libsofa1-dev 1.0~beta4-10ubuntu2 / usr / include / sofa / component / mapping / BarycentricMapping.h

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
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* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPING_H
#define SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPING_H

#include <sofa/helper/vector.h>
#include <sofa/component/topology/PointData.h>
#include <sofa/component/topology/HexahedronData.h>
#include <sofa/component/topology/RegularGridTopology.h>
#include <sofa/core/Mapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>

// forward declarations
namespace sofa {
	namespace core {
		namespace componentmodel {
			namespace topology {
			  class BaseMeshTopology;
			}
		}
	}

	namespace component {
		namespace topology {
		  class MeshTopology;
		  class RegularGridTopology;
		  class SparseGridTopology;

		  class EdgeSetTopologyContainer;
		  template <class T>
		  class EdgeSetGeometryAlgorithms;

		  class TriangleSetTopologyContainer;
		  template <class T>
		  class TriangleSetGeometryAlgorithms;

		  class QuadSetTopologyContainer;
		  template <class T>
		  class QuadSetGeometryAlgorithms;

		  class TetrahedronSetTopologyContainer;
		  template <class T>
		  class TetrahedronSetGeometryAlgorithms;

		  class HexahedronSetTopologyContainer;
		  template <class T>
		  class HexahedronSetGeometryAlgorithms;
		}
	}
}

namespace sofa
{

namespace component
{

  namespace mapping
  {
    /// Base class for barycentric mapping topology-specific mappers
    template<class In, class Out>
      class BarycentricMapper
    {
    public:
      typedef typename In::Real Real;
      typedef typename Out::Real OutReal;

      typedef typename In::VecDeriv InVecDeriv;
      typedef typename In::Deriv InDeriv;
      typedef typename std::map<unsigned int, InDeriv>::const_iterator InConstraintIterator;

      typedef typename Out::VecDeriv OutVecDeriv;
      typedef typename Out::Deriv OutDeriv;
      typedef typename std::map<unsigned int, OutDeriv>::const_iterator OutConstraintIterator;

    protected:
      template< int NC,  int NP>
	class MappingData
      {
      public:
        int in_index;
        //unsigned int points[NP];
        Real baryCoords[NC];

	inline friend std::istream& operator >> ( std::istream& in, MappingData< NC, NP> &m )
	  {
	    in>>m.in_index;
	    for (int i=0;i<NC;i++) in >> m.baryCoords[i];
	    return in;
	  }

	inline friend std::ostream& operator << ( std::ostream& out, const MappingData< NC , NP > & m ){
	  out << m.in_index;
	  for (int i=0;i<NC;i++)
	    out << " " << m.baryCoords[i];
          out << "\n";
	  return out;
	}

      };

    public:
      typedef MappingData<1,2> LineData;
      typedef MappingData<2,3> TriangleData;
      typedef MappingData<2,4> QuadData;
      typedef MappingData<3,4> TetraData;
      typedef MappingData<3,8> CubeData;
      typedef MappingData<1,0> MappingData1D;
      typedef MappingData<2,0> MappingData2D;
      typedef MappingData<3,0> MappingData3D;

      virtual ~BarycentricMapper(){}
	  virtual void init(const typename Out::VecCoord& out, const typename In::VecCoord& in) = 0;
      virtual void apply( typename Out::VecCoord& out, const typename In::VecCoord& in ) = 0;
      virtual void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in ) = 0;
      virtual void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in ) = 0;
      virtual void applyJT( typename In::VecConst& out, const typename Out::VecConst& in ) = 0;
      virtual void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in) = 0;

	  virtual void clear( int reserve=0 ) =0;

      // TODO: make it pure virtual. Get the barycentric coefficients and the coordinates of the parents of a given mapped dof.
      virtual void getJ(unsigned int /*Idx*/, sofa::helper::vector< double > &/*factor*/, sofa::helper::vector< unsigned int > &/*indices*/)
      {std::cerr<< "getJ NOT implemented yet\n"; };

      //Nothing to do
      inline friend std::istream& operator >> ( std::istream& in, BarycentricMapper< In, Out > & ) {return in;}
      inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapper< In, Out > &  ){ return out; }
    };

    /// Template class for barycentric mapping topology-specific mappers.
    template<class In, class Out>
	class TopologyBarycentricMapper : public BarycentricMapper<In,Out>
	{
	  public:
		typedef BarycentricMapper<In,Out> Inherit;
		typedef typename Inherit::Real Real;

		virtual ~TopologyBarycentricMapper() {}

		virtual int addPointInLine(const int /*lineIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int setPointInLine(const int /*pointIndex*/, const int /*lineIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int createPointInLine(const typename Out::Coord& /*p*/, int /*lineIndex*/, const typename In::VecCoord* /*points*/) {return 0;}

		virtual int addPointInTriangle(const int /*triangleIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int setPointInTriangle(const int /*pointIndex*/, const int /*triangleIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int createPointInTriangle(const typename Out::Coord& /*p*/, int /*triangleIndex*/, const typename In::VecCoord* /*points*/) {return 0;}

		virtual int addPointInQuad(const int /*quadIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int setPointInQuad(const int /*pointIndex*/, const int /*quadIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int createPointInQuad(const typename Out::Coord& /*p*/, int /*quadIndex*/, const typename In::VecCoord* /*points*/) {return 0;}

		virtual int addPointInTetra(const int /*tetraIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int setPointInTetra(const int /*pointIndex*/, const int /*tetraIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int createPointInTetra(const typename Out::Coord& /*p*/, int /*tetraIndex*/, const typename In::VecCoord* /*points*/) {return 0;}

		virtual int addPointInCube(const int /*cubeIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int setPointInCube(const int /*pointIndex*/, const int /*cubeIndex*/, const SReal* /*baryCoords*/) {return 0;}
		virtual int createPointInCube(const typename Out::Coord& /*p*/, int /*cubeIndex*/, const typename In::VecCoord* /*points*/) {return 0;}

	protected:
		TopologyBarycentricMapper(core::componentmodel::topology::BaseMeshTopology* topology)
		: topology(topology)
		{}

	protected:
		core::componentmodel::topology::BaseMeshTopology* topology;
	};


    /// Class allowing barycentric mapping computation on a MeshTopology
    template<class In, class Out>
      class BarycentricMapperMeshTopology : public TopologyBarycentricMapper<In,Out>
      {
      public:
	typedef TopologyBarycentricMapper<In,Out> Inherit;
	typedef typename Inherit::Real Real;
	typedef typename Inherit::OutReal OutReal;
	typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
	typedef typename Inherit::OutDeriv  OutDeriv;
	typedef typename Inherit::InConstraintIterator  InConstraintIterator;
	typedef typename Inherit::InDeriv  InDeriv;
	typedef typename Inherit::MappingData1D MappingData1D;
	typedef typename Inherit::MappingData2D MappingData2D;
	typedef typename Inherit::MappingData3D MappingData3D;
      protected:
	sofa::helper::vector< MappingData1D >  map1d;
	sofa::helper::vector< MappingData2D >  map2d;
	sofa::helper::vector< MappingData3D >  map3d;

     public:
		 BarycentricMapperMeshTopology(core::componentmodel::topology::BaseMeshTopology* topology)
		: TopologyBarycentricMapper<In,Out>(topology)
	  {}

	  virtual ~BarycentricMapperMeshTopology(){}

	  void clear(int reserve=0);

	  int addPointInLine(const int lineIndex, const SReal* baryCoords);
	  int createPointInLine(const typename Out::Coord& p, int lineIndex, const typename In::VecCoord* points);

	  int addPointInTriangle(const int triangleIndex, const SReal* baryCoords);
	  int createPointInTriangle(const typename Out::Coord& p, int triangleIndex, const typename In::VecCoord* points);

	  int addPointInQuad(const int quadIndex, const SReal* baryCoords);
	  int createPointInQuad(const typename Out::Coord& p, int quadIndex, const typename In::VecCoord* points);

	  int addPointInTetra(const int tetraIndex, const SReal* baryCoords);

	  int addPointInCube(const int cubeIndex, const SReal* baryCoords);

	  void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

	  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
	  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
	  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
	  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
	  void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

          void getJ(unsigned int Idx, sofa::helper::vector< double > &factor, sofa::helper::vector< unsigned int > &indices);

	  inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperMeshTopology<In, Out> &b )
	    {
	      unsigned int size_vec;
	      in >> size_vec;
	      b.map1d.clear();
	      MappingData1D value1d;
	      for (unsigned int i=0;i<size_vec;i++)
		{
		  in >> value1d;
		  b.map1d.push_back(value1d);
		}

	      in >> size_vec;
	      b.map2d.clear();
	      MappingData2D value2d;
	      for (unsigned int i=0;i<size_vec;i++)
		{
		  in >> value2d;
		  b.map2d.push_back(value2d);
		}

	      in >> size_vec;
	      b.map3d.clear();
	      MappingData3D value3d;
	      for (unsigned int i=0;i<size_vec;i++)
		{
		  in >> value3d;
		  b.map3d.push_back(value3d);
		}
	      return in;
	    }

	  inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperMeshTopology<In, Out> & b ){

	    out << b.map1d.size();
	    out << " " ;
	    out << b.map1d;
	    out << " " ;
	    out << b.map2d.size();
	    out << " " ;
	    out << b.map2d;
	    out << " " ;
	    out << b.map3d.size();
	    out << " " ;
	    out << b.map3d;

	    return out;
	  }

	  private:
		void clear1d(int reserve=0);
		void clear2d(int reserve=0);
		void clear3d(int reserve=0);

      };
/// Class allowing barycentric mapping computation on a RegularGridTopology
template<class In, class Out>
class BarycentricMapperRegularGridTopology : public TopologyBarycentricMapper<In,Out>
{
public:
    typedef TopologyBarycentricMapper<In,Out> Inherit;
    typedef typename Inherit::Real Real;
    typedef typename Inherit::OutReal OutReal;
    typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
    typedef typename Inherit::OutDeriv  OutDeriv;
    typedef typename Inherit::InConstraintIterator  InConstraintIterator;
    typedef typename Inherit::InDeriv  InDeriv;
    typedef typename Inherit::CubeData CubeData;
protected:
    sofa::helper::vector<CubeData> map;
    topology::RegularGridTopology* topology;

public:
    BarycentricMapperRegularGridTopology(topology::RegularGridTopology* topology)
    : Inherit(topology),topology(topology)
    {}

    virtual ~BarycentricMapperRegularGridTopology(){}

    void clear(int reserve=0);

    bool isEmpty(){return this->map.size() == 0;}
    void setTopology(topology::RegularGridTopology* _topology){this->topology = _topology;}
    topology::RegularGridTopology *getTopology(){return dynamic_cast<topology::RegularGridTopology *>(this->topology);}

    int addPointInCube(const int cubeIndex, const SReal* baryCoords);

    void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
    void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
    void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
    void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
    void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
    void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

    inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperRegularGridTopology<In, Out> &b )
    {
        in >> b.map;
        return in;
    }

    inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperRegularGridTopology<In, Out> & b )
    {
        out << b.map;
        return out;
    }

};


/// Class allowing barycentric mapping computation on a SparseGridTopology
template<class In, class Out>
class BarycentricMapperSparseGridTopology : public TopologyBarycentricMapper<In,Out>
{
public:
    typedef TopologyBarycentricMapper<In,Out> Inherit;
    typedef typename Inherit::Real Real;
    typedef typename Inherit::OutReal OutReal;
    typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
    typedef typename Inherit::OutDeriv  OutDeriv;
    typedef typename Inherit::InConstraintIterator  InConstraintIterator;
    typedef typename Inherit::InDeriv  InDeriv;

    typedef typename Inherit::CubeData CubeData;
protected:
    sofa::helper::vector<CubeData> map;
    topology::SparseGridTopology* topology;
public:
    BarycentricMapperSparseGridTopology(topology::SparseGridTopology* topology)
    : TopologyBarycentricMapper<In,Out>(topology),
      topology(topology)
    {}

    virtual ~BarycentricMapperSparseGridTopology(){}

    void clear(int reserve=0);

    int addPointInCube(const int cubeIndex, const SReal* baryCoords);

    void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

    void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
    void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
    void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
    void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
    void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

    inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperSparseGridTopology<In, Out> &b )
    {
	in >> b.map;
	return in;
    }

    inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperSparseGridTopology<In, Out> & b )
    {
	out << b.map;
	return out;
    }

};


    /// Base class for barycentric mapping topology-specific mappers. Enables topological changes.
	class BarycentricMapperDynamicTopology
	{
	public:
		virtual ~BarycentricMapperDynamicTopology() {}

		// handle topology changes in the From topology
		virtual void handleTopologyChange()=0;

		// handle topology changes in the To topology
		virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
										std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator )=0;
	protected:
		BarycentricMapperDynamicTopology() {}
	};


    /// Class allowing barycentric mapping computation on a EdgeSetTopology
    template<class In, class Out>
      class BarycentricMapperEdgeSetTopology : public TopologyBarycentricMapper<In,Out>,
												public BarycentricMapperDynamicTopology

      {
      public:
		typedef TopologyBarycentricMapper<In,Out> Inherit;
		typedef typename Inherit::Real Real;
		typedef typename Inherit::OutReal OutReal;
                typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
                typedef typename Inherit::OutDeriv  OutDeriv;
                typedef typename Inherit::InConstraintIterator  InConstraintIterator;
                typedef typename Inherit::InDeriv  InDeriv;
		typedef typename Inherit::MappingData1D MappingData;

      protected:
		topology::PointData< MappingData >  map;
		topology::EdgeSetTopologyContainer*			_container;
		topology::EdgeSetGeometryAlgorithms<In>*	_geomAlgo;

      public:
		BarycentricMapperEdgeSetTopology(topology::EdgeSetTopologyContainer* topology)
		: TopologyBarycentricMapper<In,Out>(topology),
		_container(topology),
		_geomAlgo(NULL)
		{}

	  virtual ~BarycentricMapperEdgeSetTopology(){}

	  void clear(int reserve=0);

	  int addPointInLine(const int edgeIndex, const SReal* baryCoords);
	  int createPointInLine(const typename Out::Coord& p, int edgeIndex, const typename In::VecCoord* points);

	  void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

	  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
	  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
	  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
	  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
	  void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

	  // handle topology changes in the From topology
	  virtual void handleTopologyChange();
	  // handle topology changes in the To topology
	  virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
										std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);

	  inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperEdgeSetTopology<In, Out> &b )
	    {
	      unsigned int size_vec;

	      in >> size_vec;
		  sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
		  m.clear();
		  
		  MappingData value;
	      for (unsigned int i=0;i<size_vec;i++)
		{
		  in >> value;
		  m.push_back(value);
		}
		  b.map.endEdit();
		  return in;
	    }

	  inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperEdgeSetTopology<In, Out> & b ){

	    out << b.map.getValue().size();
	    out << " " ;
	    out << b.map;

	    return out;
	  }


      };


	  /// Class allowing barycentric mapping computation on a TriangleSetTopology
	  template<class In, class Out>
	  class BarycentricMapperTriangleSetTopology : public TopologyBarycentricMapper<In,Out>,
												public BarycentricMapperDynamicTopology
	  {
	  public:
		  typedef TopologyBarycentricMapper<In,Out> Inherit;
		  typedef typename Inherit::Real Real;
		  typedef typename Inherit::OutReal OutReal;
                  typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
                  typedef typename Inherit::OutDeriv  OutDeriv;
                  typedef typename Inherit::InConstraintIterator  InConstraintIterator;
                  typedef typename Inherit::InDeriv  InDeriv;
		  typedef typename Inherit::MappingData2D MappingData;
	  protected:
		topology::PointData< MappingData >		map;
		topology::TriangleSetTopologyContainer*			_container;
		topology::TriangleSetGeometryAlgorithms<In>*	_geomAlgo;

	  public:
		  BarycentricMapperTriangleSetTopology(topology::TriangleSetTopologyContainer* topology)
		: TopologyBarycentricMapper<In,Out>(topology),
		_container(topology),
		_geomAlgo(NULL)
		{}

		virtual ~BarycentricMapperTriangleSetTopology(){}

		  void clear(int reserve=0);

		  int addPointInTriangle(const int triangleIndex, const SReal* baryCoords);
		  int createPointInTriangle(const typename Out::Coord& p, int triangleIndex, const typename In::VecCoord* points);

		  void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
		  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
		  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
		  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
		  void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  // handle topology changes in the From topology
		  virtual void handleTopologyChange();
		  // handle topology changes in the To topology
		  virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
										std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);

		  inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperTriangleSetTopology<In, Out> &b )
		  {
			  unsigned int size_vec;

			  in >> size_vec;

	  		  sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
			  m.clear();
			  MappingData value;
			  for (unsigned int i=0;i<size_vec;i++)
			  {
				  in >> value;
				  m.push_back(value);
			  }
			  b.map.endEdit();
			  return in;
		  }

		  inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperTriangleSetTopology<In, Out> & b ){

			  out << b.map.getValue().size();
			  out << " " ;
			  out << b.map;

			  return out;
		  }


	  };


	  /// Class allowing barycentric mapping computation on a QuadSetTopology
	  template<class In, class Out>
	  class BarycentricMapperQuadSetTopology : public TopologyBarycentricMapper<In,Out>,
												public BarycentricMapperDynamicTopology
	  {
	  public:
		  typedef TopologyBarycentricMapper<In,Out> Inherit;
		  typedef typename Inherit::Real Real;
		  typedef typename Inherit::OutReal OutReal;
                  typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
                  typedef typename Inherit::OutDeriv  OutDeriv;
                  typedef typename Inherit::InConstraintIterator  InConstraintIterator;
                  typedef typename Inherit::InDeriv  InDeriv;
		  typedef typename Inherit::MappingData2D MappingData;
	  protected:
		topology::PointData< MappingData >  map;
		topology::QuadSetTopologyContainer*			_container;
		topology::QuadSetGeometryAlgorithms<In>*	_geomAlgo;

	  public:
		  BarycentricMapperQuadSetTopology(topology::QuadSetTopologyContainer* topology)
		: TopologyBarycentricMapper<In,Out>(topology),
		_container(topology),
		_geomAlgo(NULL)
		{}

		virtual ~BarycentricMapperQuadSetTopology(){}

		  void clear(int reserve=0);

		  int addPointInQuad(const int index, const SReal* baryCoords);
		  int createPointInQuad(const typename Out::Coord& p, int index, const typename In::VecCoord* points);

		  void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
		  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
		  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
		  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
		  void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  // handle topology changes in the From topology
		  virtual void handleTopologyChange();
		  // handle topology changes in the To topology
		  virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
										std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);

		  inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperQuadSetTopology<In, Out> &b )
		  {
			  unsigned int size_vec;

			  in >> size_vec;
  	  		  sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
			  m.clear();
			  MappingData value;
			  for (unsigned int i=0;i<size_vec;i++)
			  {
				  in >> value;
				  m.push_back(value);
			  }
			  b.map.endEdit();
			  return in;
		  }

		  inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperQuadSetTopology<In, Out> & b ){

			  out << b.map.getValue().size();
			  out << " " ;
			  out << b.map;

			  return out;
		  }

	  };

	  /// Class allowing barycentric mapping computation on a TetrehedronSetTopology
	  template<class In, class Out>
	  class BarycentricMapperTetrahedronSetTopology : public TopologyBarycentricMapper<In,Out>,
													public BarycentricMapperDynamicTopology
	  {
	  public:
		  typedef TopologyBarycentricMapper<In,Out> Inherit;
		  typedef typename Inherit::Real Real;
		  typedef typename Inherit::OutReal OutReal;
                  typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
                  typedef typename Inherit::OutDeriv  OutDeriv;
                  typedef typename Inherit::InConstraintIterator  InConstraintIterator;
                  typedef typename Inherit::InDeriv  InDeriv;
		  typedef typename Inherit::MappingData3D MappingData;
	  protected:
		topology::PointData< MappingData >  map;
		topology::TetrahedronSetTopologyContainer*			_container;
		topology::TetrahedronSetGeometryAlgorithms<In>*	_geomAlgo;

	  public:
		  BarycentricMapperTetrahedronSetTopology(topology::TetrahedronSetTopologyContainer* topology)
		: TopologyBarycentricMapper<In,Out>(topology),
		_container(topology),
		_geomAlgo(NULL)
		{}

		virtual ~BarycentricMapperTetrahedronSetTopology(){}

		  void clear(int reserve=0);

		  int addPointInTetra(const int index, const SReal* baryCoords);

		  void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
		  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
		  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
		  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
		  void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  // handle topology changes in the From topology
		  virtual void handleTopologyChange();
		  // handle topology changes in the To topology
		  virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
										std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);

		  inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperTetrahedronSetTopology<In, Out> &b )
		  {
			  unsigned int size_vec;

			  in >> size_vec;
  	  		  sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
			  m.clear();
			  MappingData value;
			  for (unsigned int i=0;i<size_vec;i++)
			  {
				  in >> value;
				  m.push_back(value);
			  }
			  b.map.endEdit();
			  return in;
		  }

		  inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperTetrahedronSetTopology<In, Out> & b ){

			  out << b.map.getValue().size();
			  out << " " ;
			  out << b.map;

			  return out;
		  }
	  };


	  /// Class allowing barycentric mapping computation on a HexahedronSetTopology
	  template<class In, class Out>
	  class BarycentricMapperHexahedronSetTopology : public TopologyBarycentricMapper<In,Out>,
													public BarycentricMapperDynamicTopology
	  {
	  public:
		  typedef TopologyBarycentricMapper<In,Out> Inherit;
		  typedef typename Inherit::Real Real;
		  typedef typename Inherit::OutReal OutReal;
                  typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
                  typedef typename Inherit::OutDeriv  OutDeriv;
                  typedef typename Inherit::InConstraintIterator  InConstraintIterator;
                  typedef typename Inherit::InDeriv  InDeriv;
		  typedef typename Inherit::MappingData3D MappingData;


	  protected:
		topology::PointData< MappingData >  map;
		topology::HexahedronSetTopologyContainer*		_container;
		topology::HexahedronSetGeometryAlgorithms<In>*	_geomAlgo;

	  public:
		  BarycentricMapperHexahedronSetTopology()
		: TopologyBarycentricMapper<In,Out>(NULL),_container(NULL),_geomAlgo(NULL)
		{}

		  BarycentricMapperHexahedronSetTopology(topology::HexahedronSetTopologyContainer* topology)
		: TopologyBarycentricMapper<In,Out>(topology),
		_container(topology),
		_geomAlgo(NULL)
		{}

		virtual ~BarycentricMapperHexahedronSetTopology(){}

		  void clear(int reserve=0);

		  int addPointInCube(const int index, const SReal* baryCoords);

		  int setPointInCube(const int pointIndex, const int cubeIndex, const SReal* baryCoords);

		  void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
		  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
		  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
		  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
		  void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);

		  // handle topology changes in the From topology
		  virtual void handleTopologyChange();
		  // handle topology changes in the To topology
		  virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
										std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);
                  bool isEmpty(){return this->map.getValue().empty();}
                  void setTopology(topology::HexahedronSetTopologyContainer* _topology){this->topology = _topology; _container=_topology;}

		  inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperHexahedronSetTopology<In, Out> &b )
		  {
			  unsigned int size_vec;

			  in >> size_vec;
   	  		  sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
			  m.clear();
			  MappingData value;
			  for (unsigned int i=0;i<size_vec;i++)
			  {
				  in >> value;
				  m.push_back(value);
			  }
			  b.map.endEdit();
			  return in;
		  }

		  inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperHexahedronSetTopology<In, Out> & b ){

			  out << b.map.getValue().size();
			  out << " " ;
			  out << b.map;

			  return out;
		  }
	  };

    template <class BasicMapping>
      class BarycentricMapping : public BasicMapping
    {
    public:
      typedef BasicMapping Inherit;
      typedef typename Inherit::In In;
      typedef typename Inherit::Out Out;
      typedef typename In::DataTypes InDataTypes;
      typedef typename InDataTypes::VecCoord InVecCoord;
      typedef typename InDataTypes::VecDeriv InVecDeriv;
      typedef typename InDataTypes::Coord InCoord;
      typedef typename InDataTypes::Deriv InDeriv;
      typedef typename InDataTypes::SparseVecDeriv InSparseVecDeriv;
      typedef typename InDataTypes::Real Real;
      typedef typename Out::DataTypes OutDataTypes;
      typedef typename OutDataTypes::VecCoord OutVecCoord;
      typedef typename OutDataTypes::VecDeriv OutVecDeriv;
      typedef typename OutDataTypes::Coord OutCoord;
      typedef typename OutDataTypes::Deriv OutDeriv;
      typedef typename OutDataTypes::SparseVecDeriv OutSparseVecDeriv;
      typedef typename OutDataTypes::Real OutReal;

      typedef core::componentmodel::topology::BaseMeshTopology BaseMeshTopology;
      
      using Inherit::sout;
      using Inherit::serr;
      using Inherit::sendl;
    protected:

      typedef TopologyBarycentricMapper<InDataTypes,OutDataTypes> Mapper;
      typedef BarycentricMapperRegularGridTopology<InDataTypes, OutDataTypes> RegularGridMapper;
      typedef BarycentricMapperHexahedronSetTopology<InDataTypes, OutDataTypes> HexaMapper;

      Mapper* mapper;
      DataPtr< RegularGridMapper >* f_grid;
      DataPtr< HexaMapper >* f_hexaMapper;
    public:
      BarycentricMapping(In* from, Out* to)
	: Inherit(from, to), mapper(NULL)
        , f_grid (new DataPtr< RegularGridMapper >( new RegularGridMapper( NULL ),"Regular Grid Mapping"))
        , f_hexaMapper (new DataPtr< HexaMapper >( new HexaMapper(  ),"Hexahedron Mapper"))  
	  {
	    this->addField( f_grid, "gridmap");	f_grid->beginEdit();
 	    this->addField( f_hexaMapper, "hexamap");	f_hexaMapper->beginEdit(); 
          }

	BarycentricMapping(In* from, Out* to, Mapper* mapper)
	: Inherit(from, to), mapper(mapper)
	{
	  if (RegularGridMapper* m = dynamic_cast< RegularGridMapper* >(mapper))
	  {
	    f_grid = new DataPtr< RegularGridMapper >( m,"Regular Grid Mapping");
	    this->addField( f_grid, "gridmap");	f_grid->beginEdit();
	  }
          else if (HexaMapper* m = dynamic_cast< HexaMapper* >(mapper))
            {
              f_hexaMapper = new DataPtr< HexaMapper >( m,"Hexahedron Mapper");
              this->addField( f_hexaMapper, "hexamap");	f_hexaMapper->beginEdit();
            }
	}

	BarycentricMapping(In* from, Out* to, BaseMeshTopology * topology );

	  virtual ~BarycentricMapping()
	    {
	      if (mapper!=NULL)
		delete mapper;
	    }

	  void init();

	  void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );

	  void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );

	  void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );

	  void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );

	  void draw();


          void getJ(unsigned int Idx, sofa::helper::vector< double > &factor, sofa::helper::vector< unsigned int > &indices){mapper->getJ(Idx,factor,indices);}
		// handle topological changes
		virtual void handleTopologyChange();
    // handle topology changes depending on the topology
    virtual void handleTopologyChange(core::componentmodel::topology::Topology* t);

		TopologyBarycentricMapper<InDataTypes,OutDataTypes>*	getMapper() {return mapper;}

	protected:
		sofa::core::componentmodel::topology::BaseMeshTopology* topology_from;
		sofa::core::componentmodel::topology::BaseMeshTopology* topology_to;

	private:
		void createMapperFromTopology(BaseMeshTopology * topology);
    };

using sofa::defaulttype::Vec1dTypes;
using sofa::defaulttype::Vec2dTypes;
using sofa::defaulttype::Vec3dTypes;
using sofa::defaulttype::Vec1fTypes;
using sofa::defaulttype::Vec2fTypes;
using sofa::defaulttype::Vec3fTypes;
using sofa::defaulttype::ExtVec1fTypes;
using sofa::defaulttype::ExtVec2fTypes;
using sofa::defaulttype::ExtVec3fTypes;
using core::Mapping;
using core::componentmodel::behavior::MechanicalMapping;
using core::componentmodel::behavior::MappedModel;
using core::componentmodel::behavior::State;
using core::componentmodel::behavior::MechanicalState;

#if defined(WIN32) && !defined(SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPING_CPP)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<Vec3dTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<ExtVec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, ExtVec3fTypes >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<ExtVec3fTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, ExtVec3dTypes >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3dTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3fTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, Vec3dTypes >;
#endif
#endif
#endif

} // namespace mapping

} // namespace component

} // namespace sofa

#endif