How do you talk about casual sex?

A female friend and I got somewhat intimate but before it lead to sex we fall asleep half naked. Things got a little weird because old feelings I had for her came back. We talked about it and we are still friends and cool. Did the whole feelings thing blow my chance of ever having sex with her? Do I try to discuss or just wait a see what happens? When we talked she apologized for kissing me and what not I told her she did nothing wrong and we both know there is some attraction. She has not really giving me a answer on the matter.