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#ifndef DY_ARTICULATION_SCALAR_H
#define DY_ARTICULATION_SCALAR_H

// Scalar helpers for articulations

#include "foundation/PxUnionCast.h"
#include "DyArticulationUtils.h"
#include "DySpatial.h"
#include "PsFPU.h"

namespace physx
{

namespace Dy
{

PX_FORCE_INLINE Cm::SpatialVector&	velocityRef(FsData &m, PxU32 i)
{	
	return reinterpret_cast<Cm::SpatialVector&>(getVelocity(m)[i]); 
}

PX_FORCE_INLINE Cm::SpatialVector&	deferredVelRef(FsData &m, PxU32 i)
{	
	return reinterpret_cast<Cm::SpatialVector&>(getDeferredVel(m)[i]); 
}

PX_FORCE_INLINE PxVec3& deferredSZRef(FsData &m, PxU32 i)
{	
	return reinterpret_cast<PxVec3 &>(getDeferredSZ(m)[i]); 
}

PX_FORCE_INLINE const PxVec3& deferredSZ(const FsData &s, PxU32 i) 
{	
	return reinterpret_cast<const PxVec3 &>(getDeferredSZ(s)[i]); 
}

PX_FORCE_INLINE Cm::SpatialVector& deferredZRef(FsData &s)
{
	return unsimdRef(s.deferredZ);
}


PX_FORCE_INLINE const Cm::SpatialVector& deferredZ(const FsData &s)
{
	return unsimdRef(s.deferredZ);
}

PX_FORCE_INLINE const PxVec3& getJointOffset(const FsJointVectors& j) 
{	
	return reinterpret_cast<const PxVec3& >(j.jointOffset);		
}

PX_FORCE_INLINE const PxVec3& getParentOffset(const FsJointVectors& j) 
{	
	return reinterpret_cast<const PxVec3&>(j.parentOffset);		
}




PX_FORCE_INLINE const Cm::SpatialVector* getDSI(const FsRow& row)
{	
	return PxUnionCast<const Cm::SpatialVector*,const Cm::SpatialVectorV*>(row.DSI); //reinterpret_cast<const Cm::SpatialVector*>(row.DSI); 
}

}

}

#endif //DY_ARTICULATION_SCALAR_H