From 5ee5c5a2f2b17563117b30f757d065e25b1f4b58 Mon Sep 17 00:00:00 2001
From: erik pernod <erik.pernod@gmail.com>
Date: Tue, 15 Sep 2026 21:41:33 +0200
Subject: [PATCH 1/6] =?UTF-8?q?=EF=BB=BF[scenes]=20Update=20scenes=20to=20?=
 =?UTF-8?q?be=20compatible=20with=20changes=20in=20SOFA=20regarding=20Inte?=
 =?UTF-8?q?grationScheme?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 examples/ArticulatedToolManager.scn                |  4 ++--
 examples/BeatingCube.scn                           |  6 +++---
 examples/BeatingCube_moving.scn                    |  6 +++---
 examples/CollisionDetectionDisplay.scn             | 14 +++++++-------
 examples/Cube_AdvCarvingTexcoords.scn              |  4 ++--
 examples/Cube_AdvCarvingWithRefinement.scn         |  4 ++--
 .../Cube_AdvCarvingWithRefinementTexcoords.scn     |  4 ++--
 examples/Cube_Carving.scn                          |  4 ++--
 examples/Cube_CarvingWithPenetration.scn           |  4 ++--
 examples/Geomagic-AdvCarving.scn                   |  6 +++---
 examples/Geomagic-AdvCarvingWithRefinement.scn     |  4 ++--
 examples/Geomagic-AdvCarvingWithTexCoords.scn      |  6 +++---
 examples/Geomagic_RigidCube_AdvCarving.scn         |  4 ++--
 .../SubdivisionController_CutFromPlane.scn         |  4 ++--
 .../SubdivisionController_CutWithSurface.scn       |  4 ++--
 .../SubdivisionController_RefineFullMesh.scn       |  4 ++--
 .../SubdivisionController_RefineTetrahedra.scn     |  4 ++--
 examples/NearestTexcoordsMap.scn                   | 10 +++++-----
 examples/NearestTexcoordsMap_options.scn           | 10 +++++-----
 examples/ProximityOscillatorConstraint.scn         |  6 +++---
 examples/RigidCube_CarvingWithRefinement.scn       |  4 ++--
 examples/TetrahedronBeamMultiMaterials.scn         | 10 +++++-----
 .../Triangle2RefinedTriangleTopologicalMapping.scn |  6 +++---
 examples/VirtualTools.xml                          |  8 ++++----
 extensions/MeshRefinement/README.md                |  2 +-
 .../TetrahedronSubdivisionController_test.cpp      |  2 +-
 .../tests/scenes/SimpleCubeRefinement.scn          |  4 ++--
 .../scenes/TetrahedronCutting_Advanced_01.scn      |  4 ++--
 extensions/MeshRefinement/tests/scenes/headers.xml |  2 +-
 scripts/changeComponentName_script.py              |  2 +-
 scripts/oglLoader_script.py                        |  2 +-
 31 files changed, 79 insertions(+), 79 deletions(-)

diff --git a/examples/ArticulatedToolManager.scn b/examples/ArticulatedToolManager.scn
index f6c2cc3..1506ddc 100644
--- a/examples/ArticulatedToolManager.scn
+++ b/examples/ArticulatedToolManager.scn
@@ -19,7 +19,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -57,7 +57,7 @@
     
 	
     <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
 		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="0 0 0  0 0 0 1   0 0 0  0 0 0 1    0 0 0  0 0 0 1"/>
diff --git a/examples/BeatingCube.scn b/examples/BeatingCube.scn
index 2691583..dce6d75 100644
--- a/examples/BeatingCube.scn
+++ b/examples/BeatingCube.scn
@@ -11,7 +11,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -34,8 +34,8 @@
   
 
     <Node name="DeformableCube">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-4" threshold="1.0e-4" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-4" threshold="1.0e-4" />
         
         <MeshGmshLoader name="loader" filename="./mesh/cube_01.msh" />
         <MechanicalObject position="@loader.position" name="Volume" />
diff --git a/examples/BeatingCube_moving.scn b/examples/BeatingCube_moving.scn
index 2e9fa6c..4bf910e 100644
--- a/examples/BeatingCube_moving.scn
+++ b/examples/BeatingCube_moving.scn
@@ -11,7 +11,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -34,8 +34,8 @@
   
 
     <Node name="DeformableCube">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-4" threshold="1.0e-4" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-4" threshold="1.0e-4" />
         
         <MeshGmshLoader name="loader" filename="./mesh/cube_01.msh" />
         <MechanicalObject position="@loader.position" name="Volume" />
diff --git a/examples/CollisionDetectionDisplay.scn b/examples/CollisionDetectionDisplay.scn
index 0a901c6..1334de4 100644
--- a/examples/CollisionDetectionDisplay.scn
+++ b/examples/CollisionDetectionDisplay.scn
@@ -8,7 +8,7 @@
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
     <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
     <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
@@ -33,8 +33,8 @@
     <MeshOBJLoader name='Loader-floor' filename='mesh/floor2b.obj'/>
 
     <Node name="Torus">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="25" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
         <MechanicalObject dx="0" dy="20" dz="29" rz="64" />
         <UniformMass totalMass="10" />
         <RegularGridTopology nx="6" ny="5" nz="2" xmin="-7.5" xmax="7.5" ymin="-6" ymax="6" zmin="-1.75" zmax="1.75" />
@@ -55,8 +55,8 @@
     </Node>
 
     <Node name="Dragon">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
-        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false" />
+        <CGLinearSolver iterations="25" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
         <MechanicalObject dx="20" dy="20" dz="29" rx="33" />
         <UniformMass totalMass="10" />
         <RegularGridTopology nx="6" ny="5" nz="3" xmin="-11" xmax="11" ymin="-7" ymax="7" zmin="-4" zmax="4" />
@@ -77,8 +77,8 @@
     </Node>
 
     <Node name="Frog">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
-        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false" />
+        <CGLinearSolver iterations="25" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
         <MechanicalObject dx="-20" dy="20" dz="29" ry="10" />
         <UniformMass totalMass="10" />
         <RegularGridTopology nx="6" ny="3" nz="5" xmin="-10" xmax="8" ymin="-3" ymax="2.5" zmin="-7" zmax="7" />
diff --git a/examples/Cube_AdvCarvingTexcoords.scn b/examples/Cube_AdvCarvingTexcoords.scn
index d0bd6bc..bc2bf62 100644
--- a/examples/Cube_AdvCarvingTexcoords.scn
+++ b/examples/Cube_AdvCarvingTexcoords.scn
@@ -12,7 +12,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -34,7 +34,7 @@
     <CollisionResponse response="PenalityContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />
 
-    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+    <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
     <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" carvingDistance="0.05" 
diff --git a/examples/Cube_AdvCarvingWithRefinement.scn b/examples/Cube_AdvCarvingWithRefinement.scn
index dd3e85b..7848a55 100644
--- a/examples/Cube_AdvCarvingWithRefinement.scn
+++ b/examples/Cube_AdvCarvingWithRefinement.scn
@@ -12,7 +12,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -35,7 +35,7 @@
     <CollisionResponse response="PenalityContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />
 
-    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+    <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
     <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.5" 
diff --git a/examples/Cube_AdvCarvingWithRefinementTexcoords.scn b/examples/Cube_AdvCarvingWithRefinementTexcoords.scn
index 661ee7e..e45193c 100644
--- a/examples/Cube_AdvCarvingWithRefinementTexcoords.scn
+++ b/examples/Cube_AdvCarvingWithRefinementTexcoords.scn
@@ -12,7 +12,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -32,7 +32,7 @@
     <CollisionResponse response="PenalityContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />
 
-    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+    <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
     <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.5" 
diff --git a/examples/Cube_Carving.scn b/examples/Cube_Carving.scn
index 01ea5cd..dd6cd25 100644
--- a/examples/Cube_Carving.scn
+++ b/examples/Cube_Carving.scn
@@ -10,7 +10,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
@@ -31,7 +31,7 @@
     <CollisionResponse response="PenalityContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1"/>
   
-    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+    <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
     <CarvingManager active="true" carvingDistance="0.0"/>
diff --git a/examples/Cube_CarvingWithPenetration.scn b/examples/Cube_CarvingWithPenetration.scn
index 2c141ee..c9b5f4b 100644
--- a/examples/Cube_CarvingWithPenetration.scn
+++ b/examples/Cube_CarvingWithPenetration.scn
@@ -12,7 +12,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
@@ -33,7 +33,7 @@
     <CollisionResponse response="PenalityContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1"/>
   
-    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+    <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
     <CarvingManager active="true" carvingDistance="-0.05"/>
diff --git a/examples/Geomagic-AdvCarving.scn b/examples/Geomagic-AdvCarving.scn
index cb7cf04..d734644 100644
--- a/examples/Geomagic-AdvCarving.scn
+++ b/examples/Geomagic-AdvCarving.scn
@@ -19,7 +19,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -61,7 +61,7 @@
     </Node>
 
     <Node name="Cube">
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
 
@@ -95,7 +95,7 @@
 	
 	
     <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
 		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
diff --git a/examples/Geomagic-AdvCarvingWithRefinement.scn b/examples/Geomagic-AdvCarvingWithRefinement.scn
index 6359615..5ed7e78 100644
--- a/examples/Geomagic-AdvCarvingWithRefinement.scn
+++ b/examples/Geomagic-AdvCarvingWithRefinement.scn
@@ -19,7 +19,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -79,7 +79,7 @@
 	
 	
     <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
 		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
diff --git a/examples/Geomagic-AdvCarvingWithTexCoords.scn b/examples/Geomagic-AdvCarvingWithTexCoords.scn
index 1d631ff..caf8e90 100644
--- a/examples/Geomagic-AdvCarvingWithTexCoords.scn
+++ b/examples/Geomagic-AdvCarvingWithTexCoords.scn
@@ -19,7 +19,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -61,7 +61,7 @@
     </Node>
 
     <Node name="Cube">
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
 
@@ -95,7 +95,7 @@
 	
 	
     <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
 		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
diff --git a/examples/Geomagic_RigidCube_AdvCarving.scn b/examples/Geomagic_RigidCube_AdvCarving.scn
index f6f2166..24d5725 100644
--- a/examples/Geomagic_RigidCube_AdvCarving.scn
+++ b/examples/Geomagic_RigidCube_AdvCarving.scn
@@ -19,7 +19,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -79,7 +79,7 @@
 	
 	
     <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
 		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
diff --git a/examples/MeshRefinement/SubdivisionController_CutFromPlane.scn b/examples/MeshRefinement/SubdivisionController_CutFromPlane.scn
index d842030..04eb624 100644
--- a/examples/MeshRefinement/SubdivisionController_CutFromPlane.scn
+++ b/examples/MeshRefinement/SubdivisionController_CutFromPlane.scn
@@ -17,7 +17,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
         <RequiredPlugin pluginName="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetGeometryAlgorithms,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
@@ -41,7 +41,7 @@
     </Node>
 
     <Node name="Beam">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="10" name="linearSolver" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject src="@../grid" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../TetraGenerator/Container"/>
diff --git a/examples/MeshRefinement/SubdivisionController_CutWithSurface.scn b/examples/MeshRefinement/SubdivisionController_CutWithSurface.scn
index d3b292a..1cd7492 100644
--- a/examples/MeshRefinement/SubdivisionController_CutWithSurface.scn
+++ b/examples/MeshRefinement/SubdivisionController_CutWithSurface.scn
@@ -22,7 +22,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetGeometryAlgorithms,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
@@ -47,7 +47,7 @@
     </Node>
 
     <Node name="Cube">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linearSolver" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject src="@../grid" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../TetraGenerator/Container"/>
diff --git a/examples/MeshRefinement/SubdivisionController_RefineFullMesh.scn b/examples/MeshRefinement/SubdivisionController_RefineFullMesh.scn
index 858b743..0361174 100644
--- a/examples/MeshRefinement/SubdivisionController_RefineFullMesh.scn
+++ b/examples/MeshRefinement/SubdivisionController_RefineFullMesh.scn
@@ -16,7 +16,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier] -->
@@ -40,7 +40,7 @@
     </Node>
 
     <Node name="Cube">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linearSolver" tolerance="1e-05" threshold="1e-05"/>
         <MechanicalObject src="@../grid" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../TetraGenerator/Container" />
diff --git a/examples/MeshRefinement/SubdivisionController_RefineTetrahedra.scn b/examples/MeshRefinement/SubdivisionController_RefineTetrahedra.scn
index 445bd8e..b48f4d9 100644
--- a/examples/MeshRefinement/SubdivisionController_RefineTetrahedra.scn
+++ b/examples/MeshRefinement/SubdivisionController_RefineTetrahedra.scn
@@ -15,7 +15,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier] -->
@@ -39,7 +39,7 @@
     </Node>
 
     <Node name="Beam">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linearSolver" tolerance="1e-05" threshold="1e-05"/>
         <MechanicalObject src="@../grid" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../TetraGenerator/Container" />
diff --git a/examples/NearestTexcoordsMap.scn b/examples/NearestTexcoordsMap.scn
index 5d2beee..b506a17 100644
--- a/examples/NearestTexcoordsMap.scn
+++ b/examples/NearestTexcoordsMap.scn
@@ -15,7 +15,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->  
         <RequiredPlugin pluginName="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -35,8 +35,8 @@
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
     
     <Node name="Liver">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-5" threshold="1.0e-5" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-5" threshold="1.0e-5" />
         <MeshGmshLoader name="loader" filename="./mesh/liver_volume.msh" rotation="90 0 0" translation="-5 -4 0"/>
         <MechanicalObject src="@loader" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@loader" />
@@ -69,8 +69,8 @@
     
     
     <Node name="liver_low_volume">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-5" threshold="1.0e-5" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-5" threshold="1.0e-5" />
         <MeshGmshLoader name="loader" filename="./mesh/liver_low_volume.msh" rotation="90 0 0" translation="5 -4 0"/>
         <MechanicalObject src="@loader" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@loader" />
diff --git a/examples/NearestTexcoordsMap_options.scn b/examples/NearestTexcoordsMap_options.scn
index 1b696d1..a98d55e 100644
--- a/examples/NearestTexcoordsMap_options.scn
+++ b/examples/NearestTexcoordsMap_options.scn
@@ -15,7 +15,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->  
         <RequiredPlugin pluginName="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -35,8 +35,8 @@
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
     
     <Node name="Liver">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-5" threshold="1.0e-5" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-5" threshold="1.0e-5" />
         <MeshGmshLoader name="loader" filename="./mesh/liver_low_volume.msh" rotation="90 0 0" translation="-5 -4 0"/>
         <MechanicalObject src="@loader" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@loader" />
@@ -69,8 +69,8 @@
     
     
     <Node name="liver_low_volume">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-5" threshold="1.0e-5" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-5" threshold="1.0e-5" />
         <MeshGmshLoader name="loader" filename="./mesh/liver_low_volume.msh" rotation="90 0 0" translation="5 -4 0"/>
         <MechanicalObject src="@loader" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@loader" />
diff --git a/examples/ProximityOscillatorConstraint.scn b/examples/ProximityOscillatorConstraint.scn
index f1c3e82..926a7b2 100644
--- a/examples/ProximityOscillatorConstraint.scn
+++ b/examples/ProximityOscillatorConstraint.scn
@@ -11,7 +11,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -44,8 +44,8 @@
     </Node>
 
     <Node name="DeformableGrid">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-4" threshold="1.0e-4" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-4" threshold="1.0e-4" />
         
         <MechanicalObject position="@SurfaceGrid/grid.position" name="dofs" />
 
diff --git a/examples/RigidCube_CarvingWithRefinement.scn b/examples/RigidCube_CarvingWithRefinement.scn
index b8e44fe..898930b 100644
--- a/examples/RigidCube_CarvingWithRefinement.scn
+++ b/examples/RigidCube_CarvingWithRefinement.scn
@@ -8,7 +8,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
@@ -30,7 +30,7 @@
     <MinProximityIntersection name="Proximity" alarmDistance="2.0" contactDistance="0.3" />
 
     <Node name="carving">
-        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
         <AdvancedCarvingManager name="ACarving" active="1" refineDistance="0.0005" refineCriteria="0.5" carvingDistance="1.0" 
diff --git a/examples/TetrahedronBeamMultiMaterials.scn b/examples/TetrahedronBeamMultiMaterials.scn
index 2a696c4..4b811ac 100644
--- a/examples/TetrahedronBeamMultiMaterials.scn
+++ b/examples/TetrahedronBeamMultiMaterials.scn
@@ -12,7 +12,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyConta
@@ -45,8 +45,8 @@
     </Node>
 
     <Node name="hyperelasticity">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.0" rayleighMass="0.0" />
-        <CGLinearSolver iterations="50" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.0" rayleighMass="0.0" />
+        <CGLinearSolver iterations="50" name="linearSolver" tolerance="1.0e-6" threshold="1.0e-6" />
         
         <TetrahedronSetTopologyContainer name="Container" src="@../grid/tetras/Container"/>
         <TetrahedronSetTopologyModifier name="Modifier" />
@@ -100,8 +100,8 @@
     
     
     <Node name="hyperelasticity2">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.0" rayleighMass="0.0" />
-        <CGLinearSolver iterations="50" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.0" rayleighMass="0.0" />
+        <CGLinearSolver iterations="50" name="linearSolver" tolerance="1.0e-6" threshold="1.0e-6" />
         
         <TetrahedronSetTopologyContainer name="Container" src="@../grid/tetras/Container"/>
         <TetrahedronSetTopologyModifier name="Modifier" />
diff --git a/examples/Triangle2RefinedTriangleTopologicalMapping.scn b/examples/Triangle2RefinedTriangleTopologicalMapping.scn
index 3236ab0..f23c0fb 100644
--- a/examples/Triangle2RefinedTriangleTopologicalMapping.scn
+++ b/examples/Triangle2RefinedTriangleTopologicalMapping.scn
@@ -12,7 +12,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
@@ -48,8 +48,8 @@
     </Node>
 
     <Node name="SquareGravity" gravity="0 0 0">
-        <EulerImplicitSolver name="cg_odesolver"  />
-        <CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver"  />
+        <CGLinearSolver iterations="100" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
         <MechanicalObject name="CoarseMesh" position="@../CoarseGrid/Cloth.position" template="Vec3d" />
         <TriangleSetTopologyContainer src="@../CoarseGrid/Container" name="Triangle_Ctopo" />
         <TriangleSetTopologyModifier name="Modifier" />
diff --git a/examples/VirtualTools.xml b/examples/VirtualTools.xml
index dd3775e..0af897f 100644
--- a/examples/VirtualTools.xml
+++ b/examples/VirtualTools.xml
@@ -28,7 +28,7 @@
         
         
     <Node name="Jaws_up_right" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
         <MeshOBJLoader name="loader" filename="mesh/tools/grasper_up_jaw_collision_light.obj" scale3d="1 1 1" translation="0 0 0" handleSeams="0"/>
@@ -47,7 +47,7 @@
     
     
     <Node name="Jaws_down_right" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
         <MeshOBJLoader name="loader" filename="mesh/tools/grasper_low_jaw_collision_light.obj" scale3d="1 1 1" translation="0 0 0" handleSeams="0"/>
@@ -68,7 +68,7 @@
     
     
     <Node name="Jaws_up_left" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
         <MeshOBJLoader name="loader" filename="mesh/tools/grasper_up_jaw_collision_light.obj" scale3d="1 1 1" translation="0 0 0" handleSeams="0"/>
@@ -85,7 +85,7 @@
     
     
     <Node name="Jaws_down_left" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
+        <EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.01" rayleighMass="0.0" />
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         
         <MeshOBJLoader name="loader" filename="mesh/tools/grasper_low_jaw_collision_light.obj" scale3d="1 1 1" translation="0 0 0" handleSeams="0"/>
diff --git a/extensions/MeshRefinement/README.md b/extensions/MeshRefinement/README.md
index a313b48..f2da7b8 100644
--- a/extensions/MeshRefinement/README.md
+++ b/extensions/MeshRefinement/README.md
@@ -61,7 +61,7 @@ modifier and the geometry algorithms. It finds them by itself; there is nothing
 
 ```xml
 <Node name="Beam">
-    <EulerImplicitSolver />
+    <EulerImplicitIntegrationScheme />
     <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
 
     <MechanicalObject src="@../grid" name="Volume" />
diff --git a/extensions/MeshRefinement/tests/TetrahedronSubdivisionController_test.cpp b/extensions/MeshRefinement/tests/TetrahedronSubdivisionController_test.cpp
index 6e2d901..7627bb2 100644
--- a/extensions/MeshRefinement/tests/TetrahedronSubdivisionController_test.cpp
+++ b/extensions/MeshRefinement/tests/TetrahedronSubdivisionController_test.cpp
@@ -77,7 +77,7 @@ class TetrahedronSubdivisionController_test : public sofa::testing::BaseTest
                  "Sofa.Component.Mapping.Linear",
                  "Sofa.Component.Mass",
                  "Sofa.Component.MechanicalLoad",
-                 "Sofa.Component.ODESolver.Backward",
+                 "Sofa.Component.IntegrationScheme.Backward",
                  "Sofa.Component.SceneUtility",
                  "Sofa.Component.SolidMechanics.FEM.Elastic",
                  "Sofa.Component.StateContainer",
diff --git a/extensions/MeshRefinement/tests/scenes/SimpleCubeRefinement.scn b/extensions/MeshRefinement/tests/scenes/SimpleCubeRefinement.scn
index 5dcc31e..ede9643 100644
--- a/extensions/MeshRefinement/tests/scenes/SimpleCubeRefinement.scn
+++ b/extensions/MeshRefinement/tests/scenes/SimpleCubeRefinement.scn
@@ -4,8 +4,8 @@
     <RequiredPlugin pluginName="InfinyToolkit.MeshRefinement"/> <!-- Needed to use components [TetrahedronSubdivisionController] -->
     <include href="headers.xml" />  
     <Node name="TT">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" name="linear solver" tolerance="1e-05" threshold="1e-05"/>
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="25" name="linearSolver" tolerance="1e-05" threshold="1e-05"/>
         <MeshGmshLoader name="loader" filename="mesh/cube_low_res.msh" />
         <MechanicalObject src="@loader" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_topo" src="@loader" />
diff --git a/extensions/MeshRefinement/tests/scenes/TetrahedronCutting_Advanced_01.scn b/extensions/MeshRefinement/tests/scenes/TetrahedronCutting_Advanced_01.scn
index 6b9e13a..18e6f11 100644
--- a/extensions/MeshRefinement/tests/scenes/TetrahedronCutting_Advanced_01.scn
+++ b/extensions/MeshRefinement/tests/scenes/TetrahedronCutting_Advanced_01.scn
@@ -16,8 +16,8 @@
     </Node>
     
     <Node name="Beam_01">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="10" name="linear solver" tolerance="1e-5" threshold="1e-5"/>
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="10" name="linearSolver" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject src="@../grid_1" name="Volume" />
         <TetrahedronSetTopologyContainer name="Tetra_con" src="@../Beam_generator_01/Container"/>
         <TetrahedronSetTopologyModifier name="Modifier" />
diff --git a/extensions/MeshRefinement/tests/scenes/headers.xml b/extensions/MeshRefinement/tests/scenes/headers.xml
index af78ba1..ec443f0 100644
--- a/extensions/MeshRefinement/tests/scenes/headers.xml
+++ b/extensions/MeshRefinement/tests/scenes/headers.xml
@@ -11,7 +11,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
         <RequiredPlugin pluginName="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
diff --git a/scripts/changeComponentName_script.py b/scripts/changeComponentName_script.py
index 7c30efc..ebf8344 100644
--- a/scripts/changeComponentName_script.py
+++ b/scripts/changeComponentName_script.py
@@ -7,7 +7,7 @@
 print (str(sys.argv[1]))
 
 #CollisionGroup DefaultCollisionGroupManager
-#EulerImplicit EulerImplicitSolver
+#EulerImplicit EulerImplicitIntegrationScheme
 #TriangleModel TriangleCollisionModel
 #LineModel LineCollisionModel
 #PointModel PointCollisionModel
diff --git a/scripts/oglLoader_script.py b/scripts/oglLoader_script.py
index 0ec1491..e7728a9 100644
--- a/scripts/oglLoader_script.py
+++ b/scripts/oglLoader_script.py
@@ -44,7 +44,7 @@
             for key, value in includes.items():
                 print("----------------")
                 print("Before: ", key, value)
-                line = value.replace("SofaExplicitOdeSolver", "Sofa.Component.ODESolver.Forward")
+                line = value.replace("SofaExplicitOdeSolver", "Sofa.Component.IntegrationScheme.Forward")
                 #line = value.replace("<Triangle", "<TriangleCollisionModel")
                 #line = line.replace("< Triangle", "<TriangleCollisionModel")
                 print("After: ", key, line)

From 6aba9b41c5af04817b7dae23f6b5bacc0f7dc1ba Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Mon, 5 Oct 2026 10:03:39 +0200
Subject: [PATCH 2/6] add other scene

---
 examples/Barycentric_Carving.scn | 69 ++++++++++++++++++++++++++++++++
 1 file changed, 69 insertions(+)
 create mode 100644 examples/Barycentric_Carving.scn

diff --git a/examples/Barycentric_Carving.scn b/examples/Barycentric_Carving.scn
new file mode 100644
index 0000000..61fd784
--- /dev/null
+++ b/examples/Barycentric_Carving.scn
@@ -0,0 +1,69 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.03" showBoundingTree="0" gravity="0 -0.9 0">
+    <Node name="RequiredPlugins">
+        <RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [PointCollisionModel, SphereCollisionModel, TriangleCollisionModel] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
+        <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->  
+        <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
+        <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping, Tetra2TriangleTopologicalMapping] -->  
+        <RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin pluginName="SofaCarving"/> <!-- Needed to use components [CarvingManager] -->
+        <RequiredPlugin pluginName="InfinyToolkit"/> <!-- Needed to use components [CarvingManager] -->  
+    </Node>
+
+    <VisualStyle displayFlags="showCollisionModels hideVisual" />
+
+    <DefaultAnimationLoop />
+    <DefaultVisualManagerLoop />
+    <CollisionPipeline verbose="0" />
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <CollisionResponse response="PenalityContactForceField" />
+    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1"/>
+  
+    <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+    <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
+
+    <CarvingManager active="true" carvingDistance="1.0"/>
+
+    <Node name="carvingElement">
+        <MechanicalObject name="Particles" template="Vec3d" position="-5 10 0" velocity="0 0 0"/>
+        <UniformMass name="Mass" totalMass="10.0" />
+        <SphereCollisionModel name="tool" radius="0.1" contactStiffness="10" tags="CarvingTool"/>
+    </Node>
+
+    <Node name="LiverFFD-lowres">
+        <EulerImplicitIntegrationScheme  />
+        <CGLinearSolver iterations="100" tolerance="1e-7" threshold="1e-7"/>
+        <MechanicalObject name="gridDof"/>
+        <UniformMass totalMass="100.0" />
+        <RegularGridTopology nx="4" ny="3" nz="3" xmin="-10.25" xmax="-3.25" ymin="0.25" ymax="5.25" zmin="-2" zmax="3" />
+        <BoxConstraint box="-8.5 0 -2.5 -5 3 2" />
+        <RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
+        <Node name="Visu">
+            <MeshOBJLoader name="meshLoader" filename="mesh/liver.obj" translation="-5 0 0" handleSeams="1" />
+            <MechanicalObject position="@[-1].position" name="surfDof" />
+            
+            <TriangleSetTopologyContainer  name="Container" triangles="@meshLoader.triangles"/>
+            <TriangleSetTopologyModifier   name="Modifier" />
+            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
+
+            <TriangleCollisionModel name="triangleCol" contactStiffness="10" tags="CarvingSurface"/>
+            <PointCollisionModel name="pointCol" contactStiffness="10" tags="CarvingSurface"/>
+
+            <BarycentricMapping input="@../gridDof" output="@./surfDof" />
+        </Node>
+
+    </Node>
+</Node>

From 660b74caa724c204369decb410f4ab6d6c5ddf1e Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Mon, 5 Oct 2026 16:09:10 +0200
Subject: [PATCH 3/6] up python version

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 52e4bd8..04bf16b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -191,7 +191,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.13'
 
       - name: Install dependencies
         shell: bash

From 7b9d1daffa611e6293bb4daa98d77e5230a5c775 Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Wed, 14 Oct 2026 11:33:06 +0200
Subject: [PATCH 4/6] add debug log

---
 .github/workflows/ci.yml | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 04bf16b..5f675e1 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -215,6 +215,27 @@ jobs:
             echo "SOFAPYTHON3_ROOT=$SP3" >> $GITHUB_ENV
           fi
 
+      - name: Debug python environment
+        shell: bash
+        run: |
+          set +e
+          echo "--- interpreter"
+          which python; python --version
+          python -c "import sys, sysconfig; print(sys.executable); print('EXT_SUFFIX =', sysconfig.get_config_var('EXT_SUFFIX'))"
+          echo "--- env"
+          echo "SOFA_ROOT=$SOFA_ROOT"
+          echo "SOFAPYTHON3_ROOT=$SOFAPYTHON3_ROOT"
+          echo "PYTHONPATH=$PYTHONPATH"
+          echo "--- sys.path"
+          python -c "import sys; print('\n'.join(sys.path))"
+          echo "--- compiled modules shipped in the Sofa package"
+          ls -la "$SOFA_ROOT/plugins/SofaPython3/lib/python3/site-packages/Sofa/" | grep -Ei '\.(so|pyd)'
+          echo "--- python libs shipped with / linked by SofaPython3"
+          ls "$SOFA_ROOT/plugins/SofaPython3/bin" "$SOFA_ROOT/plugins/SofaPython3/lib" 2>/dev/null | grep -i python
+          echo "--- direct import attempt"
+          python -c "import Sofa.Helper; print('Sofa.Helper OK:', Sofa.Helper.__file__)"
+          exit 0
+
       ###################   Regression tests   ###################
       - name: Fetch SofaRegressionProgram
         shell: bash

From 488a54c95ce51aee6bc61dae94ab8ea4ddc506c0 Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Wed, 14 Oct 2026 11:43:23 +0200
Subject: [PATCH 5/6] up python version to match the SOFA one

---
 .github/workflows/ci.yml | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5f675e1..b09e83c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -188,10 +188,25 @@ jobs:
           echo "LD_LIBRARY_PATH=$LP:${LD_LIBRARY_PATH:-}" >> $GITHUB_ENV
 
       #######################   Setup Python   #######################
+      # SofaPython3's compiled modules only load in the exact python version SOFA
+      # was built against (ABI tag in their filename: cpython-312 / cp312), so read
+      # it from the binaries instead of hardcoding it.
+      - name: Detect SOFA python version
+        id: pyver
+        shell: bash
+        run: |
+          set -euo pipefail
+          SP="$SOFA_ROOT/plugins/SofaPython3/lib/python3/site-packages/Sofa"
+          TAG=$(ls "$SP" | grep -oE '^Helper\.(cpython-|cp)3[0-9]+' | grep -oE '3[0-9]+$' | head -n1)
+          [[ -n "$TAG" ]] || { echo "::error::Could not detect python ABI tag from $SP"; ls -la "$SP"; exit 1; }
+          VERSION="3.${TAG:1}"
+          echo "SOFA was built against python $VERSION"
+          echo "version=$VERSION" >> $GITHUB_OUTPUT
+
       - name: Setup Python
         uses: actions/setup-python@v5
         with:
-          python-version: '3.13'
+          python-version: ${{ steps.pyver.outputs.version }}
 
       - name: Install dependencies
         shell: bash

From 9498da39d8cab0f2490f1aeae3cdeb86f7a5f953 Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Wed, 14 Oct 2026 12:06:29 +0200
Subject: [PATCH 6/6] log issue

---
 .github/workflows/ci.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b09e83c..9f93997 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -267,6 +267,11 @@ jobs:
 
       - name: Run regression
         shell: bash
+        env:
+          # The regression program captures each scene's output with
+          # subprocess.run(text=True), which decodes with the locale encoding:
+          # cp1252 on Windows, which chokes on SOFA's UTF-8 logs.
+          PYTHONUTF8: '1'
         run: |
           set -euo pipefail
           cd "$WORKSPACE_SRC_PATH"