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#ifndef PXD_FEATHERSTONE_ARTICULATION_LINK_H
#define PXD_FEATHERSTONE_ARTICULATION_LINK_H

#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "PsVecMath.h"
#include "CmUtils.h"
#include "CmSpatialVector.h"
#include "DyVArticulation.h"
#include "DyFeatherstoneArticulationUtils.h"

namespace physx
{
	namespace Dy
	{

		class ArticulationLinkData
		{
			const static PxU32 MaxJointRows = 3;
		public:
			ArticulationLinkData()
			{
				maxPenBias = 0.f;
			}

			Cm::SpatialVectorF				IsW[MaxJointRows];//stI is the transpose of Is
			PxVec3							childToBase;
			PxVec3							r; //vector from parent com to child com
			PxVec3							rw; //vector from parent com to child com
			PxReal							qstZIc[MaxJointRows];//jointForce - stZIc
			PxReal							maxPenBias;

		};

	}//namespace Dy
}

#endif
