Yes, scientists have described a four-dimensional cube, for example with a step-by-step generalization of the properties of lines, squares, and cubes.
The geometry of four-dimensional space is much more complex than that of three-dimensional space and it is explained in the following video:
In physics we consider time a dimension! Dimensions in this context just mean that we talk about different directions (left vs right, up vs. down, forward vs backward, past vs future). Whether there are any more dimensions to be discovered is still an open question!
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