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#ifndef PXS_ISLAND_NODEINDEX_H
#define PXS_ISLAND_NODEINDEX_H

#include "foundation/PxSimpleTypes.h"

namespace physx
{
namespace IG
{
#define IG_INVALID_NODE 0x1FFFFFFu

	class NodeIndex
	{
	private:
		PxU32 ind;

	public:

		explicit PX_CUDA_CALLABLE PX_FORCE_INLINE NodeIndex(PxU32 id, PxU32 articLinkId) : ind((id << 7) | (articLinkId << 1) | 1)
		{
		}

		explicit PX_CUDA_CALLABLE PX_FORCE_INLINE NodeIndex(PxU32 id = IG_INVALID_NODE) : ind((id << 7))
		{
		}

		PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 index() const { return ind >> 7; }
		PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 articulationLinkId() const { return ((ind >> 1) & 63); }
		PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 isArticulation() const { return ind & 1; }

		PX_CUDA_CALLABLE PX_FORCE_INLINE bool isStaticBody() const { return (ind >> 7) == IG_INVALID_NODE; }

		PX_CUDA_CALLABLE bool isValid() const { return (ind >> 7) != IG_INVALID_NODE; }

		PX_CUDA_CALLABLE void setIndices(PxU32 index, PxU32 articLinkId) { ind = ((index << 7) | (articLinkId << 1) | 1); }

		PX_CUDA_CALLABLE void setIndices(PxU32 index) { ind = ((index << 7)); }

		PX_CUDA_CALLABLE bool operator < (const IG::NodeIndex& other) const { return ind < other.ind; }

		PX_CUDA_CALLABLE bool operator <= (const IG::NodeIndex& other) const { return ind <= other.ind; }

		PX_CUDA_CALLABLE bool operator == (const IG::NodeIndex& other) const { return ind == other.ind; }
	};

}
}

#endif
