(onOff: boolean): void;
+    setMaxLinMotorForce(maxLinMotorForce: number): void;
+    setTargetLinMotorVelocity(targetLinMotorVelocity: number): void;
+  }
+  class btFixedConstraint extends btTypedConstraint {
+    constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform);
+  }
+  type btConstraintSolverType = 'BT_SEQUENTIAL_IMPULSE_SOLVER' | 'BT_MLCP_SOLVER';
+  class btConstraintSolver {}
+  class btDispatcherInfo {
+    get_m_timeStep(): number;
+    set_m_timeStep(m_timeStep: number): void;
+    m_timeStep: number;
+    get_m_stepCount(): number;
+    set_m_stepCount(m_stepCount: number): void;
+    m_stepCount: number;
+    get_m_dispatchFunc(): number;
+    set_m_dispatchFunc(m_dispatchFunc: number): void;
+    m_dispatchFunc: number;
+    get_m_timeOfImpact(): number;
+    set_m_timeOfImpact(m_timeOfImpact: number): void;
+    m_timeOfImpact: number;
+    get_m_useContinuous(): boolean;
+    set_m_useContinuous(m_useContinuous: boolean): void;
+    m_useContinuous: boolean;
+    get_m_enableSatConvex(): boolean;
+    set_m_enableSatConvex(m_enableSatConvex: boolean): void;
+    m_enableSatConvex: boolean;
+    get_m_enableSPU(): boolean;
+    set_m_enableSPU(m_enableSPU: boolean): void;
+    m_enableSPU: boolean;
+    get_m_useEpa(): boolean;
+    set_m_useEpa(m_useEpa: boolean): void;
+    m_useEpa: boolean;
+    get_m_allowedCcdPenetration(): number;
+    set_m_allowedCcdPenetration(m_allowedCcdPenetration: number): void;
+    m_allowedCcdPenetration: number;
+    get_m_useConvexConservativeDistanceUtil(): boolean;
+    set_m_useConvexConservativeDistanceUtil(m_useConvexConservativeDistanceUtil: boolean): void;
+    m_useConvexConservativeDistanceUtil: boolean;
+    get_m_convexConservativeDistanceThreshold(): number;
+    set_m_convexConservativeDistanceThreshold(m_convexConservativeDistanceThreshold: number): void;
+    m_convexConservativeDistanceThreshold: number;
+  }
+  class btCollisionWorld {
+    getDispatcher(): btDispatcher;
+    rayTest(rayFromWorld: btVector3, rayToWorld: btVector3, resultCallback: RayResultCallback): void;
+    getPairCache(): btOverlappingPairCache;
+    getDispatchInfo(): btDispatcherInfo;
+    addCollisionObject(
+      collisionObject: btCollisionObject,
+      collisionFilterGroup?: number,
+      collisionFilterMask?: number,
+    ): void;
+    removeCollisionObject(collisionObject: btCollisionObject): void;
+    getBroadphase(): btBroadphaseInterface;
+    convexSweepTest(
+      castShape: btConvexShape,
+      from: btTransform,
+      to: btTransform,
+      resultCallback: ConvexResultCallback,
+      allowedCcdPenetration: number,
+    ): void;
+    contactPairTest(
+      colObjA: btCollisionObject,
+      colObjB: btCollisionObject,
+      resultCallback: ContactResultCallback,
+    ): void;
+    contactTest(colObj: btCollisionObject, resultCallback: ContactResultCallback): void;
+    updateSingleAabb(colObj: btCollisionObject): void;
+    setDebugDrawer(debugDrawer: btIDebugDraw): void;
+    getDebugDrawer(): btIDebugDraw;
+    debugDrawWorld(): void;
+    debugDrawObject(worldTransform: btTransform, shape: btCollisionShape, color: btVector3): void;
+  }
+  class btContactSolverInfo {
+    get_m_splitImpulse(): boolean;
+    set_m_splitImpulse(m_splitImpulse: boolean): void;
+    m_splitImpulse: boolean;
+    get_m_splitImpulsePenetrationThreshold(): number;
+    set_m_splitImpulsePenetrationThreshold(m_splitImpulsePenetrationThreshold: number): void;
+    m_splitImpulsePenetrationThreshold: number;
+    get_m_numIterations(): number;
+    set_m_numIterations(m_numIterations: number): void;
+    m_numIterations: number;
+    get_m_erp(): number;
+    set_m_erp(m_erp: number): void;
+    m_erp: number;
+    get_m_erp2(): number;
+    set_m_erp2(m_erp2: number): void;
+    m_erp2: number;
+  }
+  class btDynamicsWorld extends btCollisionWorld {
+    addAction(action: btActionInterface): void;
+    removeAction(action: btActionInterface): void;
+    getSolverInfo(): btContactSolverInfo;
+  }
+  class btDiscreteDynamicsWorld extends btDynamicsWorld {
+    constructor(
+      dispatcher: btDispatcher,
+      pairCache: btBroadphaseInterface,
+      constraintSolver: btConstraintSolver,
+      collisionConfiguration: btCollisionConfiguration,
+    );
+    setGravity(gravity: btVector3): void;
+    getGravity(): btVector3;
+    addRigidBody(body: btRigidBody): void;
+    addRigidBody(body: btRigidBody, group: number, mask: number): void;
+    removeRigidBody(body: btRigidBody): void;
+    addConstraint(constraint: btTypedConstraint, disableCollisionsBetweenLinkedBodies?: boolean): void;
+    removeConstraint(constraint: btTypedConstraint): void;
+    stepSimulation(timeStep: number, maxSubSteps?: number, fixedTimeStep?: number): number;
+  }
+  class btVehicleTuning {
+    constructor();
+    get_m_suspensionStiffness(): number;
+    set_m_suspensionStiffness(m_suspensionStiffness: number): void;
+    m_suspensionStiffness: number;
+    get_m_suspensionCompression(): number;
+    set_m_suspensionCompression(m_suspensionCompression: number): void;
+    m_suspensionCompression: number;
+    get_m_suspensionDamping(): number;
+    set_m_suspensionDamping(m_suspensionDamping: number): void;
+    m_suspensionDamping: number;
+    get_m_maxSuspensionTravelCm(): number;
+    set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
+    m_maxSuspensionTravelCm: number;
+    get_m_frictionSlip(): number;
+    set_m_frictionSlip(m_frictionSlip: number): void;
+    m_frictionSlip: number;
+    get_m_maxSuspensionForce(): number;
+    set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
+    m_maxSuspensionForce: number;
+  }
+  class btVehicleRaycasterResult {
+    get_m_hitPointInWorld(): btVector3;
+    set_m_hitPointInWorld(m_hitPointInWorld: btVector3): void;
+    m_hitPointInWorld: btVector3;
+    get_m_hitNormalInWorld(): btVector3;
+    set_m_hitNormalInWorld(m_hitNormalInWorld: btVector3): void;
+    m_hitNormalInWorld: btVector3;
+    get_m_distFraction(): number;
+    set_m_distFraction(m_distFraction: number): void;
+    m_distFraction: number;
+  }
+  class btVehicleRaycaster {
+    get_m_collisionFilterGroup(): number;
+    set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
+    m_collisionFilterGroup: number;
+    get_m_collisionFilterMask(): number;
+    set_m_collisionFilterMask(m_collisionFilterMask: number): void;
+    m_collisionFilterMask: number;
+    castRay(from: btVector3, to: btVector3, result: btVehicleRaycasterResult): void;
+  }
+  class btDefaultVehicleRaycaster extends btVehicleRaycaster {
+    constructor(world: btDynamicsWorld);
+  }
+  class RaycastInfo {
+    get_m_contactNormalWS(): btVector3;
+    set_m_contactNormalWS(m_contactNormalWS: btVector3): void;
+    m_contactNormalWS: btVector3;
+    get_m_contactPointWS(): btVector3;
+    set_m_contactPointWS(m_contactPointWS: btVector3): void;
+    m_contactPointWS: btVector3;
+    get_m_suspensionLength(): number;
+    set_m_suspensionLength(m_suspensionLength: number): void;
+    m_suspensionLength: number;
+    get_m_hardPointWS(): btVector3;
+    set_m_hardPointWS(m_hardPointWS: btVector3): void;
+    m_hardPointWS: btVector3;
+    get_m_wheelDirectionWS(): btVector3;
+    set_m_wheelDirectionWS(m_wheelDirectionWS: btVector3): void;
+    m_wheelDirectionWS: btVector3;
+    get_m_wheelAxleWS(): btVector3;
+    set_m_wheelAxleWS(m_wheelAxleWS: btVector3): void;
+    m_wheelAxleWS: btVector3;
+    get_m_isInContact(): boolean;
+    set_m_isInContact(m_isInContact: boolean): void;
+    m_isInContact: boolean;
+    get_m_groundObject(): any;
+    set_m_groundObject(m_groundObject: any): void;
+    m_groundObject: any;
+  }
+  class btWheelInfoConstructionInfo {
+    get_m_chassisConnectionCS(): btVector3;
+    set_m_chassisConnectionCS(m_chassisConnectionCS: btVector3): void;
+    m_chassisConnectionCS: btVector3;
+    get_m_wheelDirectionCS(): btVector3;
+    set_m_wheelDirectionCS(m_wheelDirectionCS: btVector3): void;
+    m_wheelDirectionCS: btVector3;
+    get_m_wheelAxleCS(): btVector3;
+    set_m_wheelAxleCS(m_wheelAxleCS: btVector3): void;
+    m_wheelAxleCS: btVector3;
+    get_m_suspensionRestLength(): number;
+    set_m_suspensionRestLength(m_suspensionRestLength: number): void;
+    m_suspensionRestLength: number;
+    get_m_maxSuspensionTravelCm(): number;
+    set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
+    m_maxSuspensionTravelCm: number;
+    get_m_wheelRadius(): number;
+    set_m_wheelRadius(m_wheelRadius: number): void;
+    m_wheelRadius: number;
+    get_m_suspensionStiffness(): number;
+    set_m_suspensionStiffness(m_suspensionStiffness: number): void;
+    m_suspensionStiffness: number;
+    get_m_wheelsDampingCompression(): number;
+    set_m_wheelsDampingCompression(m_wheelsDampingCompression: number): void;
+    m_wheelsDampingCompression: number;
+    get_m_wheelsDampingRelaxation(): number;
+    set_m_wheelsDampingRelaxation(m_wheelsDampingRelaxation: number): void;
+    m_wheelsDampingRelaxation: number;
+    get_m_frictionSlip(): number;
+    set_m_frictionSlip(m_frictionSlip: number): void;
+    m_frictionSlip: number;
+    get_m_maxSuspensionForce(): number;
+    set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
+    m_maxSuspensionForce: number;
+    get_m_bIsFrontWheel(): boolean;
+    set_m_bIsFrontWheel(m_bIsFrontWheel: boolean): void;
+    m_bIsFrontWheel: boolean;
+  }
+  class btWheelInfo {
+    get_m_suspensionStiffness(): number;
+    set_m_suspensionStiffness(m_suspensionStiffness: number): void;
+    m_suspensionStiffness: number;
+    get_m_frictionSlip(): number;
+    set_m_frictionSlip(m_frictionSlip: number): void;
+    m_frictionSlip: number;
+    get_m_engineForce(): number;
+    set_m_engineForce(m_engineForce: number): void;
+    m_engineForce: number;
+    get_m_rollInfluence(): number;
+    set_m_rollInfluence(m_rollInfluence: number): void;
+    m_rollInfluence: number;
+    get_m_suspensionRestLength1(): number;
+    set_m_suspensionRestLength1(m_suspensionRestLength1: number): void;
+    m_suspensionRestLength1: number;
+    get_m_wheelsRadius(): number;
+    set_m_wheelsRadius(m_wheelsRadius: number): void;
+    m_wheelsRadius: number;
+    get_m_wheelsDampingCompression(): number;
+    set_m_wheelsDampingCompression(m_wheelsDampingCompression: number): void;
+    m_wheelsDampingCompression: number;
+    get_m_wheelsDampingRelaxation(): number;
+    set_m_wheelsDampingRelaxation(m_wheelsDampingRelaxation: number): void;
+    m_wheelsDampingRelaxation: number;
+    get_m_steering(): number;
+    set_m_steering(m_steering: number): void;
+    m_steering: number;
+    get_m_maxSuspensionForce(): number;
+    set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
+    m_maxSuspensionForce: number;
+    get_m_maxSuspensionTravelCm(): number;
+    set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
+    m_maxSuspensionTravelCm: number;
+    get_m_wheelsSuspensionForce(): number;
+    set_m_wheelsSuspensionForce(m_wheelsSuspensionForce: number): void;
+    m_wheelsSuspensionForce: number;
+    get_m_bIsFrontWheel(): boolean;
+    set_m_bIsFrontWheel(m_bIsFrontWheel: boolean): void;
+    m_bIsFrontWheel: boolean;
+    get_m_raycastInfo(): RaycastInfo;
+    set_m_raycastInfo(m_raycastInfo: RaycastInfo): void;
+    m_raycastInfo: RaycastInfo;
+    get_m_chassisConnectionPointCS(): btVector3;
+    set_m_chassisConnectionPointCS(m_chassisConnectionPointCS: btVector3): void;
+    m_chassisConnectionPointCS: btVector3;
+    constructor(ci: btWheelInfoConstructionInfo);
+    getSuspensionRestLength(): number;
+    updateWheel(chassis: btRigidBody, raycastInfo: RaycastInfo): void;
+    get_m_worldTransform(): btTransform;
+    set_m_worldTransform(m_worldTransform: btTransform): void;
+    m_worldTransform: btTransform;
+    get_m_wheelDirectionCS(): btVector3;
+    set_m_wheelDirectionCS(m_wheelDirectionCS: btVector3): void;
+    m_wheelDirectionCS: btVector3;
+    get_m_wheelAxleCS(): btVector3;
+    set_m_wheelAxleCS(m_wheelAxleCS: btVector3): void;
+    m_wheelAxleCS: btVector3;
+    get_m_rotation(): number;
+    set_m_rotation(m_rotation: number): void;
+    m_rotation: number;
+    get_m_deltaRotation(): number;
+    set_m_deltaRotation(m_deltaRotation: number): void;
+    m_deltaRotation: number;
+    get_m_brake(): number;
+    set_m_brake(m_brake: number): void;
+    m_brake: number;
+    get_m_clippedInvContactDotSuspension(): number;
+    set_m_clippedInvContactDotSuspension(m_clippedInvContactDotSuspension: number): void;
+    m_clippedInvContactDotSuspension: number;
+    get_m_suspensionRelativeVelocity(): number;
+    set_m_suspensionRelativeVelocity(m_suspensionRelativeVelocity: number): void;
+    m_suspensionRelativeVelocity: number;
+    get_m_skidInfo(): number;
+    set_m_skidInfo(m_skidInfo: number): void;
+    m_skidInfo: number;
+  }
+  class btActionInterface {
+    updateAction(collisionWorld: btCollisionWorld, deltaTimeStep: number): void;
+  }
+  class btKinematicCharacterController extends btActionInterface {
+    constructor(ghostObject: btPairCachingGhostObject, convexShape: btConvexShape, stepHeight: number, up?: btVector3);
+    getUp(): btVector3;
+    setUp(axis: btVector3): void;
+    setWalkDirection(walkDirection: btVector3): void;
+    setVelocityForTimeInterval(velocity: btVector3, timeInterval: number): void;
+    setAngularVelocity(velocity: btVector3): void;
+    getAngularVelocity(): btVector3;
+    setLinearVelocity(velocity: btVector3): void;
+    getLinearVelocity(): btVector3;
+    setLinearDamping(d: number): void;
+    getLinearDamping(): number;
+    setAngularDamping(d: number): void;
+    getAngularDamping(): number;
+    reset(collisionWorld: btCollisionWorld): void;
+    warp(origin: btVector3): void;
+    preStep(collisionWorld: btCollisionWorld): void;
+    playerStep(collisionWorld: btCollisionWorld, dt: number): void;
+    setStepHeight(h: number): void;
+    getStepHeight(): number;
+    setFallSpeed(fallSpeed: number): void;
+    getFallSpeed(): number;
+    setJumpSpeed(jumpSpeed: number): void;
+    getJumpSpeed(): number;
+    setMaxJumpHeight(maxJumpHeight: number): void;
+    canJump(): boolean;
+    jump(v?: btVector3): void;
+    applyImpulse(v: btVector3): void;
+    setGravity(gravity: btVector3): void;
+    getGravity(): btVector3;
+    setMaxSlope(slopeRadians: number): void;
+    getMaxSlope(): number;
+    setMaxPenetrationDepth(d: number): void;
+    getMaxPenetrationDepth(): number;
+    getGhostObject(): btPairCachingGhostObject;
+    setUseGhostSweepTest(useGhostObjectSweepTest: boolean): void;
+    onGround(): boolean;
+    setUpInterpolate(value: boolean): void;
+  }
+  class btRaycastVehicle extends btActionInterface {
+    constructor(tuning: btVehicleTuning, chassis: btRigidBody, raycaster: btVehicleRaycaster);
+    applyEngineForce(force: number, wheel: number): void;
+    setSteeringValue(steering: number, wheel: number): void;
+    getWheelTransformWS(wheelIndex: number): btTransform;
+    updateWheelTransform(wheelIndex: number, interpolatedTransform: boolean): void;
+    addWheel(
+      connectionPointCS0: btVector3,
+      wheelDirectionCS0: btVector3,
+      wheelAxleCS: btVector3,
+      suspensionRestLength: number,
+      wheelRadius: number,
+      tuning: btVehicleTuning,
+      isFrontWheel: boolean,
+    ): btWheelInfo;
+    getNumWheels(): number;
+    getRigidBody(): btRigidBody;
+    getWheelInfo(index: number): btWheelInfo;
+    setBrake(brake: number, wheelIndex: number): void;
+    setCoordinateSystem(rightIndex: number, upIndex: number, forwardIndex: number): void;
+    getCurrentSpeedKmHour(): number;
+    getChassisWorldTransform(): btTransform;
+    rayCast(wheel: btWheelInfo): number;
+    updateVehicle(step: number): void;
+    resetSuspension(): void;
+    getSteeringValue(wheel: number): number;
+    updateWheelTransformsWS(wheel: btWheelInfo, interpolatedTransform?: boolean): void;
+    setPitchControl(pitch: number): void;
+    updateSuspension(deltaTime: number): void;
+    updateFriction(timeStep: number): void;
+    getRightAxis(): number;
+    getUpAxis(): number;
+    getForwardAxis(): number;
+    getForwardVector(): btVector3;
+    getUserConstraintType(): number;
+    setUserConstraintType(userConstraintType: number): void;
+    setUserConstraintId(uid: number): void;
+    getUserConstraintId(): number;
+  }
+  class btGhostObject extends btCollisionObject {
+    constructor();
+    getNumOverlappingObjects(): number;
+    getOverlappingObject(index: number): btCollisionObject;
+  }
+  class btPairCachingGhostObject extends btGhostObject {
+    constructor();
+  }
+  class btGhostPairCallback {
+    constructor();
+  }
+  type btMultibodyLink_eFeatherstoneJointType =
+    | 'btMultibodyLink::eRevolute'
+    | 'btMultibodyLink::ePrismatic'
+    | 'btMultibodyLink::eSpherical'
+    | 'btMultibodyLink::ePlanar'
+    | 'btMultibodyLink::eFixed'
+    | 'btMultibodyLink::eInvalid';
+  class btMultibodyLink {
+    get_m_mass(): number;
+    set_m_mass(m_mass: number): void;
+    m_mass: number;
+    get_m_inertiaLocal(): btVector3;
+    set_m_inertiaLocal(m_inertiaLocal: btVector3): void;
+    m_inertiaLocal: btVector3;
+    get_m_parent(): number;
+    set_m_parent(m_parent: number): void;
+    m_parent: number;
+    get_m_zeroRotParentToThis(): btQuaternion;
+    set_m_zeroRotParentToThis(m_zeroRotParentToThis: btQuaternion): void;
+    m_zeroRotParentToThis: btQuaternion;
+    get_m_dVector(): btVector3;
+    set_m_dVector(m_dVector: btVector3): void;
+    m_dVector: btVector3;
+    get_m_eVector(): btVector3;
+    set_m_eVector(m_eVector: btVector3): void;
+    m_eVector: btVector3;
+    get_m_absFrameTotVelocity(): btSpatialMotionVector;
+    set_m_absFrameTotVelocity(m_absFrameTotVelocity: btSpatialMotionVector): void;
+    m_absFrameTotVelocity: btSpatialMotionVector;
+    get_m_absFrameLocVelocity(): btSpatialMotionVector;
+    set_m_absFrameLocVelocity(m_absFrameLocVelocity: btSpatialMotionVector): void;
+    m_absFrameLocVelocity: btSpatialMotionVector;
+    setAxisTop(dof: number, axis: btVector3): void;
+    setAxisBottom(dof: number, axis: btVector3): void;
+    getAxisTop(dof: number): btVector3;
+    getAxisBottom(dof: number): btVector3;
+    get_m_dofOffset(): number;
+    set_m_dofOffset(m_dofOffset: number): void;
+    m_dofOffset: number;
+    get_m_cfgOffset(): number;
+    set_m_cfgOffset(m_cfgOffset: number): void;
+    m_cfgOffset: number;
+    get_m_cachedRotParentToThis(): btQuaternion;
+    set_m_cachedRotParentToThis(m_cachedRotParentToThis: btQuaternion): void;
+    m_cachedRotParentToThis: btQuaternion;
+    get_m_cachedRVector(): btVector3;
+    set_m_cachedRVector(m_cachedRVector: btVector3): void;
+    m_cachedRVector: btVector3;
+    get_m_cachedRotParentToThis_interpolate(): btQuaternion;
+    set_m_cachedRotParentToThis_interpolate(m_cachedRotParentToThis_interpolate: btQuaternion): void;
+    m_cachedRotParentToThis_interpolate: btQuaternion;
+    get_m_cachedRVector_interpolate(): btVector3;
+    set_m_cachedRVector_interpolate(m_cachedRVector_interpolate: btVector3): void;
+    m_cachedRVector_interpolate: btVector3;
+    get_m_appliedForce(): btVector3;
+    set_m_appliedForce(m_appliedForce: btVector3): void;
+    m_appliedForce: btVector3;
+    get_m_appliedTorque(): btVector3;
+    set_m_appliedTorque(m_appliedTorque: btVector3): void;
+    m_appliedTorque: btVector3;
+    get_m_appliedConstraintForce(): btVector3;
+    set_m_appliedConstraintForce(m_appliedConstraintForce: btVector3): void;
+    m_appliedConstraintForce: btVector3;
+    get_m_appliedConstraintTorque(): btVector3;
+    set_m_appliedConstraintTorque(m_appliedConstraintTorque: btVector3): void;
+    m_appliedConstraintTorque: btVector3;
+    get_m_collider(): btMultiBodyLinkCollider;
+    set_m_collider(m_collider: btMultiBodyLinkCollider): void;
+    m_collider: btMultiBodyLinkCollider;
+    get_m_flags(): number;
+    set_m_flags(m_flags: number): void;
+    m_flags: number;
+    get_m_dofCount(): number;
+    set_m_dofCount(m_dofCount: number): void;
+    m_dofCount: number;
+    get_m_posVarCount(): number;
+    set_m_posVarCount(m_posVarCount: number): void;
+    m_posVarCount: number;
+    get_m_jointType(): btMultibodyLink_eFeatherstoneJointType;
+    set_m_jointType(m_jointType: btMultibodyLink_eFeatherstoneJointType): void;
+    m_jointType: btMultibodyLink_eFeatherstoneJointType;
+    get_m_cachedWorldTransform(): btTransform;
+    set_m_cachedWorldTransform(m_cachedWorldTransform: btTransform): void;
+    m_cachedWorldTransform: btTransform;
+    get_m_linkName(): string;
+    set_m_linkName(m_linkName: string): void;
+    m_linkName: string;
+    get_m_jointName(): string;
+    set_m_jointName(m_jointName: string): void;
+    m_jointName: string;
+    get_m_userPtr(): unknown;
+    set_m_userPtr(m_userPtr: unknown): void;
+    m_userPtr: unknown;
+    get_m_jointDamping(): number;
+    set_m_jointDamping(m_jointDamping: number): void;
+    m_jointDamping: number;
+    get_m_jointFriction(): number;
+    set_m_jointFriction(m_jointFriction: number): void;
+    m_jointFriction: number;
+    get_m_jointLowerLimit(): number;
+    set_m_jointLowerLimit(m_jointLowerLimit: number): void;
+    m_jointLowerLimit: number;
+    get_m_jointUpperLimit(): number;
+    set_m_jointUpperLimit(m_jointUpperLimit: number): void;
+    m_jointUpperLimit: number;
+    get_m_jointMaxForce(): number;
+    set_m_jointMaxForce(m_jointMaxForce: number): void;
+    m_jointMaxForce: number;
+    get_m_jointMaxVelocity(): number;
+    set_m_jointMaxVelocity(m_jointMaxVelocity: number): void;
+    m_jointMaxVelocity: number;
+    constructor();
+  }
+  class btMultiBodyLinkCollider extends btCollisionObject {
+    get_m_multiBody(): btMultiBody;
+    set_m_multiBody(m_multiBody: btMultiBody): void;
+    m_multiBody: btMultiBody;
+    get_m_link(): number;
+    set_m_link(m_link: number): void;
+    m_link: number;
+    constructor(multiBody: btMultiBody, link: number);
+    upcast(colObj: btCollisionObject): btMultiBodyLinkCollider;
+    checkCollideWithOverride(co: btCollisionObject): boolean;
+  }
+  class btMultiBody {
+    constructor(
+      n_links: number,
+      mass: number,
+      inertia: btVector3,
+      fixed_base_: boolean,
+      can_sleep_: boolean,
+      deprecatedMultiDof?: boolean,
+    );
+    setupFixed(
+      i: number,
+      mass: number,
+      inertia: btVector3,
+      parent: number,
+      rotParentToThis: btQuaternion,
+      parentComToThisPivotOffset: btVector3,
+      thisPivotToThisComOffset: btVector3,
+      deprecatedDisableParentCollision?: boolean,
+    ): void;
+    setupPrismatic(
+      i: number,
+      mass: number,
+      inertia: btVector3,
+      parent: number,
+      rot_parent_to_this: btQuaternion,
+      joint_axis: btVector3,
+      parentComToThisPivotOffset: btVector3,
+      thisPivotToThisComOffset: btVector3,
+      disableParentCollision: boolean,
+    ): void;
+    setupRevolute(
+      i: number,
+      mass: number,
+      inertia: btVector3,
+      parent: number,
+      zero_rot_parent_to_this: btQuaternion,
+      joint_axis: btVector3,
+      parent_axis_position: btVector3,
+      my_axis_position: btVector3,
+      disableParentCollision?: boolean,
+    ): void;
+    setupSpherical(
+      i: number,
+      mass: number,
+      inertia: btVector3,
+      parent: number,
+      rotParentToThis: btQuaternion,
+      parentComToThisPivotOffset: btVector3,
+      thisPivotToThisComOffset: btVector3,
+      disableParentCollision?: boolean,
+    ): void;
+    setupPlanar(
+      i: number,
+      mass: number,
+      inertia: btVector3,
+      parent: number,
+      rotParentToThis: btQuaternion,
+      rotationAxis: btVector3,
+      parentComToThisComOffset: btVector3,
+      disableParentCollision?: boolean,
+    ): void;
+    getLink(index: number): btMultibodyLink;
+    setBaseCollider(collider: btMultiBodyLinkCollider): void;
+    getBaseCollider(): btMultiBodyLinkCollider;
+    getLinkCollider(index: number): btMultiBodyLinkCollider;
+    getParent(link_num: number): number;
+    getNumLinks(): number;
+    getNumDofs(): number;
+    getNumPosVars(): number;
+    getBaseMass(): number;
+    getBaseInertia(): btVector3;
+    getLinkMass(i: number): number;
+    getLinkInertia(i: number): btVector3;
+    setBaseMass(mass: number): void;
+    setBaseInertia(inertia: btVector3): void;
+    getBasePos(): btVector3;
+    getBaseVel(): btVector3;
+    getWorldToBaseRot(): btQuaternion;
+    getInterpolateBasePos(): btVector3;
+    getInterpolateWorldToBaseRot(): btQuaternion;
+    getBaseOmega(): btVector3;
+    setBasePos(pos: btVector3): void;
+    setInterpolateBasePos(pos: btVector3): void;
+    setBaseWorldTransform(tr: btTransform): void;
+    getBaseWorldTransform(): btTransform;
+    setInterpolateBaseWorldTransform(tr: btTransform): void;
+    getInterpolateBaseWorldTransform(): btTransform;
+    setBaseVel(vel: btVector3): void;
+    setWorldToBaseRot(rot: btQuaternion): void;
+    setInterpolateWorldToBaseRot(rot: btQuaternion): void;
+    setBaseOmega(omega: btVector3): void;
+    getJointPos(i: number): number;
+    getJointVel(i: number): number;
+    setJointPos(i: number, q: number): void;
+    setJointVel(i: number, qdot: number): void;
+    getRVector(i: number): btVector3;
+    getParentToLocalRot(i: number): btQuaternion;
+    getInterpolateRVector(i: number): btVector3;
+    getInterpolateParentToLocalRot(i: number): btQuaternion;
+    localPosToWorld(i: number, vec: btVector3): btVector3;
+    localDirToWorld(i: number, vec: btVector3): btVector3;
+    worldPosToLocal(i: number, vec: btVector3): btVector3;
+    worldDirToLocal(i: number, vec: btVector3): btVector3;
+    localFrameToWorld(i: number, local_frame: btMatrix3x3): btMatrix3x3;
+    clearForcesAndTorques(): void;
+    clearConstraintForces(): void;
+    clearVelocities(): void;
+    addBaseForce(f: btVector3): void;
+    addBaseTorque(t: btVector3): void;
+    addLinkForce(i: number, f: btVector3): void;
+    addLinkTorque(i: number, t: btVector3): void;
+    addBaseConstraintForce(f: btVector3): void;
+    addBaseConstraintTorque(t: btVector3): void;
+    addLinkConstraintForce(i: number, f: btVector3): void;
+    addLinkConstraintTorque(i: number, t: btVector3): void;
+    addJointTorque(i: number, Q: number): void;
+    addJointTorqueMultiDof(i: number, dof: number, Q: number): void;
+    getBaseForce(): btVector3;
+    getBaseTorque(): btVector3;
+    getLinkForce(i: number): btVector3;
+    getLinkTorque(i: number): btVector3;
+    getJointTorque(i: number): number;
+    computeAccelerationsArticulatedBodyAlgorithmMultiDof(
+      dt: number,
+      scratch_r: btScalarArray,
+      scratch_v: btVector3Array,
+      scratch_m: btMatrix3x3Array,
+      isConstraintPass: boolean,
+      jointFeedbackInWorldSpace: boolean,
+      jointFeedbackInJointFrame: boolean,
+    ): void;
+    setCanSleep(canSleep: boolean): void;
+    getCanSleep(): boolean;
+    getCanWakeup(): boolean;
+    setCanWakeup(canWakeup: boolean): void;
+    isAwake(): boolean;
+    wakeUp(): void;
+    goToSleep(): void;
+    checkMotionAndSleepIfRequired(timestep: number): void;
+    hasFixedBase(): boolean;
+    isBaseKinematic(): boolean;
+    isBaseStaticOrKinematic(): boolean;
+    setBaseDynamicType(dynamicType: number): void;
+    setFixedBase(fixedBase: boolean): void;
+    getCompanionId(): number;
+    setCompanionId(id: number): void;
+    setNumLinks(numLinks: number): void;
+    getLinearDamping(): number;
+    setLinearDamping(damp: number): void;
+    getAngularDamping(): number;
+    setAngularDamping(damp: number): void;
+    getUseGyroTerm(): boolean;
+    setUseGyroTerm(useGyro: boolean): void;
+    getMaxCoordinateVelocity(): number;
+    setMaxCoordinateVelocity(maxVel: number): void;
+    getMaxAppliedImpulse(): number;
+    setMaxAppliedImpulse(maxImp: number): void;
+    setHasSelfCollision(hasSelfCollision: boolean): void;
+    hasSelfCollision(): boolean;
+    finalizeMultiDof(): void;
+    useRK4Integration(use: boolean): void;
+    isUsingRK4Integration(): boolean;
+    useGlobalVelocities(use: boolean): void;
+    isUsingGlobalVelocities(): boolean;
+    setLinkDynamicType(i: number, type: number): void;
+    isLinkStaticOrKinematic(i: number): boolean;
+    isLinkKinematic(i: number): boolean;
+    isLinkAndAllAncestorsStaticOrKinematic(i: number): boolean;
+    isLinkAndAllAncestorsKinematic(i: number): boolean;
+    setSleepThreshold(sleepThreshold: number): void;
+    setSleepTimeout(sleepTimeout: number): void;
+  }
+  class btMultiBodyJacobianData {
+    get_m_jacobians(): btScalarArray;
+    set_m_jacobians(m_jacobians: btScalarArray): void;
+    m_jacobians: btScalarArray;
+    get_m_deltaVelocitiesUnitImpulse(): btScalarArray;
+    set_m_deltaVelocitiesUnitImpulse(m_deltaVelocitiesUnitImpulse: btScalarArray): void;
+    m_deltaVelocitiesUnitImpulse: btScalarArray;
+    get_m_deltaVelocities(): btScalarArray;
+    set_m_deltaVelocities(m_deltaVelocities: btScalarArray): void;
+    m_deltaVelocities: btScalarArray;
+    get_scratch_r(): btScalarArray;
+    set_scratch_r(scratch_r: btScalarArray): void;
+    scratch_r: btScalarArray;
+    get_scratch_v(): btVector3Array;
+    set_scratch_v(scratch_v: btVector3Array): void;
+    scratch_v: btVector3Array;
+    get_scratch_m(): btMatrix3x3Array;
+    set_scratch_m(scratch_m: btMatrix3x3Array): void;
+    scratch_m: btMatrix3x3Array;
+    get_m_solverBodyPool(): btSolverBodyArray;
+    set_m_solverBodyPool(m_solverBodyPool: btSolverBodyArray): void;
+    m_solverBodyPool: btSolverBodyArray;
+    get_m_fixedBodyId(): number;
+    set_m_fixedBodyId(m_fixedBodyId: number): void;
+    m_fixedBodyId: number;
+  }
+  class btMultiBodyConstraint {
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    getNumRows(): number;
+    getMultiBodyA(): btMultiBody;
+    getMultiBodyB(): btMultiBody;
+    getPosition(row: number): number;
+    setPosition(row: number, pos: number): void;
+    isUnilateral(): boolean;
+    getMaxAppliedImpulse(): number;
+    setMaxAppliedImpulse(maxImp: number): void;
+  }
+  class btMultiBodyMLCPConstraintSolver extends btMultiBodyConstraintSolver {
+    constructor(solver: btMLCPSolverInterface);
+    setMLCPSolver(solver: btMLCPSolverInterface): void;
+    getNumFallbacks(): number;
+    setNumFallbacks(num: number): void;
+    getSolverType(): btConstraintSolverType;
+  }
+  class btMultiBodyConstraintSolver extends btSequentialImpulseConstraintSolver {
+    constructor();
+  }
+  class btMultiBodyDynamicsWorld extends btDiscreteDynamicsWorld {
+    constructor(
+      dispatcher: btDispatcher,
+      pairCache: btBroadphaseInterface,
+      constraintSolver: btMultiBodyConstraintSolver,
+      collisionConfiguration: btCollisionConfiguration,
+    );
+    addMultiBody(body: btMultiBody, group: number, mask: number): void;
+    removeMultiBody(body: btMultiBody): void;
+    addMultiBodyConstraint(constraint: btMultiBodyConstraint): void;
+    removeMultiBodyConstraint(constraint: btMultiBodyConstraint): void;
+  }
+  class btMultiBodyFixedConstraint extends btMultiBodyConstraint {
+    constructor(
+      bodyA: btMultiBody,
+      linkA: number,
+      bodyB: btMultiBody,
+      linkB: number,
+      pivotInA: btVector3,
+      pivotInB: btVector3,
+      frameInA: btMatrix3x3,
+      frameInB: btMatrix3x3,
+    );
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    getPivotInA(): btVector3;
+    setPivotInA(pivotInA: btVector3): void;
+    getPivotInB(): btVector3;
+    setPivotInB(pivotInB: btVector3): void;
+    getFrameInA(): btMatrix3x3;
+    setFrameInA(frameInA: btMatrix3x3): void;
+    getFrameInB(): btMatrix3x3;
+    setFrameInB(frameInB: btMatrix3x3): void;
+  }
+  class btMultiBodyGearConstraint extends btMultiBodyConstraint {
+    constructor(
+      bodyA: btMultiBody,
+      linkA: number,
+      bodyB: btMultiBody,
+      linkB: number,
+      pivotInA: btVector3,
+      pivotInB: btVector3,
+      frameInA: btMatrix3x3,
+      frameInB: btMatrix3x3,
+    );
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    getPivotInA(): btVector3;
+    setPivotInA(pivotInA: btVector3): void;
+    getPivotInB(): btVector3;
+    setPivotInB(pivotInB: btVector3): void;
+    getFrameInA(): btMatrix3x3;
+    setFrameInA(frameInA: btMatrix3x3): void;
+    getFrameInB(): btMatrix3x3;
+    setFrameInB(frameInB: btMatrix3x3): void;
+    setGearRatio(gearRatio: number): void;
+    setGearAuxLink(gearAuxLink: number): void;
+    setRelativePositionTarget(relPosTarget: number): void;
+    setErp(erp: number): void;
+  }
+  class btMultiBodyJointLimitConstraint extends btMultiBodyConstraint {
+    constructor(body: btMultiBody, link: number, lower: number, upper: number);
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    getLowerBound(): number;
+    getUpperBound(): number;
+    setLowerBound(lower: number): void;
+    setUpperBound(upper: number): void;
+  }
+  class btMultiBodyJointMotor extends btMultiBodyConstraint {
+    constructor(body: btMultiBody, link: number, linkDoF: number, desiredVelocity: number, maxMotorImpulse: number);
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    setVelocityTarget(velTarget: number, kd?: number): void;
+    setPositionTarget(posTarget: number, kp?: number): void;
+    setErp(erp: number): void;
+    getErp(): number;
+    setRhsClamp(rhsClamp: number): void;
+  }
+  class btMultiBodyPoint2Point extends btMultiBodyConstraint {
+    constructor(body: btMultiBody, link: number, bodyB: btRigidBody, pivotInA: btVector3, pivotInB: btVector3);
+    constructor(
+      bodyA: btMultiBody,
+      linkA: number,
+      bodyB: btMultiBody,
+      linkB: number,
+      pivotInA: btVector3,
+      pivotInB: btVector3,
+    );
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    getPivotInB(): btVector3;
+    setPivotInB(pivotInB: btVector3): void;
+  }
+  class btMultiBodySliderConstraint extends btMultiBodyConstraint {
+    constructor(
+      body: btMultiBody,
+      link: number,
+      bodyB: btRigidBody,
+      pivotInA: btVector3,
+      pivotInB: btVector3,
+      frameInA: btMatrix3x3,
+      frameInB: btMatrix3x3,
+      jointAxis: btVector3,
+    );
+    constructor(
+      bodyA: btMultiBody,
+      linkA: number,
+      bodyB: btMultiBody,
+      linkB: number,
+      pivotInA: btVector3,
+      pivotInB: btVector3,
+      frameInA: btMatrix3x3,
+      frameInB: btMatrix3x3,
+      jointAxis: btVector3,
+    );
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    getPivotInA(): btVector3;
+    setPivotInA(pivotInA: btVector3): void;
+    getPivotInB(): btVector3;
+    setPivotInB(pivotInB: btVector3): void;
+    getFrameInA(): btMatrix3x3;
+    setFrameInA(frameInA: btMatrix3x3): void;
+    getFrameInB(): btMatrix3x3;
+    setFrameInB(frameInB: btMatrix3x3): void;
+    getJointAxis(): btVector3;
+    setJointAxis(jointAxis: btVector3): void;
+  }
+  class btMultiBodySphericalJointLimit extends btMultiBodyConstraint {
+    constructor(
+      body: btMultiBody,
+      link: number,
+      swingxRange: number,
+      swingyRange: number,
+      twistRange: number,
+      maxAppliedImpulse: number,
+    );
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    setVelocityTarget(velTarget: btVector3, kd?: number): void;
+    setVelocityTargetMultiDof(velTarget: btVector3, kd?: btVector3): void;
+    setPositionTarget(posTarget: btQuaternion, kp?: number): void;
+    setPositionTargetMultiDof(posTarget: btQuaternion, kp?: btVector3): void;
+    setErp(erp: number): void;
+    getErp(): number;
+    setRhsClamp(rhsClamp: number): void;
+    getMaxAppliedImpulseMultiDof(i: number): number;
+    setMaxAppliedImpulseMultiDof(maxImp: btVector3): void;
+  }
+  class btMultiBodySphericalJointMotor extends btMultiBodyConstraint {
+    constructor(body: btMultiBody, link: number, maxMotorImpulse: number);
+    finalizeMultiDof(): void;
+    getIslandIdA(): number;
+    getIslandIdB(): number;
+    createConstraintRows(
+      constraintRows: btMultiBodyConstraintArray,
+      data: btMultiBodyJacobianData,
+      infoGlobal: btContactSolverInfo,
+    ): void;
+    setVelocityTarget(velTarget: btVector3, kd?: number): void;
+    setVelocityTargetMultiDof(velTarget: btVector3, kd?: btVector3): void;
+    setPositionTarget(posTarget: btQuaternion, kp?: number): void;
+    setPositionTargetMultiDof(posTarget: btQuaternion, kp?: btVector3): void;
+    setErp(erp: number): void;
+    getErp(): number;
+    setRhsClamp(rhsClamp: number): void;
+    getMaxAppliedImpulseMultiDof(i: number): number;
+    setMaxAppliedImpulseMultiDof(maxImp: btVector3): void;
+    getDamping(i: number): number;
+    setDamping(damping: btVector3): void;
+  }
+  class btMultiBodySolverConstraint {
+    get_m_deltaVelAindex(): number;
+    set_m_deltaVelAindex(m_deltaVelAindex: number): void;
+    m_deltaVelAindex: number;
+    get_m_relpos1CrossNormal(): btVector3;
+    set_m_relpos1CrossNormal(m_relpos1CrossNormal: btVector3): void;
+    m_relpos1CrossNormal: btVector3;
+    get_m_contactNormal1(): btVector3;
+    set_m_contactNormal1(m_contactNormal1: btVector3): void;
+    m_contactNormal1: btVector3;
+    get_m_jacAindex(): number;
+    set_m_jacAindex(m_jacAindex: number): void;
+    m_jacAindex: number;
+    get_m_deltaVelBindex(): number;
+    set_m_deltaVelBindex(m_deltaVelBindex: number): void;
+    m_deltaVelBindex: number;
+    get_m_contactNormal2(): btVector3;
+    set_m_contactNormal2(m_contactNormal2: btVector3): void;
+    m_contactNormal2: btVector3;
+    get_m_relpos2CrossNormal(): btVector3;
+    set_m_relpos2CrossNormal(m_relpos2CrossNormal: btVector3): void;
+    m_relpos2CrossNormal: btVector3;
+    get_m_jacBindex(): number;
+    set_m_jacBindex(m_jacBindex: number): void;
+    m_jacBindex: number;
+    get_m_angularComponentA(): btVector3;
+    set_m_angularComponentA(m_angularComponentA: btVector3): void;
+    m_angularComponentA: btVector3;
+    get_m_angularComponentB(): btVector3;
+    set_m_angularComponentB(m_angularComponentB: btVector3): void;
+    m_angularComponentB: btVector3;
+    get_m_friction(): number;
+    set_m_friction(m_friction: number): void;
+    m_friction: number;
+    get_m_jacDiagABInv(): number;
+    set_m_jacDiagABInv(m_jacDiagABInv: number): void;
+    m_jacDiagABInv: number;
+    get_m_rhs(): number;
+    set_m_rhs(m_rhs: number): void;
+    m_rhs: number;
+    get_m_cfm(): number;
+    set_m_cfm(m_cfm: number): void;
+    m_cfm: number;
+    get_m_lowerLimit(): number;
+    set_m_lowerLimit(m_lowerLimit: number): void;
+    m_lowerLimit: number;
+    get_m_upperLimit(): number;
+    set_m_upperLimit(m_upperLimit: number): void;
+    m_upperLimit: number;
+    get_m_rhsPenetration(): number;
+    set_m_rhsPenetration(m_rhsPenetration: number): void;
+    m_rhsPenetration: number;
+    get_m_overrideNumSolverIterations(): number;
+    set_m_overrideNumSolverIterations(m_overrideNumSolverIterations: number): void;
+    m_overrideNumSolverIterations: number;
+    get_m_frictionIndex(): number;
+    set_m_frictionIndex(m_frictionIndex: number): void;
+    m_frictionIndex: number;
+    get_m_solverBodyIdA(): number;
+    set_m_solverBodyIdA(m_solverBodyIdA: number): void;
+    m_solverBodyIdA: number;
+    get_m_multiBodyA(): btMultiBody;
+    set_m_multiBodyA(m_multiBodyA: btMultiBody): void;
+    m_multiBodyA: btMultiBody;
+    get_m_linkA(): number;
+    set_m_linkA(m_linkA: number): void;
+    m_linkA: number;
+    get_m_solverBodyIdB(): number;
+    set_m_solverBodyIdB(m_solverBodyIdB: number): void;
+    m_solverBodyIdB: number;
+    get_m_multiBodyB(): btMultiBody;
+    set_m_multiBodyB(m_multiBodyB: btMultiBody): void;
+    m_multiBodyB: btMultiBody;
+    get_m_linkB(): number;
+    set_m_linkB(m_linkB: number): void;
+    m_linkB: number;
+  }
+  class btMultiBodyConstraintArray {
+    constructor();
+    size(): number;
+    at(n: number): btMultiBodySolverConstraint;
+    clear(): void;
+    pop_back(): void;
+    resize(newsize: number, fillData: btMultiBodySolverConstraint): void;
+    expandNonInitializing(): btMultiBodySolverConstraint;
+    expand(fillValue: btMultiBodySolverConstraint): btMultiBodySolverConstraint;
+    push_back(Val: btMultiBodySolverConstraint): void;
+    capacity(): number;
+    reserve(Count: number): void;
+  }
+  class btMLCPSolverInterface {}
+  class btDantzigSolver extends btMLCPSolverInterface {
+    constructor();
+  }
+  class btSolveProjectedGaussSeidel extends btMLCPSolverInterface {
+    constructor();
+  }
+  class btLemkeSolver extends btMLCPSolverInterface {
+    constructor();
+  }
+  class btMLCPSolver extends btSequentialImpulseConstraintSolver {
+    constructor(solver: btMLCPSolverInterface);
+    setMLCPSolver(solver: btMLCPSolverInterface): void;
+    getNumFallbacks(): number;
+    setNumFallbacks(num: number): void;
+    getSolverType(): btConstraintSolverType;
+  }
+  class btSoftBodyWorldInfo {
+    constructor();
+    get_air_density(): number;
+    set_air_density(air_density: number): void;
+    air_density: number;
+    get_water_density(): number;
+    set_water_density(water_density: number): void;
+    water_density: number;
+    get_water_offset(): number;
+    set_water_offset(water_offset: number): void;
+    water_offset: number;
+    get_m_maxDisplacement(): number;
+    set_m_maxDisplacement(m_maxDisplacement: number): void;
+    m_maxDisplacement: number;
+    get_water_normal(): btVector3;
+    set_water_normal(water_normal: btVector3): void;
+    water_normal: btVector3;
+    get_m_broadphase(): btBroadphaseInterface;
+    set_m_broadphase(m_broadphase: btBroadphaseInterface): void;
+    m_broadphase: btBroadphaseInterface;
+    get_m_dispatcher(): btDispatcher;
+    set_m_dispatcher(m_dispatcher: btDispatcher): void;
+    m_dispatcher: btDispatcher;
+    get_m_gravity(): btVector3;
+    set_m_gravity(m_gravity: btVector3): void;
+    m_gravity: btVector3;
+  }
+  class Face {
+    get_m_n(): ReadonlyArray<Node>;
+    set_m_n(m_n: ReadonlyArray<Node>): void;
+    m_n: ReadonlyArray<Node>;
+    get_m_normal(): btVector3;
+    set_m_normal(m_normal: btVector3): void;
+    m_normal: btVector3;
+    get_m_ra(): number;
+    set_m_ra(m_ra: number): void;
+    m_ra: number;
+  }
+  class tFaceArray {
+    size(): number;
+    at(n: number): Face;
+  }
+  class Node {
+    get_m_x(): btVector3;
+    set_m_x(m_x: btVector3): void;
+    m_x: btVector3;
+    get_m_q(): btVector3;
+    set_m_q(m_q: btVector3): void;
+    m_q: btVector3;
+    get_m_v(): btVector3;
+    set_m_v(m_v: btVector3): void;
+    m_v: btVector3;
+    get_m_f(): btVector3;
+    set_m_f(m_f: btVector3): void;
+    m_f: btVector3;
+    get_m_n(): btVector3;
+    set_m_n(m_n: btVector3): void;
+    m_n: btVector3;
+    get_m_im(): number;
+    set_m_im(m_im: number): void;
+    m_im: number;
+    get_m_area(): number;
+    set_m_area(m_area: number): void;
+    m_area: number;
+  }
+  class tNodeArray {
+    size(): number;
+    at(n: number): Node;
+  }
+  class Material {
+    get_m_kLST(): number;
+    set_m_kLST(m_kLST: number): void;
+    m_kLST: number;
+    get_m_kAST(): number;
+    set_m_kAST(m_kAST: number): void;
+    m_kAST: number;
+    get_m_kVST(): number;
+    set_m_kVST(m_kVST: number): void;
+    m_kVST: number;
+    get_m_flags(): number;
+    set_m_flags(m_flags: number): void;
+    m_flags: number;
+  }
+  class tMaterialArray {
+    size(): number;
+    at(n: number): Material;
+  }
+  class Anchor {
+    get_m_node(): Node;
+    set_m_node(m_node: Node): void;
+    m_node: Node;
+    get_m_local(): btVector3;
+    set_m_local(m_local: btVector3): void;
+    m_local: btVector3;
+    get_m_body(): btRigidBody;
+    set_m_body(m_body: btRigidBody): void;
+    m_body: btRigidBody;
+    get_m_influence(): number;
+    set_m_influence(m_influence: number): void;
+    m_influence: number;
+    get_m_c0(): btMatrix3x3;
+    set_m_c0(m_c0: btMatrix3x3): void;
+    m_c0: btMatrix3x3;
+    get_m_c1(): btVector3;
+    set_m_c1(m_c1: btVector3): void;
+    m_c1: btVector3;
+    get_m_c2(): number;
+    set_m_c2(m_c2: number): void;
+    m_c2: number;
+  }
+  class tAnchorArray {
+    size(): number;
+    at(n: number): Anchor;
+    clear(): void;
+    push_back(val: Anchor): void;
+    pop_back(): void;
+  }
+  class Config {
+    get_kVCF(): number;
+    set_kVCF(kVCF: number): void;
+    kVCF: number;
+    get_kDP(): number;
+    set_kDP(kDP: number): void;
+    kDP: number;
+    get_kDG(): number;
+    set_kDG(kDG: number): void;
+    kDG: number;
+    get_kLF(): number;
+    set_kLF(kLF: number): void;
+    kLF: number;
+    get_kPR(): number;
+    set_kPR(kPR: number): void;
+    kPR: number;
+    get_kVC(): number;
+    set_kVC(kVC: number): void;
+    kVC: number;
+    get_kDF(): number;
+    set_kDF(kDF: number): void;
+    kDF: number;
+    get_kMT(): number;
+    set_kMT(kMT: number): void;
+    kMT: number;
+    get_kCHR(): number;
+    set_kCHR(kCHR: number): void;
+    kCHR: number;
+    get_kKHR(): number;
+    set_kKHR(kKHR: number): void;
+    kKHR: number;
+    get_kSHR(): number;
+    set_kSHR(kSHR: number): void;
+    kSHR: number;
+    get_kAHR(): number;
+    set_kAHR(kAHR: number): void;
+    kAHR: number;
+    get_kSRHR_CL(): number;
+    set_kSRHR_CL(kSRHR_CL: number): void;
+    kSRHR_CL: number;
+    get_kSKHR_CL(): number;
+    set_kSKHR_CL(kSKHR_CL: number): void;
+    kSKHR_CL: number;
+    get_kSSHR_CL(): number;
+    set_kSSHR_CL(kSSHR_CL: number): void;
+    kSSHR_CL: number;
+    get_kSR_SPLT_CL(): number;
+    set_kSR_SPLT_CL(kSR_SPLT_CL: number): void;
+    kSR_SPLT_CL: number;
+    get_kSK_SPLT_CL(): number;
+    set_kSK_SPLT_CL(kSK_SPLT_CL: number): void;
+    kSK_SPLT_CL: number;
+    get_kSS_SPLT_CL(): number;
+    set_kSS_SPLT_CL(kSS_SPLT_CL: number): void;
+    kSS_SPLT_CL: number;
+    get_maxvolume(): number;
+    set_maxvolume(maxvolume: number): void;
+    maxvolume: number;
+    get_timescale(): number;
+    set_timescale(timescale: number): void;
+    timescale: number;
+    get_viterations(): number;
+    set_viterations(viterations: number): void;
+    viterations: number;
+    get_piterations(): number;
+    set_piterations(piterations: number): void;
+    piterations: number;
+    get_diterations(): number;
+    set_diterations(diterations: number): void;
+    diterations: number;
+    get_citerations(): number;
+    set_citerations(citerations: number): void;
+    citerations: number;
+    get_collisions(): number;
+    set_collisions(collisions: number): void;
+    collisions: number;
+  }
+  class btSoftBody extends btCollisionObject {
+    constructor(worldInfo: btSoftBodyWorldInfo, node_count: number, x: btVector3, m: ReadonlyArray<number>);
+    get_m_cfg(): Config;
+    set_m_cfg(m_cfg: Config): void;
+    m_cfg: Config;
+    get_m_nodes(): tNodeArray;
+    set_m_nodes(m_nodes: tNodeArray): void;
+    m_nodes: tNodeArray;
+    get_m_faces(): tFaceArray;
+    set_m_faces(m_faces: tFaceArray): void;
+    m_faces: tFaceArray;
+    get_m_materials(): tMaterialArray;
+    set_m_materials(m_materials: tMaterialArray): void;
+    m_materials: tMaterialArray;
+    get_m_anchors(): tAnchorArray;
+    set_m_anchors(m_anchors: tAnchorArray): void;
+    m_anchors: tAnchorArray;
+    checkLink(node0: number, node1: number): boolean;
+    checkFace(node0: number, node1: number, node2: number): boolean;
+    appendMaterial(): Material;
+    appendNode(x: btVector3, m: number): void;
+    appendLink(node0: number, node1: number, mat: Material, bcheckexist: boolean): void;
+    appendFace(node0: number, node1: number, node2: number, mat: Material): void;
+    appendTetra(node0: number, node1: number, node2: number, node3: number, mat: Material): void;
+    appendAnchor(
+      node: number,
+      body: btRigidBody,
+      disableCollisionBetweenLinkedBodies: boolean,
+      influence: number,
+    ): void;
+    addForce(force: btVector3): void;
+    addForce(force: btVector3, node: number): void;
+    addAeroForceToNode(windVelocity: btVector3, nodeIndex: number): void;
+    getTotalMass(): number;
+    setTotalMass(mass: number, fromfaces: boolean): void;
+    setMass(node: number, mass: number): void;
+    transform(trs: btTransform): void;
+    translate(trs: btVector3): void;
+    rotate(rot: btQuaternion): void;
+    scale(scl: btVector3): void;
+    generateClusters(k: number, maxiterations?: number): number;
+    generateBendingConstraints(distance: number, mat: Material): number;
+    upcast(colObj: btCollisionObject): btSoftBody;
+    getRestLengthScale(): number;
+    setRestLengthScale(restLength: number): void;
+  }
+  class btSoftBodyRigidBodyCollisionConfiguration extends btDefaultCollisionConfiguration {
+    constructor(info?: btDefaultCollisionConstructionInfo);
+  }
+  class btSoftBodySolver {}
+  class btDefaultSoftBodySolver extends btSoftBodySolver {
+    constructor();
+  }
+  class btSoftBodyArray {
+    size(): number;
+    at(n: number): btSoftBody;
+  }
+  class btSoftRigidDynamicsWorld extends btDiscreteDynamicsWorld {
+    constructor(
+      dispatcher: btDispatcher,
+      pairCache: btBroadphaseInterface,
+      constraintSolver: btConstraintSolver,
+      collisionConfiguration: btCollisionConfiguration,
+      softBodySolver: btSoftBodySolver,
+    );
+    addSoftBody(body: btSoftBody, collisionFilterGroup: number, collisionFilterMask: number): void;
+    removeSoftBody(body: btSoftBody): void;
+    removeCollisionObject(collisionObject: btCollisionObject): void;
+    getWorldInfo(): btSoftBodyWorldInfo;
+    getSoftBodyArray(): btSoftBodyArray;
+  }
+  class btSoftBodyHelpers {
+    constructor();
+    CreateRope(worldInfo: btSoftBodyWorldInfo, from: btVector3, to: btVector3, res: number, fixeds: number): btSoftBody;
+    CreatePatch(
+      worldInfo: btSoftBodyWorldInfo,
+      corner00: btVector3,
+      corner10: btVector3,
+      corner01: btVector3,
+      corner11: btVector3,
+      resx: number,
+      resy: number,
+      fixeds: number,
+      gendiags: boolean,
+    ): btSoftBody;
+    CreatePatchUV(
+      worldInfo: btSoftBodyWorldInfo,
+      corner00: btVector3,
+      corner10: btVector3,
+      corner01: btVector3,
+      corner11: btVector3,
+      resx: number,
+      resy: number,
+      fixeds: number,
+      gendiags: boolean,
+      tex_coords: ReadonlyArray<number>,
+    ): btSoftBody;
+    CreateEllipsoid(worldInfo: btSoftBodyWorldInfo, center: btVector3, radius: btVector3, res: number): btSoftBody;
+    CreateFromTriMesh(
+      worldInfo: btSoftBodyWorldInfo,
+      vertices: ReadonlyArray<number>,
+      triangles: ReadonlyArray<number>,
+      ntriangles: number,
+      randomizeConstraints: boolean,
+    ): btSoftBody;
+    CreateFromConvexHull(
+      worldInfo: btSoftBodyWorldInfo,
+      vertices: btVector3,
+      nvertices: number,
+      randomizeConstraints: boolean,
+    ): btSoftBody;
+  }
+}