From 6b3f7e220d10f248d6d1d7019d6e9fde9bea37e1 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Mon, 23 Sep 2024 09:33:24 +0200
Subject: [PATCH 01/43] [Mapping.Linear] Use links instead of raw pointers
 (#4996)

* [Mapping.Linear] Use links instead of raw pointers

* fix non-Windows compilation
---
 .../linear/Mesh2PointMechanicalMapping.cpp    |   4 -
 .../linear/Mesh2PointMechanicalMapping.h      |   7 +-
 .../linear/Mesh2PointMechanicalMapping.inl    | 268 ++++++++++--------
 3 files changed, 153 insertions(+), 126 deletions(-)

diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp
index e8a3e2da6c4..1655148689e 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp
@@ -33,10 +33,6 @@ using namespace sofa::defaulttype;
 
 int Mesh2PointMechanicalMappingClass = core::RegisterObject("Mechanical mapping between a set of mesh primitives (point, edge, triangle...) and a set of points generated by Mesh2PointTopologicalMapping")
         .add< Mesh2PointMechanicalMapping< Vec3Types, Vec3Types > >()
-
-
-
-//.addAlias("SimpleTesselatedTetraMechanicalMapping")
         ;
 
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.h
index 0e8a1b0e3f1..10aea9ea318 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.h
@@ -76,10 +76,9 @@ class Mesh2PointMechanicalMapping : public LinearMapping<TIn, TOut>
 
     void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in) override;
 
-protected:
-    Mesh2PointTopologicalMapping* topoMap;
-    core::topology::BaseMeshTopology* inputTopo;
-    core::topology::BaseMeshTopology* outputTopo;
+    SingleLink<Mesh2PointMechanicalMapping, Mesh2PointTopologicalMapping, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_topologicalMapping;
+    SingleLink<Mesh2PointMechanicalMapping, core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_inputTopology;
+    SingleLink<Mesh2PointMechanicalMapping, core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_outputTopology;
 };
 
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.inl
index 1bca9ae1855..c7b854648da 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.inl
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.inl
@@ -32,9 +32,9 @@ namespace sofa::component::mapping::linear
 template <class TIn, class TOut>
 Mesh2PointMechanicalMapping<TIn, TOut>::Mesh2PointMechanicalMapping(core::State<In>* from, core::State<Out>* to)
     : Inherit(from, to)
-    , topoMap(nullptr)
-    , inputTopo(nullptr)
-    , outputTopo(nullptr)
+    , l_topologicalMapping(initLink("topologicalMapping", "Link to a Mesh2PointTopologicalMapping"))
+    , l_inputTopology(initLink("inputTopology", "Link to the input topology"))
+    , l_outputTopology(initLink("outputTopology", "Link to the output topology"))
 {
 }
 
@@ -47,44 +47,76 @@ template <class TIn, class TOut>
 void Mesh2PointMechanicalMapping<TIn, TOut>::init()
 {
     this->Inherit::init();
-    this->getContext()->get(topoMap);
-    inputTopo = this->fromModel->getContext()->getMeshTopology();
-    outputTopo = this->toModel->getContext()->getMeshTopology();
+
+    if (!l_topologicalMapping)
+    {
+        l_topologicalMapping.set(this->getContext()->template get<Mesh2PointTopologicalMapping>());
+        if (!l_topologicalMapping)
+        {
+            msg_error() << "Cannot find a component " << l_topologicalMapping->getClassName() << " in the current context";
+            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+            return;
+        }
+    }
+
+    if (!l_inputTopology)
+    {
+        l_inputTopology.set(this->fromModel->getContext()->getMeshTopology());
+        if (!l_inputTopology)
+        {
+            msg_error() << "Cannot find a component " << l_inputTopology->getClassName() << " in the context of " << this->fromModel->getPathName();
+            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+            return;
+        }
+    }
+
+    if (!l_outputTopology)
+    {
+        l_outputTopology.set(this->toModel->getContext()->getMeshTopology());
+        if (!l_outputTopology)
+        {
+            msg_error() << "Cannot find a component " << l_outputTopology->getClassName() << " in the context of " << this->toModel->getPathName();
+            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+            return;
+        }
+    }
+
+    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
 }
 
 
 template <class TIn, class TOut>
 void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/, Data<OutVecCoord>& dOut, const Data<InVecCoord>& dIn)
 {
-    if (!topoMap) return;
+    if (!l_topologicalMapping) return;
 
     using sofa::InvalidID;
 
     helper::WriteAccessor< Data<OutVecCoord> > out = dOut;
     helper::ReadAccessor< Data<InVecCoord> > in = dIn;
 
-    const auto& pointMap = topoMap->getPointsMappedFromPoint();
-    const auto& edgeMap = topoMap->getPointsMappedFromEdge();
-    const auto& triangleMap = topoMap->getPointsMappedFromTriangle();
-    const auto& quadMap = topoMap->getPointsMappedFromQuad();
-    const auto& tetraMap = topoMap->getPointsMappedFromTetra();
-    const auto& hexaMap = topoMap->getPointsMappedFromHexa();
+    const auto& pointMap = l_topologicalMapping->getPointsMappedFromPoint();
+    const auto& edgeMap = l_topologicalMapping->getPointsMappedFromEdge();
+    const auto& triangleMap = l_topologicalMapping->getPointsMappedFromTriangle();
+    const auto& quadMap = l_topologicalMapping->getPointsMappedFromQuad();
+    const auto& tetraMap = l_topologicalMapping->getPointsMappedFromTetra();
+    const auto& hexaMap = l_topologicalMapping->getPointsMappedFromHexa();
 
     if (pointMap.empty() && edgeMap.empty() && triangleMap.empty() && quadMap.empty() && tetraMap.empty() && hexaMap.empty()) return;
 
-    const core::topology::BaseMeshTopology::SeqEdges& edges = inputTopo->getEdges();
-    const core::topology::BaseMeshTopology::SeqTriangles& triangles = inputTopo->getTriangles();
-    const core::topology::BaseMeshTopology::SeqQuads& quads = inputTopo->getQuads();
-    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = inputTopo->getTetrahedra();
-    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = inputTopo->getHexahedra();
+    const core::topology::BaseMeshTopology::SeqEdges& edges = l_inputTopology->getEdges();
+    const core::topology::BaseMeshTopology::SeqTriangles& triangles = l_inputTopology->getTriangles();
+    const core::topology::BaseMeshTopology::SeqQuads& quads = l_inputTopology->getQuads();
+    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = l_inputTopology->getTetrahedra();
+    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = l_inputTopology->getHexahedra();
 
-    out.resize(outputTopo->getNbPoints());
+    out.resize(l_outputTopology->getNbPoints());
     for(unsigned int i = 0; i < pointMap.size(); ++i)
     {
         for(unsigned int j = 0; j < pointMap[i].size(); ++j)
         {
             if (pointMap[i][j] == InvalidID) continue;
-            out[pointMap[i][j]] = in[i]+topoMap->getPointBaryCoords()[j];
+            out[pointMap[i][j]] = in[i]+l_topologicalMapping->getPointBaryCoords()[j];
         }
     }
 
@@ -93,7 +125,7 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams
         for(unsigned int j = 0; j < edgeMap[i].size(); ++j)
         {
             if (edgeMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getEdgeBaryCoords()[j][0];
+            double fx = l_topologicalMapping->getEdgeBaryCoords()[j][0];
             out[edgeMap[i][j]] = in[ edges[i][0] ] * (1-fx)
                     +in[ edges[i][1] ] * fx;
         }
@@ -104,8 +136,8 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams
         for(unsigned int j = 0; j < triangleMap[i].size(); ++j)
         {
             if (triangleMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getTriangleBaryCoords()[j][0];
-            double fy = topoMap->getTriangleBaryCoords()[j][1];
+            double fx = l_topologicalMapping->getTriangleBaryCoords()[j][0];
+            double fy = l_topologicalMapping->getTriangleBaryCoords()[j][1];
             out[triangleMap[i][j]] = in[ triangles[i][0] ] * (1-fx-fy)
                     + in[ triangles[i][1] ] * fx
                     + in[ triangles[i][2] ] * fy;
@@ -117,8 +149,8 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams
         for(unsigned int j = 0; j < quadMap[i].size(); ++j)
         {
             if (quadMap[i][j] == InvalidID) continue;
-            const double fx = topoMap->getQuadBaryCoords()[j][0];
-            const double fy = topoMap->getQuadBaryCoords()[j][1];
+            const double fx = l_topologicalMapping->getQuadBaryCoords()[j][0];
+            const double fy = l_topologicalMapping->getQuadBaryCoords()[j][1];
             out[quadMap[i][j]] = in[ quads[i][0] ] * ((1-fx) * (1-fy))
                     + in[ quads[i][1] ] * ((  fx) * (1-fy))
                     + in[ quads[i][2] ] * ((1-fx) * (  fy))
@@ -131,9 +163,9 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams
         for(unsigned int j = 0; j < tetraMap[i].size(); ++j)
         {
             if (tetraMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getTetraBaryCoords()[j][0];
-            double fy = topoMap->getTetraBaryCoords()[j][1];
-            double fz = topoMap->getTetraBaryCoords()[j][2];
+            double fx = l_topologicalMapping->getTetraBaryCoords()[j][0];
+            double fy = l_topologicalMapping->getTetraBaryCoords()[j][1];
+            double fz = l_topologicalMapping->getTetraBaryCoords()[j][2];
             out[tetraMap[i][j]] = in[ tetrahedra[i][0] ] * (1-fx-fy-fz)
                     + in[ tetrahedra[i][1] ] * fx
                     + in[ tetrahedra[i][2] ] * fy
@@ -146,9 +178,9 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams
         for(unsigned int j = 0; j < hexaMap[i].size(); ++j)
         {
             if (hexaMap[i][j] == InvalidID) continue;
-            const double fx = topoMap->getHexaBaryCoords()[j][0];
-            const double fy = topoMap->getHexaBaryCoords()[j][1];
-            const double fz = topoMap->getHexaBaryCoords()[j][2];
+            const double fx = l_topologicalMapping->getHexaBaryCoords()[j][0];
+            const double fy = l_topologicalMapping->getHexaBaryCoords()[j][1];
+            const double fz = l_topologicalMapping->getHexaBaryCoords()[j][2];
             out[hexaMap[i][j]] = in[ hexahedra[i][0] ] * ((1-fx) * (1-fy) * (1-fz))
                     + in[ hexahedra[i][1] ] * ((  fx) * (1-fy) * (1-fz))
 					+ in[ hexahedra[i][3] ] * ((1-fx) * (  fy) * (1-fz))
@@ -164,29 +196,29 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::apply(const core::MechanicalParams
 template <class TIn, class TOut>
 void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/, Data<OutVecDeriv>& dOut, const Data<InVecDeriv>& dIn)
 {
-    if (!topoMap) return;
+    if (!l_topologicalMapping) return;
 
     using sofa::InvalidID;
 
     helper::WriteAccessor< Data<OutVecDeriv> > out = dOut;
     helper::ReadAccessor< Data<InVecDeriv> > in = dIn;
 
-    const auto& pointMap = topoMap->getPointsMappedFromPoint();
-    const auto& edgeMap = topoMap->getPointsMappedFromEdge();
-    const auto& triangleMap = topoMap->getPointsMappedFromTriangle();
-    const auto& quadMap = topoMap->getPointsMappedFromQuad();
-    const auto& tetraMap = topoMap->getPointsMappedFromTetra();
-    const auto& hexaMap = topoMap->getPointsMappedFromHexa();
+    const auto& pointMap = l_topologicalMapping->getPointsMappedFromPoint();
+    const auto& edgeMap = l_topologicalMapping->getPointsMappedFromEdge();
+    const auto& triangleMap = l_topologicalMapping->getPointsMappedFromTriangle();
+    const auto& quadMap = l_topologicalMapping->getPointsMappedFromQuad();
+    const auto& tetraMap = l_topologicalMapping->getPointsMappedFromTetra();
+    const auto& hexaMap = l_topologicalMapping->getPointsMappedFromHexa();
 
     if (pointMap.empty() && edgeMap.empty() && triangleMap.empty() && quadMap.empty() && tetraMap.empty() && hexaMap.empty()) return;
 
-    const core::topology::BaseMeshTopology::SeqEdges& edges = inputTopo->getEdges();
-    const core::topology::BaseMeshTopology::SeqTriangles& triangles = inputTopo->getTriangles();
-    const core::topology::BaseMeshTopology::SeqQuads& quads = inputTopo->getQuads();
-    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = inputTopo->getTetrahedra();
-    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = inputTopo->getHexahedra();
+    const core::topology::BaseMeshTopology::SeqEdges& edges = l_inputTopology->getEdges();
+    const core::topology::BaseMeshTopology::SeqTriangles& triangles = l_inputTopology->getTriangles();
+    const core::topology::BaseMeshTopology::SeqQuads& quads = l_inputTopology->getQuads();
+    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = l_inputTopology->getTetrahedra();
+    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = l_inputTopology->getHexahedra();
 
-    out.resize(outputTopo->getNbPoints());
+    out.resize(l_outputTopology->getNbPoints());
     for(unsigned int i = 0; i < pointMap.size(); ++i)
     {
         for(unsigned int j = 0; j < pointMap[i].size(); ++j)
@@ -201,7 +233,7 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams
         for(unsigned int j = 0; j < edgeMap[i].size(); ++j)
         {
             if (edgeMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getEdgeBaryCoords()[j][0];
+            double fx = l_topologicalMapping->getEdgeBaryCoords()[j][0];
             out[edgeMap[i][j]] = in[ edges[i][0] ] * (1-fx)
                     +in[ edges[i][1] ] * fx;
         }
@@ -212,8 +244,8 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams
         for(unsigned int j = 0; j < triangleMap[i].size(); ++j)
         {
             if (triangleMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getTriangleBaryCoords()[j][0];
-            double fy = topoMap->getTriangleBaryCoords()[j][1];
+            double fx = l_topologicalMapping->getTriangleBaryCoords()[j][0];
+            double fy = l_topologicalMapping->getTriangleBaryCoords()[j][1];
             out[triangleMap[i][j]] = in[ triangles[i][0] ] * (1-fx-fy)
                     + in[ triangles[i][1] ] * fx
                     + in[ triangles[i][2] ] * fy;
@@ -225,8 +257,8 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams
         for(unsigned int j = 0; j < quadMap[i].size(); ++j)
         {
             if (quadMap[i][j] == InvalidID) continue;
-            const double fx = topoMap->getQuadBaryCoords()[j][0];
-            const double fy = topoMap->getQuadBaryCoords()[j][1];
+            const double fx = l_topologicalMapping->getQuadBaryCoords()[j][0];
+            const double fy = l_topologicalMapping->getQuadBaryCoords()[j][1];
             out[quadMap[i][j]] = in[ quads[i][0] ] * ((1-fx) * (1-fy))
                     + in[ quads[i][1] ] * ((  fx) * (1-fy))
                     + in[ quads[i][2] ] * ((1-fx) * (  fy))
@@ -239,9 +271,9 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams
         for(unsigned int j = 0; j < tetraMap[i].size(); ++j)
         {
             if (tetraMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getTetraBaryCoords()[j][0];
-            double fy = topoMap->getTetraBaryCoords()[j][1];
-            double fz = topoMap->getTetraBaryCoords()[j][2];
+            double fx = l_topologicalMapping->getTetraBaryCoords()[j][0];
+            double fy = l_topologicalMapping->getTetraBaryCoords()[j][1];
+            double fz = l_topologicalMapping->getTetraBaryCoords()[j][2];
             out[tetraMap[i][j]] = in[ tetrahedra[i][0] ] * (1-fx-fy-fz)
                     + in[ tetrahedra[i][1] ] * fx
                     + in[ tetrahedra[i][2] ] * fy
@@ -254,9 +286,9 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams
         for(unsigned int j = 0; j < hexaMap[i].size(); ++j)
         {
             if (hexaMap[i][j] == InvalidID) continue;
-            const double fx = topoMap->getHexaBaryCoords()[j][0];
-            const double fy = topoMap->getHexaBaryCoords()[j][1];
-            const double fz = topoMap->getHexaBaryCoords()[j][2];
+            const double fx = l_topologicalMapping->getHexaBaryCoords()[j][0];
+            const double fy = l_topologicalMapping->getHexaBaryCoords()[j][1];
+            const double fz = l_topologicalMapping->getHexaBaryCoords()[j][2];
             out[hexaMap[i][j]] = in[ hexahedra[i][0] ] * ((1-fx) * (1-fy) * (1-fz))
                     + in[ hexahedra[i][1] ] * ((  fx) * (1-fy) * (1-fz))
 					+ in[ hexahedra[i][3] ] * ((1-fx) * (  fy) * (1-fz))
@@ -272,29 +304,29 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJ(const core::MechanicalParams
 template <class TIn, class TOut>
 void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParams * /*mparams*/, Data<InVecDeriv>& dOut, const Data<OutVecDeriv>& dIn)
 {
-    if (!topoMap) return;
+    if (!l_topologicalMapping) return;
 
     using sofa::InvalidID;
 
     helper::WriteAccessor< Data<InVecDeriv> > out = dOut;
     helper::ReadAccessor< Data<OutVecDeriv> > in = dIn;
 
-    const auto& pointMap = topoMap->getPointsMappedFromPoint();
-    const auto& edgeMap = topoMap->getPointsMappedFromEdge();
-    const auto& triangleMap = topoMap->getPointsMappedFromTriangle();
-    const auto& quadMap = topoMap->getPointsMappedFromQuad();
-    const auto& tetraMap = topoMap->getPointsMappedFromTetra();
-    const auto& hexaMap = topoMap->getPointsMappedFromHexa();
+    const auto& pointMap = l_topologicalMapping->getPointsMappedFromPoint();
+    const auto& edgeMap = l_topologicalMapping->getPointsMappedFromEdge();
+    const auto& triangleMap = l_topologicalMapping->getPointsMappedFromTriangle();
+    const auto& quadMap = l_topologicalMapping->getPointsMappedFromQuad();
+    const auto& tetraMap = l_topologicalMapping->getPointsMappedFromTetra();
+    const auto& hexaMap = l_topologicalMapping->getPointsMappedFromHexa();
 
     if (pointMap.empty() && edgeMap.empty() && triangleMap.empty() && quadMap.empty() && tetraMap.empty() && hexaMap.empty()) return;
 
-    const core::topology::BaseMeshTopology::SeqEdges& edges = inputTopo->getEdges();
-    const core::topology::BaseMeshTopology::SeqTriangles& triangles = inputTopo->getTriangles();
-    const core::topology::BaseMeshTopology::SeqQuads& quads = inputTopo->getQuads();
-    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = inputTopo->getTetrahedra();
-    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = inputTopo->getHexahedra();
+    const core::topology::BaseMeshTopology::SeqEdges& edges = l_inputTopology->getEdges();
+    const core::topology::BaseMeshTopology::SeqTriangles& triangles = l_inputTopology->getTriangles();
+    const core::topology::BaseMeshTopology::SeqQuads& quads = l_inputTopology->getQuads();
+    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = l_inputTopology->getTetrahedra();
+    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = l_inputTopology->getHexahedra();
 
-    out.resize(inputTopo->getNbPoints());
+    out.resize(l_inputTopology->getNbPoints());
     for(unsigned int i = 0; i < pointMap.size(); ++i)
     {
         for(unsigned int j = 0; j < pointMap[i].size(); ++j)
@@ -309,7 +341,7 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParam
         for(unsigned int j = 0; j < edgeMap[i].size(); ++j)
         {
             if (edgeMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getEdgeBaryCoords()[j][0];
+            double fx = l_topologicalMapping->getEdgeBaryCoords()[j][0];
             out[edges[i][0]] += in[ edgeMap[i][j] ] * (1-fx);
             out[edges[i][1]] += in[ edgeMap[i][j] ] * fx;
         }
@@ -320,8 +352,8 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParam
         for(unsigned int j = 0; j < triangleMap[i].size(); ++j)
         {
             if (triangleMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getTriangleBaryCoords()[j][0];
-            double fy = topoMap->getTriangleBaryCoords()[j][1];
+            double fx = l_topologicalMapping->getTriangleBaryCoords()[j][0];
+            double fy = l_topologicalMapping->getTriangleBaryCoords()[j][1];
             out[ triangles[i][0] ] += in[triangleMap[i][j]] * (1-fx-fy);
             out[ triangles[i][1] ] += in[triangleMap[i][j]] * fx;
             out[ triangles[i][2] ] += in[triangleMap[i][j]] * fy;
@@ -333,8 +365,8 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParam
         for(unsigned int j = 0; j < quadMap[i].size(); ++j)
         {
             if (quadMap[i][j] == InvalidID) continue;
-            const double fx = topoMap->getQuadBaryCoords()[j][0];
-            const double fy = topoMap->getQuadBaryCoords()[j][1];
+            const double fx = l_topologicalMapping->getQuadBaryCoords()[j][0];
+            const double fy = l_topologicalMapping->getQuadBaryCoords()[j][1];
             out[ quads[i][0] ] += in[quadMap[i][j]] * ((1-fx) * (1-fy));
             out[ quads[i][1] ] += in[quadMap[i][j]] * ((  fx) * (1-fy));
             out[ quads[i][2] ] += in[quadMap[i][j]] * ((1-fx) * (  fy));
@@ -347,9 +379,9 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParam
         for(unsigned int j = 0; j < tetraMap[i].size(); ++j)
         {
             if (tetraMap[i][j] == InvalidID) continue;
-            double fx = topoMap->getTetraBaryCoords()[j][0];
-            double fy = topoMap->getTetraBaryCoords()[j][1];
-            double fz = topoMap->getTetraBaryCoords()[j][2];
+            double fx = l_topologicalMapping->getTetraBaryCoords()[j][0];
+            double fy = l_topologicalMapping->getTetraBaryCoords()[j][1];
+            double fz = l_topologicalMapping->getTetraBaryCoords()[j][2];
             out[ tetrahedra[i][0] ] += in[tetraMap[i][j]] * (1-fx-fy-fz);
             out[ tetrahedra[i][1] ] += in[tetraMap[i][j]] * fx;
             out[ tetrahedra[i][2] ] += in[tetraMap[i][j]] * fy;
@@ -362,9 +394,9 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParam
         for(unsigned int j = 0; j < hexaMap[i].size(); ++j)
         {
             if (hexaMap[i][j] == InvalidID) continue;
-            const double fx = topoMap->getHexaBaryCoords()[j][0];
-            const double fy = topoMap->getHexaBaryCoords()[j][1];
-            const double fz = topoMap->getHexaBaryCoords()[j][2];
+            const double fx = l_topologicalMapping->getHexaBaryCoords()[j][0];
+            const double fy = l_topologicalMapping->getHexaBaryCoords()[j][1];
+            const double fz = l_topologicalMapping->getHexaBaryCoords()[j][2];
             out[ hexahedra[i][0] ] += in[hexaMap[i][j]] * ((1-fx) * (1-fy) * (1-fz));
             out[ hexahedra[i][1] ] += in[hexaMap[i][j]] * ((  fx) * (1-fy) * (1-fz));
 			out[ hexahedra[i][3] ] += in[hexaMap[i][j]] * ((1-fx) * (  fy) * (1-fz));
@@ -381,10 +413,10 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::MechanicalParam
 template <class TIn, class TOut>
 void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParams * /*cparams*/, Data<InMatrixDeriv>& dOut, const Data<OutMatrixDeriv>& dIn)
 {
-    if (!topoMap)
+    if (!l_topologicalMapping)
         return;
 
-    const sofa::type::vector< std::pair< Mesh2PointTopologicalMapping::Element, sofa::Index> >& pointSource = topoMap->getPointSource();
+    const sofa::type::vector< std::pair< Mesh2PointTopologicalMapping::Element, sofa::Index> >& pointSource = l_topologicalMapping->getPointSource();
 
     if (pointSource.empty())
         return;
@@ -392,11 +424,11 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParam
     InMatrixDeriv& out = *dOut.beginEdit();
     const OutMatrixDeriv& in = dIn.getValue();
 
-    const core::topology::BaseMeshTopology::SeqEdges& edges = inputTopo->getEdges();
-    const core::topology::BaseMeshTopology::SeqTriangles& triangles = inputTopo->getTriangles();
-    const core::topology::BaseMeshTopology::SeqQuads& quads = inputTopo->getQuads();
-    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = inputTopo->getTetrahedra();
-    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = inputTopo->getHexahedra();
+    const core::topology::BaseMeshTopology::SeqEdges& edges = l_inputTopology->getEdges();
+    const core::topology::BaseMeshTopology::SeqTriangles& triangles = l_inputTopology->getTriangles();
+    const core::topology::BaseMeshTopology::SeqQuads& quads = l_inputTopology->getQuads();
+    const core::topology::BaseMeshTopology::SeqTetrahedra& tetrahedra = l_inputTopology->getTetrahedra();
+    const core::topology::BaseMeshTopology::SeqHexahedra& hexahedra = l_inputTopology->getHexahedra();
 
     typename Out::MatrixDeriv::RowConstIterator rowItEnd = in.end();
 
@@ -432,19 +464,19 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParam
 
                     double fx = 0;
 
-                    if (topoMap->getEdgeBaryCoords().size() == 1)
+                    if (l_topologicalMapping->getEdgeBaryCoords().size() == 1)
                     {
-                        fx = topoMap->getEdgeBaryCoords()[0][0];
+                        fx = l_topologicalMapping->getEdgeBaryCoords()[0][0];
                     }
                     else
                     {
-                        const auto& edgeMap = topoMap->getPointsMappedFromEdge();
+                        const auto& edgeMap = l_topologicalMapping->getPointsMappedFromEdge();
                         bool err = true;
                         for(Size i = 0; i < edgeMap[source.second].size(); ++i)
                         {
                             if (edgeMap[source.second][i] == indexIn)
                             {
-                                fx = topoMap->getEdgeBaryCoords()[i][0];
+                                fx = l_topologicalMapping->getEdgeBaryCoords()[i][0];
                                 err = false;
                                 break;
                             }
@@ -468,21 +500,21 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParam
                     double fx = 0;
                     double fy = 0;
 
-                    if (topoMap->getTriangleBaryCoords().size() == 1)
+                    if (l_topologicalMapping->getTriangleBaryCoords().size() == 1)
                     {
-                        fx = topoMap->getTriangleBaryCoords()[0][0];
-                        fy = topoMap->getTriangleBaryCoords()[0][1];
+                        fx = l_topologicalMapping->getTriangleBaryCoords()[0][0];
+                        fy = l_topologicalMapping->getTriangleBaryCoords()[0][1];
                     }
                     else
                     {
-                        const auto& triangleMap = topoMap->getPointsMappedFromTriangle();
+                        const auto& triangleMap = l_topologicalMapping->getPointsMappedFromTriangle();
                         bool err = true;
                         for(Size i = 0; i < triangleMap[source.second].size(); ++i)
                         {
                             if (triangleMap[source.second][i] == indexIn)
                             {
-                                fx = topoMap->getTriangleBaryCoords()[i][0];
-                                fy = topoMap->getTriangleBaryCoords()[i][1];
+                                fx = l_topologicalMapping->getTriangleBaryCoords()[i][0];
+                                fy = l_topologicalMapping->getTriangleBaryCoords()[i][1];
                                 err = false;
                                 break;
                             }
@@ -507,21 +539,21 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParam
                     double fx = 0;
                     double fy = 0;
 
-                    if (topoMap->getQuadBaryCoords().size() == 1)
+                    if (l_topologicalMapping->getQuadBaryCoords().size() == 1)
                     {
-                        fx = topoMap->getQuadBaryCoords()[0][0];
-                        fy = topoMap->getQuadBaryCoords()[0][1];
+                        fx = l_topologicalMapping->getQuadBaryCoords()[0][0];
+                        fy = l_topologicalMapping->getQuadBaryCoords()[0][1];
                     }
                     else
                     {
-                        const auto& quadMap = topoMap->getPointsMappedFromQuad();
+                        const auto& quadMap = l_topologicalMapping->getPointsMappedFromQuad();
                         bool err = true;
                         for(Size i = 0; i < quadMap[source.second].size(); ++i)
                         {
                             if (quadMap[source.second][i] == indexIn)
                             {
-                                fx = topoMap->getQuadBaryCoords()[i][0];
-                                fy = topoMap->getQuadBaryCoords()[i][1];
+                                fx = l_topologicalMapping->getQuadBaryCoords()[i][0];
+                                fy = l_topologicalMapping->getQuadBaryCoords()[i][1];
                                 err = false;
                                 break;
                             }
@@ -548,23 +580,23 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParam
                     double fy = 0;
                     double fz = 0;
 
-                    if (topoMap->getTetraBaryCoords().size() == 1)
+                    if (l_topologicalMapping->getTetraBaryCoords().size() == 1)
                     {
-                        fx = topoMap->getTetraBaryCoords()[0][0];
-                        fy = topoMap->getTetraBaryCoords()[0][1];
-                        fz = topoMap->getTetraBaryCoords()[0][2];
+                        fx = l_topologicalMapping->getTetraBaryCoords()[0][0];
+                        fy = l_topologicalMapping->getTetraBaryCoords()[0][1];
+                        fz = l_topologicalMapping->getTetraBaryCoords()[0][2];
                     }
                     else
                     {
-                        const auto& tetraMap = topoMap->getPointsMappedFromTetra();
+                        const auto& tetraMap = l_topologicalMapping->getPointsMappedFromTetra();
                         bool err = true;
                         for(Size i = 0; i < tetraMap[source.second].size(); ++i)
                         {
                             if (tetraMap[source.second][i] == indexIn)
                             {
-                                fx = topoMap->getTetraBaryCoords()[i][0];
-                                fy = topoMap->getTetraBaryCoords()[i][1];
-                                fz = topoMap->getTetraBaryCoords()[i][2];
+                                fx = l_topologicalMapping->getTetraBaryCoords()[i][0];
+                                fy = l_topologicalMapping->getTetraBaryCoords()[i][1];
+                                fz = l_topologicalMapping->getTetraBaryCoords()[i][2];
                                 err = false;
                                 break;
                             }
@@ -590,23 +622,23 @@ void Mesh2PointMechanicalMapping<TIn, TOut>::applyJT(const core::ConstraintParam
                     double fx = 0;
                     double fy = 0;
                     double fz = 0;
-                    if (topoMap->getHexaBaryCoords().size() == 1)
+                    if (l_topologicalMapping->getHexaBaryCoords().size() == 1)
                     {
-                        fx = topoMap->getHexaBaryCoords()[0][0];
-                        fy = topoMap->getHexaBaryCoords()[0][1];
-                        fz = topoMap->getHexaBaryCoords()[0][2];
+                        fx = l_topologicalMapping->getHexaBaryCoords()[0][0];
+                        fy = l_topologicalMapping->getHexaBaryCoords()[0][1];
+                        fz = l_topologicalMapping->getHexaBaryCoords()[0][2];
                     }
                     else
                     {
-                        const auto& hexaMap = topoMap->getPointsMappedFromHexa();
+                        const auto& hexaMap = l_topologicalMapping->getPointsMappedFromHexa();
                         bool err = true;
                         for(Size i = 0; i < hexaMap[source.second].size(); ++i)
                         {
                             if (hexaMap[source.second][i] == indexIn)
                             {
-                                fx = topoMap->getHexaBaryCoords()[i][0];
-                                fy = topoMap->getHexaBaryCoords()[i][1];
-                                fz = topoMap->getHexaBaryCoords()[i][2];
+                                fx = l_topologicalMapping->getHexaBaryCoords()[i][0];
+                                fy = l_topologicalMapping->getHexaBaryCoords()[i][1];
+                                fz = l_topologicalMapping->getHexaBaryCoords()[i][2];
                                 err = false;
                                 break;
                             }

From e0fc1a94e029645c32c8fad098aef6457cba3fa8 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Wed, 25 Sep 2024 17:05:35 +0900
Subject: [PATCH 02/43] [Config] Use cmake-generator-expression to set cxx and
 c flags (#4990)

use generator to set cxx and c flags specifically

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 Sofa/framework/Config/CMakeLists.txt | 21 +++++++++++++++------
 1 file changed, 15 insertions(+), 6 deletions(-)

diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt
index fffe07ef454..91202e1a826 100644
--- a/Sofa/framework/Config/CMakeLists.txt
+++ b/Sofa/framework/Config/CMakeLists.txt
@@ -296,13 +296,22 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
   MAP_IMPORTED_CONFIG_MINSIZEREL Release
   MAP_IMPORTED_CONFIG_RELWITHDEBINFO Release
   )
-target_compile_options(${PROJECT_NAME} PUBLIC "$<$<CONFIG:RELEASE>:${SOFACONFIG_COMPILE_OPTIONS_RELEASE}>")
-target_compile_options(${PROJECT_NAME} PUBLIC "$<$<CONFIG:DEBUG>:${SOFACONFIG_COMPILE_OPTIONS_DEBUG}>")
-target_compile_options(${PROJECT_NAME} PUBLIC "${SOFACONFIG_COMPILE_OPTIONS}")
 
-target_link_options(${PROJECT_NAME} PUBLIC "$<$<CONFIG:RELEASE>:${SOFACONFIG_LINK_OPTIONS_RELEASE}>")
-target_link_options(${PROJECT_NAME} PUBLIC "$<$<CONFIG:DEBUG>:${SOFACONFIG_LINK_OPTIONS_DEBUG}>")
-target_link_options(${PROJECT_NAME} PUBLIC "${SOFACONFIG_LINK_OPTIONS}")
+set(is_cxx "$<COMPILE_LANGUAGE:CXX>")
+set(is_c "$<COMPILE_LANGUAGE:C>")
+set(is_c_cxx "$<OR:${is_cxx},${is_c}>")
+set(is_release "$<CONFIG:RELEASE>")
+set(is_debug "$<CONFIG:DEBUG>")
+set(is_c_cxx_release "$<AND:${is_c_cxx},${is_release}>")
+set(is_c_cxx_debug "$<AND:${is_c_cxx},${is_debug}>")
+
+target_compile_options(${PROJECT_NAME} PUBLIC "$<${is_c_cxx_release}:${SOFACONFIG_COMPILE_OPTIONS_RELEASE}>")
+target_compile_options(${PROJECT_NAME} PUBLIC "$<${is_c_cxx_debug}:${SOFACONFIG_COMPILE_OPTIONS_DEBUG}>")
+target_compile_options(${PROJECT_NAME} PUBLIC "$<${is_c_cxx}:${SOFACONFIG_COMPILE_OPTIONS}>")
+
+target_link_options(${PROJECT_NAME} PUBLIC "$<${is_c_cxx_release}:${SOFACONFIG_LINK_OPTIONS_RELEASE}>")
+target_link_options(${PROJECT_NAME} PUBLIC "$<${is_c_cxx_debug}:${SOFACONFIG_LINK_OPTIONS_DEBUG}>")
+target_link_options(${PROJECT_NAME} PUBLIC "$<${is_c_cxx}:${SOFACONFIG_LINK_OPTIONS}>")
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER Sofa.Framework) # IDE folder
 

From 61badbe133d9249c68f2c1b81cfe8b13efa077c6 Mon Sep 17 00:00:00 2001
From: Damien Marchal <damien.marchal@univ-lille1.fr>
Date: Wed, 25 Sep 2024 11:05:54 +0200
Subject: [PATCH 03/43] [FrameSpringForceField] Fix invalid data field's name
 (#5002)

Fix invalid data field's name.
---
 .../component/solidmechanics/spring/FrameSpringForceField.inl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.inl
index facc16cf0d9..0907c65f3fc 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.inl
@@ -43,8 +43,8 @@ template<class DataTypes>
 FrameSpringForceField<DataTypes>::FrameSpringForceField ( MechanicalState* object1, MechanicalState* object2 )
     : Inherit ( object1, object2 )
     , d_springs (initData (&d_springs, "spring", "pairs of indices, stiffness, damping, rest length" ) )
-    , d_showLawfulTorsion (initData (&d_showLawfulTorsion, false, "show lawful Torsion", "dislpay the lawful part of the joint rotation" ) )
-    , d_showExtraTorsion (initData (&d_showExtraTorsion, false, "show illicit Torsion", "dislpay the illicit part of the joint rotation" ) )
+    , d_showLawfulTorsion (initData (&d_showLawfulTorsion, false, "showLawfulTorsion", "display the lawful part of the joint rotation" ) )
+    , d_showExtraTorsion (initData (&d_showExtraTorsion, false, "showExtraTorsion", "display the illicit part of the joint rotation" ) )
 {
     springs.setOriginalData(&d_springs);
     showLawfulTorsion.setOriginalData(&d_showLawfulTorsion);

From ebc215c504849fc41f8bf0314bbd0dfeaf3d5857 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Wed, 25 Sep 2024 18:21:26 +0200
Subject: [PATCH 04/43] [DefaultType] Fix RigidDeriv name (#5015)

* [DefaultType] Fix RigidDeriv name

* Reorder files
---
 .../src/sofa/defaulttype/RigidDeriv.h         | 12 +++++-
 .../framework/DefaultType/test/CMakeLists.txt |  5 ++-
 .../DefaultType/test/RigidDeriv_test.cpp      | 41 +++++++++++++++++++
 3 files changed, 54 insertions(+), 4 deletions(-)
 create mode 100644 Sofa/framework/DefaultType/test/RigidDeriv_test.cpp

diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidDeriv.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidDeriv.h
index 98d6d78c98c..8e40f865a84 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidDeriv.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidDeriv.h
@@ -613,7 +613,15 @@ namespace sofa::linearalgebra
             subBlock = b[col];
         }
 
-        static sofa::linearalgebra::BaseMatrix::ElementType getElementType() { return matrix_bloc_traits<Real,IndexType>::getElementType(); }
-        static const char* Name() { return defaulttype::DataTypeName<defaulttype::RigidDeriv<N, T>>::name(); }
+        static sofa::linearalgebra::BaseMatrix::ElementType getElementType()
+        {
+            return matrix_bloc_traits<Real, IndexType>::getElementType();
+        }
+
+        static const char* Name()
+        {
+            static std::string name = defaulttype::DataTypeName<defaulttype::RigidDeriv<N, T> >::name();
+            return name.c_str();
+        }
     };
 }
diff --git a/Sofa/framework/DefaultType/test/CMakeLists.txt b/Sofa/framework/DefaultType/test/CMakeLists.txt
index 395920f8665..3cd10b20cfc 100644
--- a/Sofa/framework/DefaultType/test/CMakeLists.txt
+++ b/Sofa/framework/DefaultType/test/CMakeLists.txt
@@ -9,11 +9,12 @@ set(HEADER_FILES
 
 set(SOURCE_FILES
     MapMapSparseMatrixEigenUtils_test.cpp
-    TypeInfo_test.cpp
+    QuaternionIntegration_test.cpp
+    RigidDeriv_test.cpp
     TypeInfoRepository_test.cpp
     TypeInfoRepository_tu1_test.cpp
+    TypeInfo_test.cpp
     TypeInfoRepository_tu2_test.cpp
-    QuaternionIntegration_test.cpp
 )
 
 add_executable(${PROJECT_NAME} ${SOURCE_FILES} ${HEADER_FILES})
diff --git a/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp b/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp
new file mode 100644
index 00000000000..bdc6fad05fc
--- /dev/null
+++ b/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp
@@ -0,0 +1,41 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <gtest/gtest.h>
+#include <sofa/defaulttype/RigidTypes.h>
+#include <sofa/defaulttype/DataTypeInfo.h>
+
+template<sofa::Size N, typename real>
+void testName(const std::string& expectedName)
+{
+    using Deriv = sofa::defaulttype::RigidDeriv<N, real>;
+    using Bloc = sofa::linearalgebra::matrix_bloc_traits<Deriv, sofa::Index >;
+    EXPECT_EQ(std::string(Bloc::Name()), expectedName);
+}
+
+TEST(RigidDerivTest, Name)
+{
+    testName<3, float>("RigidDeriv3f");
+    testName<3, double>("RigidDeriv3d");
+
+    testName<2, float>("RigidDeriv2f");
+    testName<2, double>("RigidDeriv2d");
+}

From 55f303fe4ec1a68c4f3861fac257063072e85eeb Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Thu, 26 Sep 2024 03:00:22 +0200
Subject: [PATCH 05/43] [LinearAlgebra] Rename class MatrixSubstraction to
 MatrixSubtraction (#5016)

* [LinearAlgebra] Rename class MatrixSubstraction to MatrixSubtraction

* fix compilation
---
 .../src/sofa/linearalgebra/MatrixExpr.h       | 19 +++++++++++--------
 .../src/sofa/linearalgebra/config.h.in        | 10 ++++++++++
 2 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/MatrixExpr.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/MatrixExpr.h
index bc828e0c30c..ddd75dc4aa4 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/MatrixExpr.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/MatrixExpr.h
@@ -34,7 +34,7 @@ template<class M1, class M2>
 class MatrixAddition;
 
 template<class M1, class M2>
-class MatrixSubstraction;
+class MatrixSubtraction;
 
 template<class M1>
 class MatrixTranspose;
@@ -66,9 +66,9 @@ class MatrixExpr : public T
         return MatrixExpr { MatrixAddition< Expr, typename M2::Expr >(*this, m) };
     }
     template<class M2>
-    MatrixExpr< MatrixSubstraction< Expr, typename M2::Expr > > operator-(const M2& m) const
+    MatrixExpr< MatrixSubtraction< Expr, typename M2::Expr > > operator-(const M2& m) const
     {
-        return MatrixExpr { MatrixSubstraction< Expr, typename M2::Expr >(*this, m) };
+        return MatrixExpr { MatrixSubtraction< Expr, typename M2::Expr >(*this, m) };
     }
     MatrixExpr< MatrixNegative< Expr > > operator-() const
     {
@@ -98,9 +98,9 @@ class MatrixExpr : public T
         return MatrixExpr { MatrixAddition< typename M1::Expr, Expr >(m1,m2) };
     }
     template<class M1>
-    friend MatrixExpr< MatrixSubstraction< typename M1::Expr, Expr > > operator-(const M1& m1, const MatrixExpr<Expr>& m2)
+    friend MatrixExpr< MatrixSubtraction< typename M1::Expr, Expr > > operator-(const M1& m1, const MatrixExpr<Expr>& m2)
     {
-        return MatrixExpr { MatrixSubstraction< typename M1::Expr, Expr >(m1,m2) };
+        return MatrixExpr { MatrixSubtraction< typename M1::Expr, Expr >(m1,m2) };
     }
 };
 
@@ -442,10 +442,10 @@ class MatrixAddition
 };
 
 template<class M1, class M2>
-class MatrixSubstraction
+class MatrixSubtraction
 {
 public:
-    typedef MatrixSubstraction<M1, M2> Expr;
+    typedef MatrixSubtraction<M1, M2> Expr;
     enum { operand = 0 };
     enum { category = ((int)M1::category>(int)M2::category) ? (int)M1::category : (int)M2::category };
     enum { m_index = (((int)M1::category>(int)M2::category)?0:1) };
@@ -453,7 +453,7 @@ class MatrixSubstraction
 
     const M1& m1;
     const M2& m2;
-    MatrixSubstraction(const M1& m1, const M2& m2) : m1(m1), m2(m2)
+    MatrixSubtraction(const M1& m1, const M2& m2) : m1(m1), m2(m2)
     {}
 
     bool valid() const
@@ -502,6 +502,9 @@ class MatrixSubstraction
     }
 };
 
+template<class M1, class M2>
+using MatrixSubstraction SOFA_ATTRIBUTE_DEPRECATED__MATRIXSUBTRACTION() = MatrixSubtraction<M1, M2>;
+
 template<class M1, class M2>
 class MatrixProduct
 {
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in
index 5fdb2f7abbb..485f2ec960a 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in
@@ -59,3 +59,13 @@
         "v23.06", "v23.12", \
         "bloc has been renamed to block. ")
 #endif // SOFA_BUILD_SOFA_LINEARALGEBRA
+
+
+#ifdef SOFA_BUILD_SOFA_LINEARALGEBRA
+#define SOFA_ATTRIBUTE_DEPRECATED__MATRIXSUBTRACTION()
+#else
+#define SOFA_ATTRIBUTE_DEPRECATED__MATRIXSUBTRACTION() \
+    SOFA_ATTRIBUTE_DEPRECATED( \
+        "v24.12", "v25.06", \
+        "Use MatrixSubtraction instead (typo in the deprecated name).")
+#endif // SOFA_BUILD_SOFA_LINEARALGEBRA

From ede696a054f7d753de9874b675d3ad47c1df29e5 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Mon, 30 Sep 2024 08:13:40 +0200
Subject: [PATCH 06/43] [Core] Move DevBaseMonitor in SofaValidation (#4985)

Move DevBaseMonitor into SofaValidation
---
 .../Core/src/sofa/core/DevBaseMonitor.h       | 34 +++----------------
 Sofa/framework/Core/src/sofa/core/fwd.h       |  1 -
 .../Core/src/sofa/core/objectmodel/Base.h     |  1 -
 3 files changed, 4 insertions(+), 32 deletions(-)

diff --git a/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h b/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h
index e5981d58c7a..19c11bd7657 100644
--- a/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h
+++ b/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h
@@ -19,35 +19,9 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
+#pragma once
 
-#ifndef SOFA_CORE_DEVBASEMONITOR_H
-#define SOFA_CORE_DEVBASEMONITOR_H
+#include <sofa/config.h>
 
-#include <sofa/core/objectmodel/BaseObject.h>
-
-
-namespace sofa::core
-{
-
-/**
- *  \brief A basic interface to define a Monitor capable to compute metrics.
- *
- *
- *
- */
-class DevBaseMonitor : public virtual objectmodel::BaseObject
-{
-public:
-    SOFA_CLASS(DevBaseMonitor, objectmodel::BaseObject);
-    SOFA_BASE_CAST_IMPLEMENTATION(DevBaseMonitor)
-
-    /// Destructor
-    ~DevBaseMonitor() override {}
-    /// Compute metrics
-    virtual void eval() = 0;
-};
-
-} // namespace sofa::core
-
-
-#endif //SOFA_CORE_DEVBASEMONITOR_H
+//header moved in the plugin SofaValidation
+SOFA_HEADER_DEPRECATED("v24.12", "v25.12", "SofaValidation/DevBaseMonitor.h")
diff --git a/Sofa/framework/Core/src/sofa/core/fwd.h b/Sofa/framework/Core/src/sofa/core/fwd.h
index 7eabd941f1f..69e738489a1 100644
--- a/Sofa/framework/Core/src/sofa/core/fwd.h
+++ b/Sofa/framework/Core/src/sofa/core/fwd.h
@@ -37,7 +37,6 @@ class BehaviorModel;
 class CollisionModel;
 class CollisionElementIterator;
 class DataEngine;
-class DevBaseMonitor;
 
 class ExecParams;
 class ConstraintParams;
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h
index 5aa1709efbf..4e0fcafb84b 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h
@@ -421,7 +421,6 @@ class SOFA_CORE_API Base
     SOFA_BASE_CAST_DEFINITION( core,        BehaviorModel                          )
     SOFA_BASE_CAST_DEFINITION( core,        CollisionModel                         )
     SOFA_BASE_CAST_DEFINITION( core,        DataEngine                             )
-    SOFA_BASE_CAST_DEFINITION( core,        DevBaseMonitor                         )
     SOFA_BASE_CAST_DEFINITION( objectmodel, BaseContext                            )
     SOFA_BASE_CAST_DEFINITION( objectmodel, BaseObject                             )
     SOFA_BASE_CAST_DEFINITION( objectmodel, BaseNode                               )

From 465246fbe7ccc788bb1ae2f27463659cd688045d Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Wed, 2 Oct 2024 01:03:16 +0200
Subject: [PATCH 07/43] [Mapping.NonLinear] A base class for (almost) all non
 linear mappings (#5006)

* Introduce base class for non-linear mappings

* refactor DistanceFromTargetMapping

* refactor DistanceMapping

* refactor SquareDistanceMapping

* refactor SquareMapping

* delegate on updateK

* K can be private

* factorize baseMatrix

* baseMatrices can be private

* rename base class

* rename files

* fix

* second fix

* unused variables

* rename private members

* change protected member
---
 .../Mapping/NonLinear/CMakeLists.txt          |   2 +
 .../component/mapping/nonlinear/AreaMapping.h |  48 ++---
 .../mapping/nonlinear/AreaMapping.inl         | 158 +++++----------
 .../mapping/nonlinear/BaseNonLinearMapping.h  |  97 ++++++++++
 .../nonlinear/BaseNonLinearMapping.inl        | 144 ++++++++++++++
 .../nonlinear/DistanceFromTargetMapping.h     |  65 +++----
 .../nonlinear/DistanceFromTargetMapping.inl   | 148 +++++---------
 .../mapping/nonlinear/DistanceMapping.h       |  73 +++----
 .../mapping/nonlinear/DistanceMapping.inl     | 182 ++++++------------
 .../mapping/nonlinear/SquareDistanceMapping.h |  75 +++-----
 .../nonlinear/SquareDistanceMapping.inl       | 174 ++++++-----------
 .../mapping/nonlinear/SquareMapping.h         |  78 +++-----
 .../mapping/nonlinear/SquareMapping.inl       | 149 +++-----------
 .../mapping/nonlinear/VolumeMapping.h         |  48 ++---
 .../mapping/nonlinear/VolumeMapping.inl       | 156 +++++----------
 .../NonLinear/tests/AreaMapping_test.cpp      |   1 -
 .../NonLinear/tests/SquareMapping_test.cpp    |  10 -
 .../NonLinear/tests/VolumeMapping_test.cpp    |   1 -
 ...essedRowSparseMatrixConstraintEigenUtils.h |   1 +
 19 files changed, 651 insertions(+), 959 deletions(-)
 create mode 100644 Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.h
 create mode 100644 Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl

diff --git a/Sofa/Component/Mapping/NonLinear/CMakeLists.txt b/Sofa/Component/Mapping/NonLinear/CMakeLists.txt
index c5f5548c6ed..d97638d9c41 100644
--- a/Sofa/Component/Mapping/NonLinear/CMakeLists.txt
+++ b/Sofa/Component/Mapping/NonLinear/CMakeLists.txt
@@ -8,6 +8,8 @@ set(HEADER_FILES
     ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/init.h
     ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/AreaMapping.h
     ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/AreaMapping.inl
+    ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/BaseNonLinearMapping.h
+    ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/BaseNonLinearMapping.inl
     ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/DistanceFromTargetMapping.h
     ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/DistanceFromTargetMapping.inl
     ${SOFACOMPONENTMAPPINGNONLINEAR_SOURCE_DIR}/DistanceMapping.h
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.h
index 91f9cee3fc3..3554709407c 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.h
@@ -22,7 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/config.h>
-#include <sofa/core/Mapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
 #include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
@@ -32,17 +32,16 @@ namespace sofa::component::mapping::nonlinear
 {
 
 template <class TIn, class TOut>
-class AreaMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLinearMappingData
+class AreaMapping : public BaseNonLinearMapping<TIn, TOut, true>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE2(AreaMapping,TIn,TOut), SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
+    SOFA_CLASS(SOFA_TEMPLATE2(AreaMapping,TIn,TOut), SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut, true));
 
     using In = TIn;
     using Out = TOut;
 
     using Real = Real_t<Out>;
 
-    typedef linearalgebra::EigenSparseMatrix<TIn,TOut> SparseMatrixEigen;
     static constexpr auto Nin = In::deriv_total_size;
 
     SingleLink<AreaMapping<TIn, TOut>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
@@ -52,44 +51,25 @@ class AreaMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLinearM
     void init() override;
 
     void apply(const core::MechanicalParams* mparams, DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in) override;
-    void applyJ(const core::MechanicalParams* mparams, DataVecDeriv_t<Out>& out, const DataVecDeriv_t<In>& in) override;
-    void applyJT(const core::MechanicalParams* mparams, DataVecDeriv_t<In>& out, const DataVecDeriv_t<Out>& in) override;
-    void applyJT(const core::ConstraintParams *cparams, DataMatrixDeriv_t<In>& out, const DataMatrixDeriv_t<Out>& in) override;
-    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForceId, core::ConstMultiVecDerivId childForceId) override;
-
-    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId) override;
-    const linearalgebra::BaseMatrix* getK() override;
     void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
 
-    const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
-
 protected:
     AreaMapping();
 
-    using SparseKMatrixEigen = linearalgebra::EigenSparseMatrix<TIn,TIn>;
-
-    SparseMatrixEigen jacobian; ///< Jacobian of the mapping
-    type::vector<linearalgebra::BaseMatrix*> baseMatrices; ///< Jacobian of the mapping, in a vector
-    typename AreaMapping::SparseKMatrixEigen K; ///< Assembled geometric stiffness matrix
-
-    /**
-     * @brief Represents an entry in the Jacobian matrix.
-     *
-     * The JacobianEntry struct is used to store information about an entry in the
-     * Jacobian matrix, specifically the vertex identifier and the corresponding
-     * Jacobian value. It also provides a comparison operator for sorting entries
-     * by vertex ID.
-     */
-    struct JacobianEntry
-    {
-        sofa::Index vertexId;
-        typename In::Coord jacobianValue;
-        bool operator<(const JacobianEntry& other) const { return vertexId < other.vertexId;}
-    };
+    void matrixFreeApplyDJT(const core::MechanicalParams* mparams, Real kFactor,
+                            Data<VecDeriv_t<In> >& parentForce,
+                            const Data<VecDeriv_t<In> >& parentDisplacement,
+                            const Data<VecDeriv_t<Out> >& childForce) override;
 
-    const VecCoord_t<In>* m_vertices{nullptr};
+    using typename Inherit1::SparseKMatrixEigen;
 
+    void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) override;
+
+    const VecCoord_t<In>* m_vertices{nullptr};
 
+    using JacobianEntry = typename Inherit1::JacobianEntry;
 };
 
 #if !defined(SOFA_COMPONENT_MAPPING_NONLINEAR_AREAMAPPING_CPP)
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl
index 88d62ca8b5d..5b856d8b7ee 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl
@@ -21,8 +21,8 @@
 ******************************************************************************/
 #pragma once
 #include <sofa/component/mapping/nonlinear/AreaMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl>
 #include <sofa/core/BaseLocalMappingMatrix.h>
-#include <sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h>
 
 namespace sofa::component::mapping::nonlinear
 {
@@ -123,10 +123,7 @@ void AreaMapping<TIn, TOut>::init()
     typename core::behavior::MechanicalState<In>::ReadVecCoord pos = this->getFromModel()->readPositions();
 
     this->getToModel()->resize( nbTriangles );
-    jacobian.resizeBlocks(nbTriangles, pos.size());
-
-    baseMatrices.resize( 1 );
-    baseMatrices[0] = &jacobian;
+    this->m_jacobian.resizeBlocks(nbTriangles, pos.size());
 
     Inherit1::init();
 
@@ -140,6 +137,8 @@ template <class TIn, class TOut>
 void AreaMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
     DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in)
 {
+    SOFA_UNUSED( mparams );
+
     helper::WriteOnlyAccessor< Data<VecCoord_t<Out>> > _out = out;
     helper::ReadAccessor< Data<VecCoord_t<In> > > _in = in;
 
@@ -147,7 +146,7 @@ void AreaMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
 
     const auto& triangles = l_topology->getTriangles();
 
-    jacobian.clear();
+    this->m_jacobian.clear();
 
     for (unsigned int triangleId = 0; triangleId < triangles.size(); ++triangleId)
     {
@@ -177,107 +176,60 @@ void AreaMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
         //insertion in increasing column order
         std::sort(jacobianEntries.begin(), jacobianEntries.end());
 
-        jacobian.beginRow(triangleId);
+        this->m_jacobian.beginRow(triangleId);
         for (const auto& [vertexId, jacobianValue] : jacobianEntries)
         {
             for (unsigned d = 0; d < In::spatial_dimensions; ++d)
             {
-                jacobian.insertBack(triangleId, vertexId * Nin + d, jacobianValue[d]);
+                this->m_jacobian.insertBack(triangleId, vertexId * Nin + d, jacobianValue[d]);
             }
         }
     }
 
-    jacobian.compress();
-}
-
-template <class TIn, class TOut>
-void AreaMapping<TIn, TOut>::applyJ(const core::MechanicalParams* mparams,
-    DataVecDeriv_t<Out>& out, const DataVecDeriv_t<In>& in)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutWa = sofa::helper::getWriteOnlyAccessor(out);
-        auto dInRa = sofa::helper::getReadAccessor(in);
-        jacobian.mult(dOutWa.wref(),dInRa.ref());
-    }
-}
-
-template <class TIn, class TOut>
-void AreaMapping<TIn, TOut>::applyJT(const core::MechanicalParams* mparams,
-    DataVecDeriv_t<In>& out, const DataVecDeriv_t<Out>& in)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutRa = sofa::helper::getReadAccessor(in);
-        auto dInWa = sofa::helper::getWriteOnlyAccessor(out);
-        jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
-    }
+    this->m_jacobian.compress();
 }
 
 template <class TIn, class TOut>
-void AreaMapping<TIn, TOut>::applyJT(const core::ConstraintParams* cparams,
-    DataMatrixDeriv_t<In>& out, const DataMatrixDeriv_t<Out>& in)
+void AreaMapping<TIn, TOut>::matrixFreeApplyDJT(
+    const core::MechanicalParams* mparams, Real kFactor,
+    Data<VecDeriv_t<In>>& parentForce,
+    const Data<VecDeriv_t<In>>& parentDisplacement,
+    const Data<VecDeriv_t<Out>>& childForce)
 {
-    SOFA_UNUSED(cparams);
-    auto childMatRa  = sofa::helper::getReadAccessor(in);
-    auto parentMatWa = sofa::helper::getWriteAccessor(out);
-    addMultTransposeEigen(parentMatWa.wref(), jacobian.compressedMatrix, childMatRa.ref());
-}
+    SOFA_UNUSED(mparams);
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-template <class TIn, class TOut>
-void AreaMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams,
-    core::MultiVecDerivId parentForceId, core::ConstMultiVecDerivId childForceId)
-{
-    if (!m_vertices)
-    {
-        return;
-    }
+    helper::WriteAccessor parentForceAccessor(parentForce);
+    helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+    helper::ReadAccessor childForceAccessor(childForce);
 
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness )
+    const auto& triangles = l_topology->getTriangles();
+    for (unsigned int triangleId = 0; triangleId < triangles.size(); ++triangleId)
     {
-        return;
-    }
-
-    helper::WriteAccessor<Data<VecDeriv_t<In> > > parentForceAccessor(*parentForceId[this->fromModel.get()].write());
-    helper::ReadAccessor<Data<VecDeriv_t<In> > > parentDisplacementAccessor(*mparams->readDx(this->fromModel.get()));
-    const SReal kFactor = mparams->kFactor();
-    helper::ReadAccessor<Data<VecDeriv_t<Out> > > childForceAccessor(mparams->readF(this->toModel.get()));
+        const Deriv_t<Out>& childForceTri = childForceAccessor[triangleId];
 
-    if( K.compressedMatrix.nonZeros() )
-    {
-        K.addMult( parentForceAccessor.wref(), parentDisplacementAccessor.ref(), (typename In::Real)kFactor );
-    }
-    else
-    {
-        const auto& triangles = l_topology->getTriangles();
-        for (unsigned int triangleId = 0; triangleId < triangles.size(); ++triangleId)
+        if( childForceTri[0] < 0 || geometricStiffness==1 )
         {
-            const Deriv_t<Out>& childForceTri = childForceAccessor[triangleId];
-
-            if( childForceTri[0] < 0 || geometricStiffness==1 )
-            {
-                const auto& triangle = triangles[triangleId];
+            const auto& triangle = triangles[triangleId];
 
-                const sofa::type::fixed_array<Coord_t<In>, 3> v{
-                    (*m_vertices)[triangle[0]],
-                    (*m_vertices)[triangle[1]],
-                    (*m_vertices)[triangle[2]]
-                };
+            const sofa::type::fixed_array<Coord_t<In>, 3> v{
+                (*m_vertices)[triangle[0]],
+                (*m_vertices)[triangle[1]],
+                (*m_vertices)[triangle[2]]
+            };
 
-                //it's a 3x3 matrix, where each entry is a 3x3 matrix
-                const auto d2Area_d2x = computeSecondDerivativeArea(v);
+            //it's a 3x3 matrix, where each entry is a 3x3 matrix
+            const auto d2Area_d2x = computeSecondDerivativeArea(v);
 
-                for (unsigned int i = 0; i < 3; ++i)
+            for (unsigned int i = 0; i < 3; ++i)
+            {
+                for (unsigned int j = 0; j < 3; ++j)
                 {
-                    for (unsigned int j = 0; j < 3; ++j)
-                    {
-                        parentForceAccessor[triangle[i]] +=
-                            kFactor
-                            * d2Area_d2x[i][j]
-                            * parentDisplacementAccessor[triangle[j]]
-                            * childForceTri[0];
-                    }
+                    parentForceAccessor[triangle[i]] +=
+                        kFactor
+                        * d2Area_d2x[i][j]
+                        * parentDisplacementAccessor[triangle[j]]
+                        * childForceTri[0];
                 }
             }
         }
@@ -285,24 +237,18 @@ void AreaMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams,
 }
 
 template <class TIn, class TOut>
-void AreaMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams,
-    core::ConstMultiVecDerivId childForceId)
+void AreaMapping<TIn, TOut>::doUpdateK(const core::MechanicalParams* mparams,
+    const Data<VecDeriv_t<Out>>& childForce, SparseKMatrixEigen& matrix)
 {
     SOFA_UNUSED(mparams);
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) { K.resize(0,0); return; }
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-    helper::ReadAccessor<Data<VecDeriv_t<Out> > > childForce( *childForceId[this->toModel.get()].read() );
-
-    {
-        unsigned int kSize = this->fromModel->getSize();
-        K.resizeBlocks(kSize, kSize);
-    }
+    const helper::ReadAccessor childForceAccessor(childForce);
 
     const auto& triangles = l_topology->getTriangles();
     for (unsigned int triangleId = 0; triangleId < triangles.size(); ++triangleId)
     {
-        const Deriv_t<Out>& childForceTri = childForce[triangleId];
+        const Deriv_t<Out>& childForceTri = childForceAccessor[triangleId];
 
         if( childForceTri[0] < 0 || geometricStiffness==1 )
         {
@@ -321,26 +267,18 @@ void AreaMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams,
             {
                 for (unsigned int j = 0; j < 3; ++j)
                 {
-                    K.addBlock(triangle[i], triangle[j], d2Area_d2x[i][j] * childForceTri[0]);
+                    matrix.addBlock(triangle[i], triangle[j], d2Area_d2x[i][j] * childForceTri[0]);
                 }
             }
         }
     }
-
-    K.compress();
-}
-
-template <class TIn, class TOut>
-const linearalgebra::BaseMatrix* AreaMapping<TIn, TOut>::getK()
-{
-    return &K;
 }
 
 template <class TIn, class TOut>
 void AreaMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
     sofa::core::GeometricStiffnessMatrix* matrices)
 {
-    const unsigned& geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
+    const unsigned& geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
     if( !geometricStiffness )
     {
         return;
@@ -379,11 +317,5 @@ void AreaMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
 
 }
 
-template <class TIn, class TOut>
-const type::vector<sofa::linearalgebra::BaseMatrix*>* AreaMapping<TIn, TOut>::
-getJs()
-{
-    return &baseMatrices;
-}
 
 }
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.h
new file mode 100644
index 00000000000..847c8628cdf
--- /dev/null
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.h
@@ -0,0 +1,97 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/mapping/nonlinear/config.h>
+#include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
+#include <sofa/core/Mapping.h>
+#include <sofa/linearalgebra/EigenSparseMatrix.h>
+
+
+namespace sofa::component::mapping::nonlinear
+{
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+class BaseNonLinearMapping : public core::Mapping<TIn, TOut>, public NonLinearMappingData<HasStabilizedGeometricStiffness>
+{
+public:
+    SOFA_CLASS(
+        SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut, HasStabilizedGeometricStiffness),
+        SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
+
+    using In = TIn;
+    using Out = TOut;
+
+    using Real = Real_t<Out>;
+
+    typedef linearalgebra::EigenSparseMatrix<TIn,TOut> SparseMatrixEigen;
+    static constexpr auto Nin = In::deriv_total_size;
+
+    void init() override;
+
+    void applyJ(const core::MechanicalParams* mparams, DataVecDeriv_t<Out>& out, const DataVecDeriv_t<In>& in) final;
+    void applyJT(const core::MechanicalParams* mparams, DataVecDeriv_t<In>& out, const DataVecDeriv_t<Out>& in) final;
+    void applyJT(const core::ConstraintParams *cparams, DataMatrixDeriv_t<In>& out, const DataMatrixDeriv_t<Out>& in) final;
+    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForceId, core::ConstMultiVecDerivId childForceId) final;
+
+    const linearalgebra::BaseMatrix* getK() final;
+    const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
+
+    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId) final;
+
+protected:
+
+    using SparseKMatrixEigen = linearalgebra::EigenSparseMatrix<TIn,TIn>;
+
+    virtual void matrixFreeApplyDJT(const core::MechanicalParams* mparams,
+                                   Real kFactor,
+                                   Data<VecDeriv_t<In> >& parentForce,
+                                   const Data<VecDeriv_t<In> >& parentDisplacement,
+                                   const Data<VecDeriv_t<Out> >& childForce) = 0;
+
+    SparseMatrixEigen m_jacobian; ///< Jacobian of the mapping
+
+    virtual void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) = 0;
+
+    /**
+     * @brief Represents an entry in the Jacobian matrix.
+     *
+     * The JacobianEntry struct is used to store information about an entry in the
+     * Jacobian matrix, specifically the vertex identifier and the corresponding
+     * Jacobian value. It also provides a comparison operator for sorting entries
+     * by vertex ID.
+     */
+    struct JacobianEntry
+    {
+        sofa::Index vertexId;
+        typename In::CPos jacobianValue;
+        bool operator<(const JacobianEntry& other) const { return vertexId < other.vertexId;}
+    };
+
+private:
+
+    SparseKMatrixEigen m_geometricStiffnessMatrix; ///< Assembled geometric stiffness matrix
+    type::vector<linearalgebra::BaseMatrix*> m_baseMatrices;
+};
+
+}
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl
new file mode 100644
index 00000000000..742d3303e87
--- /dev/null
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl
@@ -0,0 +1,144 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
+#include <sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h>
+
+namespace sofa::component::mapping::nonlinear
+{
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+void BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::
+init()
+{
+    core::Mapping<TIn, TOut>::init();
+
+    m_baseMatrices.resize( 1 );
+    m_baseMatrices[0] = &this->m_jacobian;
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+void BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::applyJ(
+    const core::MechanicalParams* mparams, DataVecDeriv_t<Out>& out,
+    const DataVecDeriv_t<In>& in)
+{
+    SOFA_UNUSED( mparams );
+    if( m_jacobian.rowSize() )
+    {
+        auto dOutWa = sofa::helper::getWriteOnlyAccessor(out);
+        auto dInRa = sofa::helper::getReadAccessor(in);
+        m_jacobian.mult(dOutWa.wref(),dInRa.ref());
+    }
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+void BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::applyJT(
+    const core::MechanicalParams* mparams, DataVecDeriv_t<In>& out,
+    const DataVecDeriv_t<Out>& in)
+{
+    SOFA_UNUSED( mparams );
+    if( m_jacobian.rowSize() )
+    {
+        auto dOutRa = sofa::helper::getReadAccessor(in);
+        auto dInWa = sofa::helper::getWriteOnlyAccessor(out);
+        m_jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
+    }
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+void BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::applyJT(
+    const core::ConstraintParams* cparams, DataMatrixDeriv_t<In>& out,
+    const DataMatrixDeriv_t<Out>& in)
+{
+    SOFA_UNUSED(cparams);
+    auto childMatRa  = sofa::helper::getReadAccessor(in);
+    auto parentMatWa = sofa::helper::getWriteAccessor(out);
+    addMultTransposeEigen(parentMatWa.wref(), m_jacobian.compressedMatrix, childMatRa.ref());
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+void BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::applyDJT(
+    const core::MechanicalParams* mparams, core::MultiVecDerivId parentForceId,
+    core::ConstMultiVecDerivId childForceId)
+{
+    SOFA_UNUSED(childForceId);
+
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
+    if( !geometricStiffness )
+    {
+        return;
+    }
+
+    Data<VecDeriv_t<In> >& parentForce = *parentForceId[this->fromModel.get()].write();
+    const Data<VecDeriv_t<In> >& parentDisplacement = *mparams->readDx(this->fromModel.get());
+
+    const SReal kFactor = mparams->kFactor();
+
+    if( m_geometricStiffnessMatrix.compressedMatrix.nonZeros() )
+    {
+        helper::WriteAccessor parentForceAccessor(parentForce);
+        helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+        m_geometricStiffnessMatrix.addMult( parentForceAccessor.wref(), parentDisplacementAccessor.ref(), static_cast<Real>(kFactor) );
+    }
+    else
+    {
+        const Data<VecDeriv_t<Out> >& childForce = *mparams->readF(this->toModel.get());
+
+        matrixFreeApplyDJT(mparams, static_cast<Real>(kFactor),
+            parentForce, parentDisplacement, childForce);
+    }
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+const linearalgebra::BaseMatrix* BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::getK()
+{
+    return &m_geometricStiffnessMatrix;
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+const type::vector<sofa::linearalgebra::BaseMatrix*>* BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::getJs()
+{
+    return &m_baseMatrices;
+}
+
+template <class TIn, class TOut, bool HasStabilizedGeometricStiffness>
+void BaseNonLinearMapping<TIn, TOut, HasStabilizedGeometricStiffness>::
+updateK(const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId)
+{
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
+    if( !geometricStiffness ) { this->m_geometricStiffnessMatrix.resize(0,0); return; }
+
+    const Data<VecDeriv_t<Out> >& childForce = *childForceId[this->toModel.get()].read();
+
+    {
+        unsigned int kSize = this->fromModel->getSize();
+        m_geometricStiffnessMatrix.resizeBlocks(kSize, kSize);
+    }
+
+    doUpdateK(mparams, childForce, m_geometricStiffnessMatrix);
+
+    m_geometricStiffnessMatrix.compress();
+}
+
+
+}
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h
index 17942e099c5..9c226f13918 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h
@@ -22,8 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/config.h>
-
-#include <sofa/core/Mapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
 #include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
 #include <sofa/type/Mat.h>
@@ -61,28 +60,20 @@ struct BaseDistanceFromTargetMapping
  * @author Francois Faure
   */
 template <class TIn, class TOut>
-class DistanceFromTargetMapping : public core::Mapping<TIn, TOut>, public BaseDistanceFromTargetMapping, public NonLinearMappingData<true>
+class DistanceFromTargetMapping : public BaseNonLinearMapping<TIn, TOut, true>, public BaseDistanceFromTargetMapping
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE2(DistanceFromTargetMapping,TIn,TOut), SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
-
-    typedef core::Mapping<TIn, TOut> Inherit;
-    typedef TIn In;
-    typedef TOut Out;
-    typedef typename Out::VecCoord OutVecCoord;
-    typedef typename Out::VecDeriv OutVecDeriv;
-    typedef typename Out::Coord OutCoord;
-    typedef typename Out::Deriv OutDeriv;
-    typedef typename Out::MatrixDeriv OutMatrixDeriv;
-    typedef typename Out::Real Real;
-    typedef typename In::Deriv InDeriv;
-    typedef typename In::MatrixDeriv InMatrixDeriv;
-    typedef typename In::Coord InCoord;
-    typedef typename In::VecCoord InVecCoord;
-    typedef typename In::VecDeriv InVecDeriv;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TOut>    SparseMatrixEigen;
-    typedef linearalgebra::EigenSparseMatrix<In,In>    SparseKMatrixEigen;
-    enum {Nin = In::deriv_total_size, Nout = Out::deriv_total_size };
+    SOFA_CLASS(SOFA_TEMPLATE2(DistanceFromTargetMapping,TIn,TOut), SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut, true));
+
+    using In = TIn;
+    using Out = TOut;
+    using Real = Real_t<Out>;
+    static constexpr auto Nin = In::deriv_total_size;
+    static constexpr auto Nout = Out::deriv_total_size;
+
+    using InCoord = Coord_t<In>;
+    using InVecCoord = VecCoord_t<In>;
+
     typedef type::Vec<In::deriv_total_size> Direction;
 
     SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR()
@@ -112,21 +103,7 @@ class DistanceFromTargetMapping : public core::Mapping<TIn, TOut>, public BaseDi
 
     void init() override;
 
-    void apply(const core::MechanicalParams *mparams, Data<OutVecCoord>& out, const Data<InVecCoord>& in) override;
-
-    void applyJ(const core::MechanicalParams *mparams, Data<OutVecDeriv>& out, const Data<InVecDeriv>& in) override;
-
-    void applyJT(const core::MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<OutVecDeriv>& in) override;
-
-    void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in) override;
-
-    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForce, core::ConstMultiVecDerivId  childForce ) override;
-
-    const sofa::linearalgebra::BaseMatrix* getJ() override;
-    virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
-
-    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForce ) override;
-    const linearalgebra::BaseMatrix* getK() override;
+    void apply(const core::MechanicalParams *mparams, DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in) override;
     void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
 
     void draw(const core::visual::VisualParams* vparams) override;
@@ -137,9 +114,17 @@ class DistanceFromTargetMapping : public core::Mapping<TIn, TOut>, public BaseDi
     DistanceFromTargetMapping();
     ~DistanceFromTargetMapping() override;
 
-    SparseMatrixEigen jacobian;                      ///< Jacobian of the mapping
-    type::vector<linearalgebra::BaseMatrix*> baseMatrices;   ///< Jacobian of the mapping, in a vector
-    SparseKMatrixEigen K;  ///< Assembled geometric stiffness matrix
+    void matrixFreeApplyDJT(const core::MechanicalParams* mparams, Real kFactor,
+                        Data<VecDeriv_t<In> >& parentForce,
+                        const Data<VecDeriv_t<In> >& parentDisplacement,
+                        const Data<VecDeriv_t<Out> >& childForce) override;
+
+    using typename Inherit1::SparseKMatrixEigen;
+
+    void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) override;
+
     type::vector<Direction> directions;                         ///< Unit vectors in the directions of the lines
     type::vector< Real > invlengths;                          ///< inverse of current distances. Null represents the infinity (null distance)
 
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl
index 79225a2b2c9..c350fdf6a0d 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl
@@ -22,6 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl>
 #include <sofa/core/BaseLocalMappingMatrix.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/visual/VisualParams.h>
@@ -35,12 +36,11 @@ namespace sofa::component::mapping::nonlinear
 
 template <class TIn, class TOut>
 DistanceFromTargetMapping<TIn, TOut>::DistanceFromTargetMapping()
-    : Inherit()
-    , d_indices(initData(&d_indices, "indices", "Indices of the parent points"))
+    : d_indices(initData(&d_indices, "indices", "Indices of the parent points"))
     , d_targetPositions(initData(&d_targetPositions, "targetPositions", "Positions to compute the distances from"))
     , d_restDistances(initData(&d_restDistances, "restLengths", "Rest lengths of the connections"))
     , d_showObjectScale(initData(&d_showObjectScale, 0.f, "showObjectScale", "Scale for object display"))
-    , d_color(initData(&d_color, sofa::type::RGBAColor(1,1,0,1), "showColor", "Color for object display. (default=[1.0,1.0,0.0,1.0])"))
+    , d_color(initData(&d_color, sofa::type::RGBAColor::yellow(), "showColor", "Color for object display."))
 {
     f_indices.setOriginalData(&d_indices);
     f_targetPositions.setOriginalData(&d_targetPositions);
@@ -118,11 +118,7 @@ void DistanceFromTargetMapping<TIn, TOut>::init()
 
     this->getToModel()->resize(d_indices.getValue().size() );
 
-
-    baseMatrices.resize( 1 );
-    baseMatrices[0] = &jacobian;
-
-    this->Inherit::init();  // applies the mapping, so after the Data init
+    Inherit1::init();  // applies the mapping, so after the Data init
 }
 
 template <class TIn, class TOut>
@@ -132,15 +128,16 @@ void DistanceFromTargetMapping<TIn, TOut>::computeCoordPositionDifference( Direc
 }
 
 template <class TIn, class TOut>
-void DistanceFromTargetMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/ , Data<OutVecCoord>& dOut, const Data<InVecCoord>& dIn)
+void DistanceFromTargetMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/ , DataVecCoord_t<Out>& dOut, const DataVecCoord_t<In>& dIn)
 {
-    helper::WriteAccessor< Data<OutVecCoord> >  out = dOut;
-    helper::ReadAccessor< Data<InVecCoord> >  in = dIn;
-    helper::WriteAccessor<Data<type::vector<Real> > > restDistances(d_restDistances);
-    const helper::ReadAccessor< Data<type::vector<unsigned> > > indices(d_indices);
-    helper::ReadAccessor< Data<InVecCoord > > targetPositions(d_targetPositions);
+    helper::WriteAccessor out(dOut);
+    helper::WriteAccessor restDistances(d_restDistances);
+
+    const helper::ReadAccessor in(dIn);
+    const helper::ReadAccessor indices(d_indices);
+    const helper::ReadAccessor targetPositions(d_targetPositions);
 
-    jacobian.resizeBlocks(out.size(),in.size());
+    this->m_jacobian.resizeBlocks(out.size(),in.size());
     directions.resize(out.size());
     invlengths.resize(out.size());
 
@@ -169,70 +166,38 @@ void DistanceFromTargetMapping<TIn, TOut>::apply(const core::MechanicalParams *
 
         for(unsigned j=0; j<Nout; j++)
         {
-            jacobian.beginRow(i*Nout+j);
+            this->m_jacobian.beginRow(i*Nout+j);
             for(unsigned k=0; k<Nin; k++ )
             {
-                jacobian.insertBack( i*Nout+j, indices[i]*Nin+k, gap[k] );
+                this->m_jacobian.insertBack( i*Nout+j, indices[i]*Nin+k, gap[k] );
             }
         }
     }
 
-    jacobian.compress();
+    this->m_jacobian.compress();
 }
 
-
-
 template <class TIn, class TOut>
-void DistanceFromTargetMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/ , Data<OutVecDeriv>& dOut, const Data<InVecDeriv>& dIn)
+void DistanceFromTargetMapping<TIn, TOut>::matrixFreeApplyDJT(
+    const core::MechanicalParams* mparams, Real kFactor,
+    Data<VecDeriv_t<In>>& parentForce,
+    const Data<VecDeriv_t<In>>& parentDisplacement,
+    const Data<VecDeriv_t<Out>>& childForce)
 {
-    if( jacobian.rowSize() > 0 )
-    {
-        auto dOutWa = sofa::helper::getWriteOnlyAccessor(dOut);
-        auto dInRa = sofa::helper::getReadAccessor(dIn);
-        jacobian.mult(dOutWa.wref(),dInRa.ref());
-    }
+    SOFA_UNUSED( mparams );
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-}
+    helper::WriteAccessor parentForceAccessor(parentForce);
+    const helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+    const helper::ReadAccessor childForceAccessor (childForce);
+    const helper::ReadAccessor indices(d_indices);
 
-template <class TIn, class TOut>
-void DistanceFromTargetMapping<TIn, TOut>::applyJT(const core::MechanicalParams * /*mparams*/ , Data<InVecDeriv>& dIn, const Data<OutVecDeriv>& dOut)
-{
-    if( jacobian.rowSize() > 0 )
-    {
-        auto dOutRa = sofa::helper::getReadAccessor(dOut);
-        auto dInWa = sofa::helper::getWriteOnlyAccessor(dIn);
-        jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
-    }
-}
-
-template <class TIn, class TOut>
-void DistanceFromTargetMapping<TIn, TOut>::applyJT(const core::ConstraintParams* cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in)
-{
-    SOFA_UNUSED(cparams);
-    auto childMatRa = sofa::helper::getReadAccessor(in);
-    auto parentMatWa = sofa::helper::getWriteAccessor(out);
-    addMultTransposeEigen(parentMatWa.wref(), jacobian.compressedMatrix, childMatRa.ref());
-}
-
-
-template <class TIn, class TOut>
-void DistanceFromTargetMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId )
-{
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-     if( !geometricStiffness ) return;
-
-    helper::WriteAccessor<Data<InVecDeriv> > parentForce (*parentDfId[this->fromModel.get()].write());
-    helper::ReadAccessor<Data<InVecDeriv> > parentDisplacement (*mparams->readDx(this->fromModel.get()));  // parent displacement
-    const SReal kfactor = mparams->kFactor();
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce (*mparams->readF(this->toModel.get()));
-    const helper::ReadAccessor< Data<type::vector<unsigned> > > indices(d_indices);
-
-    for(unsigned i=0; i<indices.size(); i++ )
+    for (unsigned i = 0; i < indices.size(); ++i)
     {
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
         // this results in an undefinite implicit matrix that causes instabilities
         // if stabilized GS (geometricStiffness==2) -> keep only force in extension
-        if( childForce[i][0] < 0 || geometricStiffness==1 )
+        if( childForceAccessor[i][0] < 0 || geometricStiffness==1 )
         {
             sofa::type::Mat<Nin,Nin,Real> b;  // = (I - uu^T)
             for(unsigned j=0; j<Nin; j++)
@@ -243,12 +208,12 @@ void DistanceFromTargetMapping<TIn, TOut>::applyDJT(const core::MechanicalParams
                 }
             }
             // (I - uu^T)*f/l*kfactor  --  do not forget kfactor !
-            b *= (Real)(childForce[i][0] * invlengths[i] * kfactor);
+            b *= (Real)(childForceAccessor[i][0] * invlengths[i] * kFactor);
             // note that computing a block is not efficient here, but it would
             // makes sense for storing a stiffness matrix
 
-            InDeriv dx = parentDisplacement[indices[i]];
-            InDeriv df;
+            const auto& dx = parentDisplacementAccessor[indices[i]];
+            Deriv_t<In> df;
             for(unsigned j=0; j<Nin; j++)
             {
                 for(unsigned k=0; k<Nin; k++)
@@ -256,38 +221,17 @@ void DistanceFromTargetMapping<TIn, TOut>::applyDJT(const core::MechanicalParams
                     df[j]+=b[j][k]*dx[k];
                 }
             }
-           // InDeriv df = b*dx;
-            parentForce[indices[i]] += df;
+           // Deriv_t<In> df = b*dx;
+            parentForceAccessor[indices[i]] += df;
         }
     }
 }
 
-
-
-
-template <class TIn, class TOut>
-const sofa::linearalgebra::BaseMatrix* DistanceFromTargetMapping<TIn, TOut>::getJ()
-{
-    return &jacobian;
-}
-
-template <class TIn, class TOut>
-const type::vector<sofa::linearalgebra::BaseMatrix*>* DistanceFromTargetMapping<TIn, TOut>::getJs()
-{
-    return &baseMatrices;
-}
-
-template <class TIn, class TOut>
-const linearalgebra::BaseMatrix* DistanceFromTargetMapping<TIn, TOut>::getK()
-{
-    return &K;
-}
-
 template <class TIn, class TOut>
 void DistanceFromTargetMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
     sofa::core::GeometricStiffnessMatrix* matrices)
 {
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
     if( !geometricStiffness )
     {
         return;
@@ -299,7 +243,7 @@ void DistanceFromTargetMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
 
     for(sofa::Size i=0; i<indices.size(); i++)
     {
-        const OutDeriv force_i = childForce[i];
+        const auto& force_i = childForce[i];
 
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
         // this results in an undefinite implicit matrix that causes instabilities
@@ -324,23 +268,22 @@ void DistanceFromTargetMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
 }
 
 template <class TIn, class TOut>
-void DistanceFromTargetMapping<TIn, TOut>::updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId )
+void DistanceFromTargetMapping<TIn, TOut>::doUpdateK(
+    const core::MechanicalParams* mparams,
+    const Data<VecDeriv_t<Out>>& childForce, SparseKMatrixEigen& matrix)
 {
     SOFA_UNUSED(mparams);
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) { K.resize(0,0); return; }
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce( *childForceId[this->toModel.get()].read() );
-    const helper::ReadAccessor< Data<type::vector<unsigned> > > indices(d_indices);
-    helper::ReadAccessor<Data<InVecCoord> > in (*this->fromModel->read(core::ConstVecCoordId::position()));
+    const helper::ReadAccessor childForceAccessor(childForce);
+    const helper::ReadAccessor indices(d_indices);
 
-    K.resizeBlocks(in.size(),in.size());
-    for(size_t i=0; i<indices.size(); i++)
+    for (size_t i = 0; i < indices.size(); i++)
     {
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
         // this results in an undefinite implicit matrix that causes instabilities
         // if stabilized GS (geometricStiffness==2) -> keep only force in extension
-        if( childForce[i][0] < 0 || geometricStiffness==1 )
+        if( childForceAccessor[i][0] < 0 || geometricStiffness==1 )
         {
             size_t idx = indices[i];
 
@@ -352,12 +295,11 @@ void DistanceFromTargetMapping<TIn, TOut>::updateK( const core::MechanicalParams
                     b[j][k] = static_cast<Real>(1) * ( j==k ) - directions[i][j]*directions[i][k];
                 }
             }
-            b *= childForce[i][0] * invlengths[i];  // (I - uu^T)*f/l
+            b *= childForceAccessor[i][0] * invlengths[i];  // (I - uu^T)*f/l
 
-            K.addBlock(idx,idx,b);
+            matrix.addBlock(idx,idx,b);
         }
     }
-    K.compress();
 }
 
 
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h
index 07ea6194f49..949fb8fa5d3 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h
@@ -23,7 +23,7 @@
 
 #include <sofa/component/mapping/nonlinear/config.h>
 
-#include <sofa/core/Mapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
 #include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
@@ -46,26 +46,18 @@ namespace sofa::component::mapping::nonlinear
  * @author Francois Faure
  */
 template <class TIn, class TOut>
-class DistanceMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLinearMappingData
+class DistanceMapping : public BaseNonLinearMapping<TIn, TOut, true>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE2(DistanceMapping,TIn,TOut), SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
+    SOFA_CLASS(SOFA_TEMPLATE2(DistanceMapping,TIn,TOut), SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut,true));
 
     typedef TIn In;
     typedef TOut Out;
-    typedef typename Out::VecCoord OutVecCoord;
-    typedef typename Out::VecDeriv OutVecDeriv;
-    typedef typename Out::Deriv OutDeriv;
-    typedef typename Out::MatrixDeriv OutMatrixDeriv;
-    typedef typename Out::Real Real;
-    typedef typename In::Deriv InDeriv;
-    typedef typename In::MatrixDeriv InMatrixDeriv;
-    typedef typename In::Coord InCoord;
-    typedef typename In::VecCoord InVecCoord;
-    typedef typename In::VecDeriv InVecDeriv;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TOut>   SparseMatrixEigen;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TIn>    SparseKMatrixEigen;
+
+    using Real = Real_t<Out>;
+
     static constexpr auto Nin = In::deriv_total_size;
+
     typedef sofa::core::topology::BaseMeshTopology::SeqEdges SeqEdges;
     typedef type::Vec<In::spatial_dimensions,Real> Direction;
 
@@ -84,25 +76,9 @@ class DistanceMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLin
     /// Link to be set to the topology container in the component graph. 
     SingleLink<DistanceMapping<TIn, TOut>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
 
-
-
     void init() override;
 
-    void apply(const core::MechanicalParams *mparams, Data<OutVecCoord>& out, const Data<InVecCoord>& in) override;
-
-    void applyJ(const core::MechanicalParams *mparams, Data<OutVecDeriv>& out, const Data<InVecDeriv>& in) override;
-
-    void applyJT(const core::MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<OutVecDeriv>& in) override;
-
-    void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in) override;
-
-    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForce, core::ConstMultiVecDerivId  childForce ) override;
-
-    const sofa::linearalgebra::BaseMatrix* getJ() override;
-    virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
-
-    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForce ) override;
-    const linearalgebra::BaseMatrix* getK() override;
+    void apply(const core::MechanicalParams *mparams, DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in) override;
     void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
 
     void computeBBox(const core::ExecParams* params, bool onlyVisible) override;
@@ -111,29 +87,24 @@ class DistanceMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLin
 protected:
     DistanceMapping();
 
-    SparseMatrixEigen jacobian;                         ///< Jacobian of the mapping
-    type::vector<linearalgebra::BaseMatrix*> baseMatrices;      ///< Jacobian of the mapping, in a vector
-    SparseKMatrixEigen K;                               ///< Assembled geometric stiffness matrix
+    void matrixFreeApplyDJT(const core::MechanicalParams* mparams, Real kFactor,
+                            Data<VecDeriv_t<In> >& parentForce,
+                            const Data<VecDeriv_t<In> >& parentDisplacement,
+                            const Data<VecDeriv_t<Out> >& childForce) override;
+
+    using typename Inherit1::SparseKMatrixEigen;
+
+    void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) override;
+
     type::vector<Direction> directions;                         ///< Unit vectors in the directions of the lines
     type::vector< Real > invlengths;                          ///< inverse of current distances. Null represents the infinity (null distance)
 
     /// r=b-a only for position (eventual rotation, affine transform... remains null)
-    void computeCoordPositionDifference( Direction& r, const InCoord& a, const InCoord& b );
-
-    /**
-     * @brief Represents an entry in the Jacobian matrix.
-     *
-     * The JacobianEntry struct is used to store information about an entry in the
-     * Jacobian matrix, specifically the vertex identifier and the corresponding
-     * Jacobian value. It also provides a comparison operator for sorting entries
-     * by vertex ID.
-     */
-    struct JacobianEntry
-    {
-        sofa::Index vertexId;
-        Direction jacobianValue;
-        bool operator<(const JacobianEntry& other) const { return vertexId < other.vertexId;}
-    };
+    void computeCoordPositionDifference( Direction& r, const Coord_t<In>& a, const Coord_t<In>& b );
+
+    using JacobianEntry = typename Inherit1::JacobianEntry;
 };
 
 
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
index c4b91bb0a4a..6c90d4616fe 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
@@ -22,6 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/DistanceMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl>
 #include <sofa/core/BaseLocalMappingMatrix.h>
 #include <sofa/core/ConstraintParams.h>
 #include <sofa/core/MechanicalParams.h>
@@ -69,7 +70,7 @@ void DistanceMapping<TIn, TOut>::init()
     typename core::behavior::MechanicalState<In>::ReadVecCoord pos = this->getFromModel()->readPositions();
 
     this->getToModel()->resize( links.size() );
-    jacobian.resizeBlocks(links.size(),pos.size());
+    this->m_jacobian.resizeBlocks(links.size(),pos.size());
 
     directions.resize(links.size());
     invlengths.resize(links.size());
@@ -90,27 +91,24 @@ void DistanceMapping<TIn, TOut>::init()
         }
     }
 
-    baseMatrices.resize( 1 );
-    baseMatrices[0] = &jacobian;
-
     this->Inherit1::init();  // applies the mapping, so after the Data init
 }
 
 template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::computeCoordPositionDifference( Direction& r, const InCoord& a, const InCoord& b )
+void DistanceMapping<TIn, TOut>::computeCoordPositionDifference( Direction& r, const Coord_t<In>& a, const Coord_t<In>& b )
 {
     r = TIn::getCPos(b) - TIn::getCPos(a);
 }
 
 template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/ , Data<OutVecCoord>& dOut, const Data<InVecCoord>& dIn)
+void DistanceMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/ , DataVecCoord_t<Out>& dOut, const DataVecCoord_t<In>& dIn)
 {
-    helper::WriteOnlyAccessor< Data<OutVecCoord> >  out = dOut;
-    helper::ReadAccessor< Data<InVecCoord> >  in = dIn;
+    helper::WriteOnlyAccessor<DataVecCoord_t<Out>> out(dOut);
+    helper::ReadAccessor in(dIn);
     helper::ReadAccessor<Data<type::vector<Real> > > restLengths(d_restLengths);
     const SeqEdges& links = l_topology->getEdges();
 
-    jacobian.clear();
+    this->m_jacobian.clear();
 
     for (unsigned int i = 0; i < links.size(); ++i)
     {
@@ -138,145 +136,96 @@ void DistanceMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*
             direction.fill(p);
         }
 
-        sofa::type::fixed_array<JacobianEntry, 2> jacobianEntries {JacobianEntry{link[0], -direction}, JacobianEntry{link[1], direction}};
+        sofa::type::fixed_array<JacobianEntry, 2> jacobianEntries {
+            JacobianEntry{link[0], -direction},
+            JacobianEntry{link[1], direction}
+        };
 
         //invert to insert in increasing column order
         std::sort(jacobianEntries.begin(), jacobianEntries.end());
 
-        jacobian.beginRow(i);
+        this->m_jacobian.beginRow(i);
         for (const auto& [vertexId, jacobianValue] : jacobianEntries)
         {
             for (unsigned k = 0; k < In::spatial_dimensions; ++k)
             {
-                jacobian.insertBack(i, vertexId * Nin + k, jacobianValue[k]);
+                this->m_jacobian.insertBack(i, vertexId * Nin + k, jacobianValue[k]);
             }
         }
     }
 
-    jacobian.compress();
-}
-
-
-template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/ , Data<OutVecDeriv>& out, const Data<InVecDeriv>& in)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutWa = sofa::helper::getWriteOnlyAccessor(out);
-        auto dInRa = sofa::helper::getReadAccessor(in);
-        jacobian.mult(dOutWa.wref(),dInRa.ref());
-    }
+    this->m_jacobian.compress();
 }
 
 template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::applyJT(const core::MechanicalParams * /*mparams*/ , Data<InVecDeriv>& out, const Data<OutVecDeriv>& in)
+void DistanceMapping<TIn, TOut>::matrixFreeApplyDJT(
+    const core::MechanicalParams* mparams, Real kFactor,
+    Data<VecDeriv_t<In>>& parentForce,
+    const Data<VecDeriv_t<In>>& parentDisplacement,
+    const Data<VecDeriv_t<Out>>& childForce)
 {
-    if( jacobian.rowSize() )
-    {
-        auto dOutRa = sofa::helper::getReadAccessor(in);
-        auto dInWa = sofa::helper::getWriteOnlyAccessor(out);
-        jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
-    }
-}
+    SOFA_UNUSED(mparams);
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId)
-{
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) return;
+    helper::WriteAccessor parentForceAccessor(parentForce);
+    helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+    helper::ReadAccessor childForceAccessor(childForce);
 
-    helper::WriteAccessor<Data<InVecDeriv> > parentForce (*parentDfId[this->fromModel.get()].write());
-    helper::ReadAccessor<Data<InVecDeriv> > parentDisplacement (*mparams->readDx(this->fromModel.get()));  // parent displacement
-    const SReal& kfactor = mparams->kFactor();
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce (*mparams->readF(this->toModel.get()));
+    const SeqEdges& links = l_topology->getEdges();
 
-    if( K.compressedMatrix.nonZeros() )
-    {
-        K.addMult( parentForce.wref(), parentDisplacement.ref(), (typename In::Real)kfactor );
-    }
-    else
+    for (unsigned i = 0; i < links.size(); ++i)
     {
-        const SeqEdges& links = l_topology->getEdges();
-
-        for(unsigned i=0; i<links.size(); i++ )
+        // force in compression (>0) can lead to negative eigen values in geometric stiffness
+        // this results in an undefinite implicit matrix that causes instabilities
+        // if stabilized GS (geometricStiffness==2) -> keep only force in extension
+        if( childForceAccessor[i][0] < 0 || geometricStiffness==1 )
         {
-            // force in compression (>0) can lead to negative eigen values in geometric stiffness
-            // this results in an undefinite implicit matrix that causes instabilities
-            // if stabilized GS (geometricStiffness==2) -> keep only force in extension
-            if( childForce[i][0] < 0 || geometricStiffness==1 )
+            sofa::type::Mat<Nin,Nin,Real> b;  // = (I - uu^T)
+            for(unsigned j=0; j<In::spatial_dimensions; j++)
             {
-                sofa::type::Mat<Nin,Nin,Real> b;  // = (I - uu^T)
-                for(unsigned j=0; j<In::spatial_dimensions; j++)
+                for(unsigned k=0; k<In::spatial_dimensions; k++)
                 {
-                    for(unsigned k=0; k<In::spatial_dimensions; k++)
-                    {
-                        b[j][k] = static_cast<Real>(1) * ( j==k ) - directions[i][j]*directions[i][k];
-                    }
+                    b[j][k] = static_cast<Real>(1) * ( j==k ) - directions[i][j]*directions[i][k];
                 }
-                // (I - uu^T)*f/l*kfactor  --  do not forget kfactor !
-                b *= (Real)(childForce[i][0] * invlengths[i] * kfactor);
-                // note that computing a block is not efficient here, but it
-                // would make sense for storing a stiffness matrix
-
-                InDeriv dx = parentDisplacement[links[i][1]] - parentDisplacement[links[i][0]];
-                InDeriv df;
-                for(unsigned j=0; j<Nin; j++)
+            }
+            // (I - uu^T)*f/l*kfactor  --  do not forget kfactor !
+            b *= (Real)(childForceAccessor[i][0] * invlengths[i] * kFactor);
+            // note that computing a block is not efficient here, but it
+            // would make sense for storing a stiffness matrix
+
+            Deriv_t<In> dx = parentDisplacementAccessor[links[i][1]] - parentDisplacementAccessor[links[i][0]];
+            Deriv_t<In> df;
+            for(unsigned j=0; j<Nin; j++)
+            {
+                for(unsigned k=0; k<Nin; k++)
                 {
-                    for(unsigned k=0; k<Nin; k++)
-                    {
-                        df[j]+=b[j][k]*dx[k];
-                    }
+                    df[j]+=b[j][k]*dx[k];
                 }
-                parentForce[links[i][0]] -= df;
-                parentForce[links[i][1]] += df;
             }
+            parentForceAccessor[links[i][0]] -= df;
+            parentForceAccessor[links[i][1]] += df;
         }
     }
 }
 
 template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::applyJT(const core::ConstraintParams* cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in)
-{
-    SOFA_UNUSED(cparams);
-    auto childMatRa  = sofa::helper::getReadAccessor(in);
-    auto parentMatWa = sofa::helper::getWriteAccessor(out);
-    addMultTransposeEigen(parentMatWa.wref(), jacobian.compressedMatrix, childMatRa.ref());
-}
-
-
-template <class TIn, class TOut>
-const sofa::linearalgebra::BaseMatrix* DistanceMapping<TIn, TOut>::getJ()
-{
-    return &jacobian;
-}
-
-template <class TIn, class TOut>
-const type::vector<sofa::linearalgebra::BaseMatrix*>* DistanceMapping<TIn, TOut>::getJs()
-{
-    return &baseMatrices;
-}
-
-
-
-template <class TIn, class TOut>
-void DistanceMapping<TIn, TOut>::updateK(const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId )
+void DistanceMapping<TIn, TOut>::doUpdateK(
+    const core::MechanicalParams* mparams,
+    const Data<VecDeriv_t<Out>>& childForce, SparseKMatrixEigen& matrix)
 {
     SOFA_UNUSED(mparams);
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) { K.resize(0,0); return; }
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
 
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce( *childForceId[this->toModel.get()].read() );    
+    const helper::ReadAccessor childForceAccessor(childForce);
     const SeqEdges& links = l_topology->getEdges();
 
-    unsigned int size = this->fromModel->getSize();
-    K.resizeBlocks(size,size);
-    for(size_t i=0; i<links.size(); i++)
+    for (size_t i = 0; i < links.size(); i++)
     {
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
         // this results in an undefinite implicit matrix that causes instabilities
         // if stabilized GS (geometricStiffness==2) -> keep only force in extension
-        if( childForce[i][0] < 0 || geometricStiffness==1 )
+        if( childForceAccessor[i][0] < 0 || geometricStiffness==1 )
         {
             sofa::type::Mat<Nin,Nin,Real> b;  // = (I - uu^T)
 
@@ -287,29 +236,22 @@ void DistanceMapping<TIn, TOut>::updateK(const core::MechanicalParams *mparams,
                     b[j][k] = static_cast<Real>(1) * ( j==k ) - directions[i][j]*directions[i][k];
                 }
             }
-            b *= childForce[i][0] * invlengths[i];  // (I - uu^T)*f/l
+            b *= childForceAccessor[i][0] * invlengths[i];  // (I - uu^T)*f/l
 
             // Note that 'links' is not sorted so the matrix can not be filled-up in order
-            K.addBlock(links[i][0],links[i][0],b);
-            K.addBlock(links[i][0],links[i][1],-b);
-            K.addBlock(links[i][1],links[i][0],-b);
-            K.addBlock(links[i][1],links[i][1],b);
+            matrix.addBlock(links[i][0],links[i][0],b);
+            matrix.addBlock(links[i][0],links[i][1],-b);
+            matrix.addBlock(links[i][1],links[i][0],-b);
+            matrix.addBlock(links[i][1],links[i][1],b);
         }
     }
-    K.compress();
-}
-
-template <class TIn, class TOut>
-const linearalgebra::BaseMatrix* DistanceMapping<TIn, TOut>::getK()
-{
-    return &K;
 }
 
 template <class TIn, class TOut>
 void DistanceMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
     sofa::core::GeometricStiffnessMatrix* matrices)
 {
-    const unsigned& geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
+    const unsigned& geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
     if( !geometricStiffness )
     {
         return;
@@ -321,7 +263,7 @@ void DistanceMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
 
     for(sofa::Size i=0; i<links.size(); i++)
     {
-        const OutDeriv force_i = childForce[i];
+        const Deriv_t<Out> force_i = childForce[i];
 
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
         // this results in an undefinite implicit matrix that causes instabilities
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.h
index afca0b322b5..138c075f2ea 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.h
@@ -23,8 +23,7 @@
 
 #include <sofa/component/mapping/nonlinear/config.h>
 
-#include <sofa/core/Mapping.h>
-#include <sofa/core/MultiMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
 #include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
@@ -53,38 +52,21 @@ namespace sofa::component::mapping::nonlinear
 // If the rest lengths are not defined, they are set using the initial values.
 // If computeDistance is set to true, the rest lengths are set to 0.
 template <class TIn, class TOut>
-class SquareDistanceMapping : public core::Mapping<TIn, TOut>, public NonLinearMappingData<true>
+class SquareDistanceMapping : public BaseNonLinearMapping<TIn, TOut, true>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE2(SquareDistanceMapping,TIn,TOut), SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
-
-    typedef core::Mapping<TIn, TOut> Inherit;
-    typedef TIn In;
-    typedef TOut Out;
-    typedef typename Out::VecCoord OutVecCoord;
-    typedef typename Out::VecDeriv OutVecDeriv;
-    typedef typename Out::Coord OutCoord;
-    typedef typename Out::Deriv OutDeriv;
-    typedef typename Out::MatrixDeriv OutMatrixDeriv;
-    typedef typename Out::Real Real;
-    typedef typename In::Deriv InDeriv;
-    typedef typename In::MatrixDeriv InMatrixDeriv;
-    typedef typename In::Coord InCoord;
-    typedef typename In::VecCoord InVecCoord;
-    typedef typename In::VecDeriv InVecDeriv;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TOut>   SparseMatrixEigen;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TIn>    SparseKMatrixEigen;
-    typedef Data<InVecCoord> InDataVecCoord;
-    typedef Data<InVecDeriv> InDataVecDeriv;
-    typedef Data<InMatrixDeriv> InDataMatrixDeriv;
-    typedef Data<OutVecCoord> OutDataVecCoord;
-    typedef Data<OutVecDeriv> OutDataVecDeriv;
-    typedef Data<OutMatrixDeriv> OutDataMatrixDeriv;
-    enum {Nin = In::deriv_total_size, Nout = Out::deriv_total_size };
+    SOFA_CLASS(SOFA_TEMPLATE2(SquareDistanceMapping,TIn,TOut), SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut,true));
+
+    using In = TIn;
+    using Out = TOut;
+
+    using Real = Real_t<Out>;
+
+    static constexpr auto Nin = In::deriv_total_size;
+
     typedef sofa::core::topology::BaseMeshTopology::SeqEdges SeqEdges;
     typedef type::Vec<In::spatial_dimensions,Real> Direction;
 
-
     Data<Real> d_showObjectScale; ///< Scale for object display
     Data<sofa::type::RGBAColor> d_color; ///< Color for object display. (default=[1.0,1.0,0.0,1.0])
 
@@ -93,37 +75,28 @@ class SquareDistanceMapping : public core::Mapping<TIn, TOut>, public NonLinearM
 
     void init() override;
 
-    using Inherit::apply;
-
-    void apply(const core::MechanicalParams *mparams, Data<OutVecCoord>& out, const Data<InVecCoord>& in) override;
-
-    void applyJ(const core::MechanicalParams *mparams, Data<OutVecDeriv>& out, const Data<InVecDeriv>& in) override;
-
-    void applyJT(const core::MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<OutVecDeriv>& in) override;
-
-    void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in) override;
-
-    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForce, core::ConstMultiVecDerivId  childForce ) override;
-
-    const sofa::linearalgebra::BaseMatrix* getJ() override;
-    virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
-
-    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForce ) override;
-    const linearalgebra::BaseMatrix* getK() override;
+    void apply(const core::MechanicalParams *mparams, DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in) override;
     void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
 
     void draw(const core::visual::VisualParams* vparams) override;
 
 protected:
     SquareDistanceMapping();
-    virtual ~SquareDistanceMapping();
+    ~SquareDistanceMapping() override;
+
+    void matrixFreeApplyDJT(const core::MechanicalParams* mparams, Real kFactor,
+                            Data<VecDeriv_t<In> >& parentForce,
+                            const Data<VecDeriv_t<In> >& parentDisplacement,
+                            const Data<VecDeriv_t<Out> >& childForce) override;
+
+    using typename Inherit1::SparseKMatrixEigen;
 
-    SparseMatrixEigen jacobian;                         ///< Jacobian of the mapping
-    type::vector<linearalgebra::BaseMatrix*> baseMatrices;      ///< Jacobian of the mapping, in a vector
-    SparseKMatrixEigen K;                               ///< Assembled geometric stiffness matrix
+    void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) override;
 
     /// r=b-a only for position (eventual rotation, affine transform... remains null)
-    void computeCoordPositionDifference( Direction& r, const InCoord& a, const InCoord& b );
+    void computeCoordPositionDifference( Direction& r, const Coord_t<In>& a, const Coord_t<In>& b );
 };
 
 
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.inl
index ae9a7e81e51..54d11d5cb55 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.inl
@@ -22,6 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/SquareDistanceMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl>
 #include <sofa/core/BaseLocalMappingMatrix.h>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/core/MechanicalParams.h>
@@ -36,8 +37,7 @@ namespace sofa::component::mapping::nonlinear
 
 template <class TIn, class TOut>
 SquareDistanceMapping<TIn, TOut>::SquareDistanceMapping()
-    : Inherit()
-    , d_showObjectScale(initData(&d_showObjectScale, Real(0), "showObjectScale", "Scale for object display"))
+    : d_showObjectScale(initData(&d_showObjectScale, Real(0), "showObjectScale", "Scale for object display"))
     , d_color(initData(&d_color, sofa::type::RGBAColor(1,1,0,1), "showColor", "Color for object display. (default=[1.0,1.0,0.0,1.0])"))
     , l_topology(initLink("topology", "link to the topology container"))
 {
@@ -45,9 +45,7 @@ SquareDistanceMapping<TIn, TOut>::SquareDistanceMapping()
 
 template <class TIn, class TOut>
 SquareDistanceMapping<TIn, TOut>::~SquareDistanceMapping()
-{
-}
-
+= default;
 
 template <class TIn, class TOut>
 void SquareDistanceMapping<TIn, TOut>::init()
@@ -71,34 +69,34 @@ void SquareDistanceMapping<TIn, TOut>::init()
 
     this->getToModel()->resize( links.size() );
 
-    baseMatrices.resize( 1 );
-    baseMatrices[0] = &jacobian;
-
-    this->Inherit::init();  // applies the mapping, so after the Data init
+    this->Inherit1::init();
 }
 
 template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::computeCoordPositionDifference( Direction& r, const InCoord& a, const InCoord& b )
+void SquareDistanceMapping<TIn, TOut>::computeCoordPositionDifference( Direction& r, const Coord_t<In>& a, const Coord_t<In>& b )
 {
     r = TIn::getCPos(b)-TIn::getCPos(a);
 }
 
 template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/ , Data<OutVecCoord>& dOut, const Data<InVecCoord>& dIn)
+void SquareDistanceMapping<TIn, TOut>::apply(
+    const core::MechanicalParams * /*mparams*/,
+    DataVecCoord_t<Out>& dOut,
+    const DataVecCoord_t<In>& dIn)
 {
-    helper::WriteOnlyAccessor< Data<OutVecCoord> >  out = dOut;
-    helper::ReadAccessor< Data<InVecCoord> >  in = dIn;
+    helper::WriteOnlyAccessor< DataVecCoord_t<Out> >  out = dOut;
+    const helper::ReadAccessor in (dIn);
     const SeqEdges& links = l_topology->getEdges();
 
-    jacobian.resizeBlocks(out.size(),in.size());
+    this->m_jacobian.resizeBlocks(out.size(),in.size());
 
 
     Direction gap;
 
     for(unsigned i=0; i<links.size(); i++ )
     {
-        const InCoord& p0 = in[links[i][0]];
-        const InCoord& p1 = in[links[i][1]];
+        const Coord_t<In>& p0 = in[links[i][0]];
+        const Coord_t<In>& p1 = in[links[i][1]];
 
         // gap = in[links[i][1]] - in[links[i][0]] (only for position)
         computeCoordPositionDifference( gap, p0, p1 );
@@ -120,158 +118,98 @@ void SquareDistanceMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mp
 //        }
 
 
-        jacobian.beginRow(i);
+        this->m_jacobian.beginRow(i);
         if( links[i][1]<links[i][0] )
         {
             for(unsigned k=0; k<In::spatial_dimensions; k++ )
-                jacobian.insertBack( i, links[i][1]*Nin+k, gap[k] );
+                this->m_jacobian.insertBack( i, links[i][1]*Nin+k, gap[k] );
             for(unsigned k=0; k<In::spatial_dimensions; k++ )
-                jacobian.insertBack( i, links[i][0]*Nin+k, -gap[k] );
+                this->m_jacobian.insertBack( i, links[i][0]*Nin+k, -gap[k] );
         }
         else
         {
             for(unsigned k=0; k<In::spatial_dimensions; k++ )
-                jacobian.insertBack( i, links[i][0]*Nin+k, -gap[k] );
+                this->m_jacobian.insertBack( i, links[i][0]*Nin+k, -gap[k] );
             for(unsigned k=0; k<In::spatial_dimensions; k++ )
-                jacobian.insertBack( i, links[i][1]*Nin+k, gap[k] );
+                this->m_jacobian.insertBack( i, links[i][1]*Nin+k, gap[k] );
         }
     }
 
-    jacobian.compress();
-}
-
-
-template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/ , Data<OutVecDeriv>& dOut, const Data<InVecDeriv>& dIn)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutWa = sofa::helper::getWriteOnlyAccessor(dOut);
-        auto dInRa = sofa::helper::getReadAccessor(dIn);
-        jacobian.mult(dOutWa.wref(),dInRa.ref());
-    }
+    this->m_jacobian.compress();
 }
 
 template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::applyJT(const core::MechanicalParams * /*mparams*/ , Data<InVecDeriv>& dIn, const Data<OutVecDeriv>& dOut)
+void SquareDistanceMapping<TIn, TOut>::matrixFreeApplyDJT(
+    const core::MechanicalParams* mparams, Real kFactor,
+    Data<VecDeriv_t<In>>& parentForce,
+    const Data<VecDeriv_t<In>>& parentDisplacement,
+    const Data<VecDeriv_t<Out>>& childForce)
 {
-    if( jacobian.rowSize() )
-    {
-        auto dOutRa = sofa::helper::getReadAccessor(dOut);
-        auto dInWa = sofa::helper::getWriteOnlyAccessor(dIn);
-        jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
-    }
-}
+    SOFA_UNUSED(mparams);
+    const unsigned& geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId )
-{
-    const unsigned& geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) return;
+    helper::WriteAccessor parentForceAccessor(parentForce);
+    helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+    helper::ReadAccessor childForceAccessor(childForce);
 
-    helper::WriteAccessor<Data<InVecDeriv> > parentForce (*parentDfId[this->fromModel.get()].write());
-    helper::ReadAccessor<Data<InVecDeriv> > parentDisplacement (*mparams->readDx(this->fromModel.get()));  // parent displacement
-    const SReal& kfactor = mparams->kFactor();
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce (*mparams->readF(this->toModel.get()));
+    const SeqEdges& links = l_topology->getEdges();
 
-    if( K.compressedMatrix.nonZeros() )
+    for (unsigned i = 0; i < links.size(); i++)
     {
-        K.addMult( parentForce.wref(), parentDisplacement.ref(), (typename In::Real)kfactor );
-    }
-    else
-    {
-        const SeqEdges& links = l_topology->getEdges();
-
-        for(unsigned i=0; i<links.size(); i++ )
+        // force in compression (>0) can lead to negative eigen values in geometric stiffness
+        // this results in an undefinite implicit matrix that causes instabilities
+        // if stabilized GS (geometricStiffness==2) -> keep only force in extension
+        if( childForceAccessor[i][0] < 0 || geometricStiffness==1 )
         {
-            // force in compression (>0) can lead to negative eigen values in geometric stiffness
-            // this results in an undefinite implicit matrix that causes instabilities
-            // if stabilized GS (geometricStiffness==2) -> keep only force in extension
-            if( childForce[i][0] < 0 || geometricStiffness==1 )
-            {
-
-                SReal tmp = 2*childForce[i][0]*kfactor;
+            SReal tmp = 2 * childForceAccessor[i][0] * kFactor;
 
-                typename In::DPos df = tmp * (
-                    In::getDPos(parentDisplacement[links[i][0]]) -
-                    In::getDPos(parentDisplacement[links[i][1]]));
-                // it is symmetric so    -df  = (parentDisplacement[links[i][1]]-parentDisplacement[links[i][0]])*tmp;
+            typename In::DPos df = tmp * (
+                In::getDPos(parentDisplacementAccessor[links[i][0]]) -
+                In::getDPos(parentDisplacementAccessor[links[i][1]]));
+            // it is symmetric so    -df  = (parentDisplacement[links[i][1]]-parentDisplacement[links[i][0]])*tmp;
 
-                In::setDPos(parentForce[links[i][0]], In::getDPos(parentForce[links[i][0]]) + df);
-                In::setDPos(parentForce[links[i][1]], In::getDPos(parentForce[links[i][1]]) - df);
-            }
+            In::setDPos(parentForceAccessor[links[i][0]], In::getDPos(parentForceAccessor[links[i][0]]) + df);
+            In::setDPos(parentForceAccessor[links[i][1]], In::getDPos(parentForceAccessor[links[i][1]]) - df);
         }
     }
 }
 
 template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::applyJT(const core::ConstraintParams* cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in)
-{
-    SOFA_UNUSED(cparams);
-    auto childMatRa  = sofa::helper::getReadAccessor(in);
-    auto parentMatWa = sofa::helper::getWriteAccessor(out);
-    addMultTransposeEigen(parentMatWa.wref(), jacobian.compressedMatrix, childMatRa.ref());
-}
-
-
-template <class TIn, class TOut>
-const sofa::linearalgebra::BaseMatrix* SquareDistanceMapping<TIn, TOut>::getJ()
-{
-    return &jacobian;
-}
-
-template <class TIn, class TOut>
-const type::vector<sofa::linearalgebra::BaseMatrix*>* SquareDistanceMapping<TIn, TOut>::getJs()
-{
-    return &baseMatrices;
-}
-
-
-
-template <class TIn, class TOut>
-void SquareDistanceMapping<TIn, TOut>::updateK(const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId )
+void SquareDistanceMapping<TIn, TOut>::doUpdateK(
+    const core::MechanicalParams* mparams,
+    const Data<VecDeriv_t<Out>>& childForce, SparseKMatrixEigen& matrix)
 {
     SOFA_UNUSED(mparams);
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) { K.resize(0,0); return; }
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce( *childForceId[this->toModel.get()].read() );
+    const helper::ReadAccessor childForceAccessor(childForce);
     const SeqEdges& links = l_topology->getEdges();
 
-    unsigned int size = this->fromModel->getSize();
-    K.resizeBlocks(size,size);
     for(size_t i=0; i<links.size(); i++)
     {
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
         // this results in an undefinite implicit matrix that causes instabilities
         // if stabilized GS (geometricStiffness==2) -> keep only force in extension
-        if( childForce[i][0] < 0 || geometricStiffness==1 )
+        if( childForceAccessor[i][0] < 0 || geometricStiffness==1 )
         {
-            SReal tmp = 2*childForce[i][0];
+            SReal tmp = 2*childForceAccessor[i][0];
 
             for(unsigned k=0; k<In::spatial_dimensions; k++)
             {
-                K.add( links[i][0]*Nin+k, links[i][0]*Nin+k, tmp );
-                K.add( links[i][0]*Nin+k, links[i][1]*Nin+k, -tmp );
-                K.add( links[i][1]*Nin+k, links[i][1]*Nin+k, tmp );
-                K.add( links[i][1]*Nin+k, links[i][0]*Nin+k, -tmp );
+                matrix.add( links[i][0]*Nin+k, links[i][0]*Nin+k, tmp );
+                matrix.add( links[i][0]*Nin+k, links[i][1]*Nin+k, -tmp );
+                matrix.add( links[i][1]*Nin+k, links[i][1]*Nin+k, tmp );
+                matrix.add( links[i][1]*Nin+k, links[i][0]*Nin+k, -tmp );
             }
         }
     }
-    K.compress();
-}
-
-template <class TIn, class TOut>
-const linearalgebra::BaseMatrix* SquareDistanceMapping<TIn, TOut>::getK()
-{
-    return &K;
 }
 
 template <class TIn, class TOut>
 void SquareDistanceMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
     sofa::core::GeometricStiffnessMatrix* matrices)
 {
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
     if( !geometricStiffness )
     {
         return;
@@ -283,7 +221,7 @@ void SquareDistanceMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
 
     for(sofa::Size i=0; i<links.size(); i++)
     {
-        const OutDeriv force_i = childForce[i];
+        const Deriv_t<Out>& force_i = childForce[i];
 
         const sofa::topology::Edge link = links[i];
         // force in compression (>0) can lead to negative eigen values in geometric stiffness
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.h
index 161037cbb24..a8131b726bc 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.h
@@ -23,7 +23,7 @@
 
 #include <sofa/component/mapping/nonlinear/config.h>
 
-#include <sofa/core/Mapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
 #include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
 
@@ -38,65 +38,33 @@ namespace sofa::component::mapping::nonlinear
 
 */
 template <class TIn, class TOut>
-class SquareMapping : public core::Mapping<TIn, TOut>, public NonLinearMappingData<false>
+class SquareMapping : public BaseNonLinearMapping<TIn, TOut, false>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE2(SquareMapping,TIn,TOut), SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
-
-    typedef core::Mapping<TIn, TOut> Inherit;
-    typedef TIn In;
-    typedef TOut Out;
-    typedef typename Out::VecCoord OutVecCoord;
-    typedef typename Out::VecDeriv OutVecDeriv;
-    typedef typename Out::Coord OutCoord;
-    typedef typename Out::Deriv OutDeriv;
-    typedef typename Out::MatrixDeriv OutMatrixDeriv;
-    typedef typename Out::Real Real;
-    typedef typename In::Deriv InDeriv;
-    typedef typename In::MatrixDeriv InMatrixDeriv;
-    typedef typename In::Coord InCoord;
-    typedef typename In::VecCoord InVecCoord;
-    typedef typename In::VecDeriv InVecDeriv;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TOut>   SparseMatrixEigen;
-    typedef linearalgebra::EigenSparseMatrix<TIn,TIn>    SparseKMatrixEigen;
-    typedef Data<InVecCoord> InDataVecCoord;
-    typedef Data<InVecDeriv> InDataVecDeriv;
-    typedef Data<InMatrixDeriv> InDataMatrixDeriv;
-    typedef Data<OutVecCoord> OutDataVecCoord;
-    typedef Data<OutVecDeriv> OutDataVecDeriv;
-    typedef Data<OutMatrixDeriv> OutDataMatrixDeriv;
-    typedef type::Vec<In::spatial_dimensions,Real> Direction;
-
-    void init() override;
-
-    using Inherit::apply;
-
-    void apply(const core::MechanicalParams *mparams, Data<OutVecCoord>& out, const Data<InVecCoord>& in) override;
-
-    void applyJ(const core::MechanicalParams *mparams, Data<OutVecDeriv>& out, const Data<InVecDeriv>& in) override;
-
-    void applyJT(const core::MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<OutVecDeriv>& in) override;
-
-    void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in) override;
-
-    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForce, core::ConstMultiVecDerivId  childForce ) override;
-
-    const sofa::linearalgebra::BaseMatrix* getJ() override;
-    virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
-
-    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForce ) override;
-    const linearalgebra::BaseMatrix* getK() override;
-    void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
+    SOFA_CLASS(SOFA_TEMPLATE2(SquareMapping,TIn,TOut), SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut,false));
+
+    using In = TIn;
+    using Out = TOut;
+
+    using Real = Real_t<Out>;
 
-    Data < bool > d_useGeometricStiffnessMatrix; ///< If available (cached), the geometric stiffness matrix is used in order to compute the product with the parent displacement. Otherwise, the product is computed directly using the available vectors (matrix-free method).
+    static constexpr auto Nin = In::deriv_total_size;
+
+    void apply(const core::MechanicalParams *mparams, DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in) override;
+    void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
 
 protected:
-    SquareMapping();
-    ~SquareMapping() override;
 
-    SparseMatrixEigen jacobian;                             ///< Jacobian of the mapping
-    type::vector<linearalgebra::BaseMatrix*> baseMatrices;  ///< Jacobian of the mapping, in a vector
-    SparseKMatrixEigen K;                                   ///< Assembled geometric stiffness matrix
+    void matrixFreeApplyDJT(const core::MechanicalParams* mparams, Real kFactor,
+                            Data<VecDeriv_t<In> >& parentForce,
+                            const Data<VecDeriv_t<In> >& parentDisplacement,
+                            const Data<VecDeriv_t<Out> >& childForce) override;
+
+    using typename Inherit1::SparseKMatrixEigen;
+
+    void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) override;
 };
 
 
@@ -104,8 +72,6 @@ class SquareMapping : public core::Mapping<TIn, TOut>, public NonLinearMappingDa
 
 #if !defined(SOFA_COMPONENT_MAPPING_SquareMapping_CPP)
 extern template class SOFA_COMPONENT_MAPPING_NONLINEAR_API SquareMapping< defaulttype::Vec1Types, defaulttype::Vec1Types >;
-
-
 #endif
 
 } // namespace sofa::component::mapping::nonlinear
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl
index 3f7eb33a74d..a74203abe0c 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl
@@ -22,6 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/SquareMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl>
 #include <sofa/core/BaseLocalMappingMatrix.h>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/core/MechanicalParams.h>
@@ -33,159 +34,71 @@ namespace sofa::component::mapping::nonlinear
 {
 
 template <class TIn, class TOut>
-SquareMapping<TIn, TOut>::SquareMapping()
-    : Inherit()
-    , d_useGeometricStiffnessMatrix(initData(&d_useGeometricStiffnessMatrix, true, "useGeometricStiffnessMatrix",
-        "If available (cached), the geometric stiffness matrix is used in order to compute the "
-        "product with the parent displacement. Otherwise, the product is computed directly using "
-        "the available vectors (matrix-free method)."))
+void SquareMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
+    DataVecCoord_t<Out>& dOut, const DataVecCoord_t<In>& dIn)
 {
-}
-
-template <class TIn, class TOut>
-SquareMapping<TIn, TOut>::~SquareMapping()
-{
-}
-
-
-template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::init()
-{
-    baseMatrices.resize( 1 );
-    baseMatrices[0] = &jacobian;
-
-    this->Inherit::init();
-}
-
-
-template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*/ , Data<OutVecCoord>& dOut, const Data<InVecCoord>& dIn)
-{
-    helper::WriteOnlyAccessor< Data<OutVecCoord> >  out = dOut;
-    helper::ReadAccessor< Data<InVecCoord> >  in = dIn;
+    helper::WriteOnlyAccessor< DataVecCoord_t<Out> >  out = dOut;
+    const helper::ReadAccessor<DataVecCoord_t<In>> in = dIn;
 
     size_t size = in.size();
     this->getToModel()->resize( size );
-    jacobian.resizeBlocks( size, size );
-    jacobian.reserve( size );
+    this->m_jacobian.resizeBlocks( size, size );
+    this->m_jacobian.reserve( size );
 
     for( unsigned i=0 ; i<size ; ++i )
     {
         const Real& x = in[i][0];
         out[i][0] = x*x;
 
-        jacobian.beginRow(i);
-        jacobian.insertBack( i, i, 2.0*x );
+        this->m_jacobian.beginRow(i);
+        this->m_jacobian.insertBack( i, i, 2.0*x );
     }
 
-    jacobian.compress();
-}
-
-
-template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/ , Data<OutVecDeriv>& dOut, const Data<InVecDeriv>& dIn)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutWa = sofa::helper::getWriteOnlyAccessor(dOut);
-        auto dInRa = sofa::helper::getReadAccessor(dIn);
-        jacobian.mult(dOutWa.wref(),dInRa.ref());
-    }
-}
-
-template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::applyJT(const core::MechanicalParams * /*mparams*/ , Data<InVecDeriv>& dIn, const Data<OutVecDeriv>& dOut)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutRa = sofa::helper::getReadAccessor(dOut);
-        auto dInWa = sofa::helper::getWriteOnlyAccessor(dIn);
-        jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
-    }
+    this->m_jacobian.compress();
 }
 
 template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId )
+void SquareMapping<TIn, TOut>::matrixFreeApplyDJT(
+    const core::MechanicalParams* mparams, Real kFactor,
+    Data<VecDeriv_t<In>>& parentForce,
+    const Data<VecDeriv_t<In>>& parentDisplacement,
+    const Data<VecDeriv_t<Out>>& childForce)
 {
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) return;
+    helper::WriteAccessor parentForceAccessor(parentForce);
+    helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+    helper::ReadAccessor childForceAccessor(childForce);
 
-    helper::WriteAccessor<Data<InVecDeriv> > parentForce (*parentDfId[this->fromModel.get()].write());
-    helper::ReadAccessor<Data<InVecDeriv> > parentDisplacement (*mparams->readDx(this->fromModel.get()));  // parent displacement
-    SReal kfactor = mparams->kFactor();
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce (*mparams->readF(this->toModel.get()));
+    const size_t size = parentDisplacementAccessor.size();
+    kFactor *= 2.0;
 
-    if(d_useGeometricStiffnessMatrix.getValue() && K.compressedMatrix.nonZeros() )
+    for(unsigned i=0; i<size; i++ )
     {
-        K.addMult( parentForce.wref(), parentDisplacement.ref(), (typename In::Real)kfactor );
+        parentForceAccessor[i][0] +=
+            parentDisplacementAccessor[i][0] * childForceAccessor[i][0] * kFactor;
     }
-    else
-    {
-        const size_t size = parentDisplacement.size();
-        kfactor *= 2.0;
-
-        for(unsigned i=0; i<size; i++ )
-        {
-            parentForce[i][0] += parentDisplacement[i][0] * childForce[i][0]*kfactor;
-        }
-    }
-}
-
-template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::applyJT(const core::ConstraintParams* cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in)
-{
-    SOFA_UNUSED(cparams);
-    auto childMatRa  = sofa::helper::getReadAccessor(in);
-    auto parentMatWa = sofa::helper::getWriteAccessor(out);
-    addMultTransposeEigen(parentMatWa.wref(), jacobian.compressedMatrix, childMatRa.ref());
-}
-
-
-template <class TIn, class TOut>
-const sofa::linearalgebra::BaseMatrix* SquareMapping<TIn, TOut>::getJ()
-{
-    return &jacobian;
 }
 
 template <class TIn, class TOut>
-const type::vector<sofa::linearalgebra::BaseMatrix*>* SquareMapping<TIn, TOut>::getJs()
-{
-    return &baseMatrices;
-}
-
-
-
-template <class TIn, class TOut>
-void SquareMapping<TIn, TOut>::updateK(const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId )
+void SquareMapping<TIn, TOut>::doUpdateK(const core::MechanicalParams* mparams,
+    const Data<VecDeriv_t<Out>>& childForce, SparseKMatrixEigen& matrix)
 {
     SOFA_UNUSED(mparams);
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) { K.resize(0,0); return; }
-
-    helper::ReadAccessor<Data<OutVecDeriv> > childForce( *childForceId[this->toModel.get()].read() );
 
+    const helper::ReadAccessor childForceAccessor(childForce);
     unsigned int size = this->fromModel->getSize();
-    K.resizeBlocks(size,size);
-    K.reserve( size );
-    for( size_t i=0 ; i<size ; ++i )
+
+    for (size_t i = 0; i < size; ++i)
     {
-        K.beginRow(i);
-        K.insertBack( i, i, 2*childForce[i][0] );
+        matrix.beginRow(i);
+        matrix.insertBack( i, i, 2*childForceAccessor[i][0] );
     }
-    K.compress();
-}
-
-template <class TIn, class TOut>
-const linearalgebra::BaseMatrix* SquareMapping<TIn, TOut>::getK()
-{
-    return &K;
 }
 
 template <class TIn, class TOut>
 void SquareMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
     sofa::core::GeometricStiffnessMatrix* matrices)
 {
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
     if( !geometricStiffness )
     {
         return;
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.h
index 80aae2b96d8..c8bc2df7b2f 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.h
@@ -22,7 +22,7 @@
 #pragma once
 
 #include <sofa/component/mapping/nonlinear/config.h>
-#include <sofa/core/Mapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.h>
 #include <sofa/component/mapping/nonlinear/NonLinearMappingData.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
@@ -32,17 +32,16 @@ namespace sofa::component::mapping::nonlinear
 {
 
 template <class TIn, class TOut>
-class VolumeMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLinearMappingData
+class VolumeMapping : public BaseNonLinearMapping<TIn, TOut, true>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE2(VolumeMapping,TIn,TOut), SOFA_TEMPLATE2(core::Mapping,TIn,TOut));
+    SOFA_CLASS(SOFA_TEMPLATE2(VolumeMapping,TIn,TOut), SOFA_TEMPLATE3(BaseNonLinearMapping,TIn,TOut, true));
 
     using In = TIn;
     using Out = TOut;
 
     using Real = Real_t<Out>;
 
-    typedef linearalgebra::EigenSparseMatrix<TIn,TOut> SparseMatrixEigen;
     static constexpr auto Nin = In::deriv_total_size;
 
     SingleLink<VolumeMapping<TIn, TOut>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
@@ -52,44 +51,25 @@ class VolumeMapping : public core::Mapping<TIn, TOut>, public StabilizedNonLinea
     void init() override;
 
     void apply(const core::MechanicalParams* mparams, DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in) override;
-    void applyJ(const core::MechanicalParams* mparams, DataVecDeriv_t<Out>& out, const DataVecDeriv_t<In>& in) override;
-    void applyJT(const core::MechanicalParams* mparams, DataVecDeriv_t<In>& out, const DataVecDeriv_t<Out>& in) override;
-    void applyJT(const core::ConstraintParams *cparams, DataMatrixDeriv_t<In>& out, const DataMatrixDeriv_t<Out>& in) override;
-    void applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId parentForceId, core::ConstMultiVecDerivId childForceId) override;
-
-    void updateK( const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId) override;
-    const linearalgebra::BaseMatrix* getK() override;
     void buildGeometricStiffnessMatrix(sofa::core::GeometricStiffnessMatrix* matrices) override;
 
-    const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
-
 protected:
     VolumeMapping();
 
-    using SparseKMatrixEigen = linearalgebra::EigenSparseMatrix<TIn,TIn>;
-
-    SparseMatrixEigen jacobian; ///< Jacobian of the mapping
-    type::vector<linearalgebra::BaseMatrix*> baseMatrices; ///< Jacobian of the mapping, in a vector
-    typename VolumeMapping::SparseKMatrixEigen K; ///< Assembled geometric stiffness matrix
-
-    /**
-     * @brief Represents an entry in the Jacobian matrix.
-     *
-     * The JacobianEntry struct is used to store information about an entry in the
-     * Jacobian matrix, specifically the vertex identifier and the corresponding
-     * Jacobian value. It also provides a comparison operator for sorting entries
-     * by vertex ID.
-     */
-    struct JacobianEntry
-    {
-        sofa::Index vertexId;
-        typename In::Coord jacobianValue;
-        bool operator<(const JacobianEntry& other) const { return vertexId < other.vertexId;}
-    };
+    void matrixFreeApplyDJT(const core::MechanicalParams* mparams, Real kFactor,
+                            Data<VecDeriv_t<In> >& parentForce,
+                            const Data<VecDeriv_t<In> >& parentDisplacement,
+                            const Data<VecDeriv_t<Out> >& childForce) override;
 
-    const VecCoord_t<In>* m_vertices{nullptr};
+    using typename Inherit1::SparseKMatrixEigen;
 
+    void doUpdateK(
+        const core::MechanicalParams* mparams, const Data<VecDeriv_t<Out> >& childForce,
+        SparseKMatrixEigen& matrix) override;
+
+    const VecCoord_t<In>* m_vertices{nullptr};
 
+    using JacobianEntry = typename Inherit1::JacobianEntry;
 };
 
 #if !defined(SOFA_COMPONENT_MAPPING_NONLINEAR_VOLUMEMAPPING_CPP)
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.inl
index 4e7fea16004..06d97729f97 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.inl
@@ -21,8 +21,8 @@
 ******************************************************************************/
 #pragma once
 #include <sofa/component/mapping/nonlinear/VolumeMapping.h>
+#include <sofa/component/mapping/nonlinear/BaseNonLinearMapping.inl>
 #include <sofa/core/BaseLocalMappingMatrix.h>
-#include <sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h>
 
 namespace sofa::component::mapping::nonlinear
 {
@@ -102,10 +102,7 @@ void VolumeMapping<TIn, TOut>::init()
     typename core::behavior::MechanicalState<In>::ReadVecCoord pos = this->getFromModel()->readPositions();
 
     this->getToModel()->resize( nbTetrahedra );
-    jacobian.resizeBlocks(nbTetrahedra, pos.size());
-
-    baseMatrices.resize( 1 );
-    baseMatrices[0] = &jacobian;
+    this->m_jacobian.resizeBlocks(nbTetrahedra, pos.size());
 
     Inherit1::init();
 
@@ -119,6 +116,8 @@ template <class TIn, class TOut>
 void VolumeMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
     DataVecCoord_t<Out>& out, const DataVecCoord_t<In>& in)
 {
+    SOFA_UNUSED( mparams );
+
     helper::WriteOnlyAccessor< Data<VecCoord_t<Out>> > _out = out;
     helper::ReadAccessor< Data<VecCoord_t<In> > > _in = in;
 
@@ -126,7 +125,7 @@ void VolumeMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
 
     const auto& tetrahedra = l_topology->getTetrahedra();
 
-    jacobian.clear();
+    this->m_jacobian.clear();
 
     for (unsigned int tetId = 0; tetId < tetrahedra.size(); ++tetId)
     {
@@ -166,115 +165,74 @@ void VolumeMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
         //insertion in increasing column order
         std::sort(jacobianEntries.begin(), jacobianEntries.end());
 
-        jacobian.beginRow(tetId);
+        this->m_jacobian.beginRow(tetId);
         for (const auto& [vertexId, jacobianValue] : jacobianEntries)
         {
             for (unsigned d = 0; d < In::spatial_dimensions; ++d)
             {
-                jacobian.insertBack(tetId, vertexId * Nin + d, jacobianValue[d]);
+                this->m_jacobian.insertBack(tetId, vertexId * Nin + d, jacobianValue[d]);
             }
         }
     }
 
-    jacobian.compress();
-}
-
-template <class TIn, class TOut>
-void VolumeMapping<TIn, TOut>::applyJ(const core::MechanicalParams* mparams,
-    DataVecDeriv_t<Out>& out, const DataVecDeriv_t<In>& in)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutWa = sofa::helper::getWriteOnlyAccessor(out);
-        auto dInRa = sofa::helper::getReadAccessor(in);
-        jacobian.mult(dOutWa.wref(),dInRa.ref());
-    }
-}
-
-template <class TIn, class TOut>
-void VolumeMapping<TIn, TOut>::applyJT(const core::MechanicalParams* mparams,
-    DataVecDeriv_t<In>& out, const DataVecDeriv_t<Out>& in)
-{
-    if( jacobian.rowSize() )
-    {
-        auto dOutRa = sofa::helper::getReadAccessor(in);
-        auto dInWa = sofa::helper::getWriteOnlyAccessor(out);
-        jacobian.addMultTranspose(dInWa.wref(),dOutRa.ref());
-    }
+    this->m_jacobian.compress();
 }
 
 template <class TIn, class TOut>
-void VolumeMapping<TIn, TOut>::applyJT(const core::ConstraintParams* cparams,
-    DataMatrixDeriv_t<In>& out, const DataMatrixDeriv_t<Out>& in)
+void VolumeMapping<TIn, TOut>::matrixFreeApplyDJT(
+    const core::MechanicalParams* mparams, Real kFactor,
+    Data<VecDeriv_t<In>>& parentForce,
+    const Data<VecDeriv_t<In>>& parentDisplacement,
+    const Data<VecDeriv_t<Out>>& childForce)
 {
-    SOFA_UNUSED(cparams);
-    auto childMatRa  = sofa::helper::getReadAccessor(in);
-    auto parentMatWa = sofa::helper::getWriteAccessor(out);
-    addMultTransposeEigen(parentMatWa.wref(), jacobian.compressedMatrix, childMatRa.ref());
-}
+    SOFA_UNUSED(mparams);
 
-template <class TIn, class TOut>
-void VolumeMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams,
-    core::MultiVecDerivId parentForceId, core::ConstMultiVecDerivId childForceId)
-{
     if (!m_vertices)
     {
         return;
     }
 
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness )
-    {
-        return;
-    }
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-    helper::WriteAccessor<Data<VecDeriv_t<In> > > parentForceAccessor(*parentForceId[this->fromModel.get()].write());
-    helper::ReadAccessor<Data<VecDeriv_t<In> > > parentDisplacementAccessor(*mparams->readDx(this->fromModel.get()));
-    const SReal kFactor = mparams->kFactor();
-    helper::ReadAccessor<Data<VecDeriv_t<Out> > > childForceAccessor(mparams->readF(this->toModel.get()));
+    helper::WriteAccessor parentForceAccessor(parentForce);
+    helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
+    helper::ReadAccessor childForceAccessor(childForce);
 
-    if( K.compressedMatrix.nonZeros() )
-    {
-        K.addMult( parentForceAccessor.wref(), parentDisplacementAccessor.ref(), (typename In::Real)kFactor );
-    }
-    else
+    const auto& tetrahedra = l_topology->getTetrahedra();
+    for (unsigned int tetId = 0; tetId < tetrahedra.size(); ++tetId)
     {
-        const auto& tetrahedra = l_topology->getTetrahedra();
-        for (unsigned int tetId = 0; tetId < tetrahedra.size(); ++tetId)
-        {
-            const Deriv_t<Out>& childForceTetra = childForceAccessor[tetId];
+        const Deriv_t<Out>& childForceTetra = childForceAccessor[tetId];
 
-            if( childForceTetra[0] < 0 || geometricStiffness==1 )
-            {
-                const auto& tetra = tetrahedra[tetId];
+        if( childForceTetra[0] < 0 || geometricStiffness==1 )
+        {
+            const auto& tetra = tetrahedra[tetId];
 
-                const sofa::type::fixed_array<Coord_t<In>, 4> v{
-                    (*m_vertices)[tetra[0]],
-                    (*m_vertices)[tetra[1]],
-                    (*m_vertices)[tetra[2]],
-                    (*m_vertices)[tetra[3]],
-                };
+            const sofa::type::fixed_array<Coord_t<In>, 4> v{
+                (*m_vertices)[tetra[0]],
+                (*m_vertices)[tetra[1]],
+                (*m_vertices)[tetra[2]],
+                (*m_vertices)[tetra[3]],
+            };
 
-                //it's a 4x4 matrix, where each entry is a 3x3 matrix
-                const auto d2Vol_d2x = computeSecondDerivativeVolume(v);
+            //it's a 4x4 matrix, where each entry is a 3x3 matrix
+            const auto d2Vol_d2x = computeSecondDerivativeVolume(v);
 
-                for (unsigned int i = 0; i < 4; ++i)
+            for (unsigned int i = 0; i < 4; ++i)
+            {
+                for (unsigned int j = i + 1; j < 4; ++j) //diagonal terms are omitted because they are null
                 {
-                    for (unsigned int j = i + 1; j < 4; ++j) //diagonal terms are omitted because they are null
-                    {
-                        parentForceAccessor[tetra[i]] +=
+                    parentForceAccessor[tetra[i]] +=
                             kFactor
                             * d2Vol_d2x(i, j)
                             * parentDisplacementAccessor[tetra[j]]
                             * childForceTetra[0];
 
-                        //transpose
-                        parentForceAccessor[tetra[j]] +=
+                    //transpose
+                    parentForceAccessor[tetra[j]] +=
                             kFactor
                             * d2Vol_d2x(j, i)
                             * parentDisplacementAccessor[tetra[i]]
                             * childForceTetra[0];
-                    }
                 }
             }
         }
@@ -282,26 +240,20 @@ void VolumeMapping<TIn, TOut>::applyDJT(const core::MechanicalParams* mparams,
 }
 
 template <class TIn, class TOut>
-void VolumeMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams,
-    core::ConstMultiVecDerivId childForceId)
+void VolumeMapping<TIn, TOut>::doUpdateK(const core::MechanicalParams* mparams,
+    const Data<VecDeriv_t<Out>>& childForce, SparseKMatrixEigen& matrix)
 {
     SOFA_UNUSED(mparams);
-    const unsigned geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
-    if( !geometricStiffness ) { K.resize(0,0); return; }
+    const unsigned geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
 
-    helper::ReadAccessor<Data<VecDeriv_t<Out> > > childForce( *childForceId[this->toModel.get()].read() );
-
-    {
-        unsigned int kSize = this->fromModel->getSize();
-        K.resizeBlocks(kSize, kSize);
-    }
+    const helper::ReadAccessor childForceAccessor(childForce);
 
     const auto& tetrahedra = l_topology->getTetrahedra();
     for (unsigned int tetId = 0; tetId < tetrahedra.size(); ++tetId)
     {
-        const Deriv_t<Out>& childForceTri = childForce[tetId];
+        const Deriv_t<Out>& childForceTetra = childForceAccessor[tetId];
 
-        if( childForceTri[0] < 0 || geometricStiffness==1 )
+        if( childForceTetra[0] < 0 || geometricStiffness==1 )
         {
             const auto& tetra = tetrahedra[tetId];
 
@@ -319,27 +271,19 @@ void VolumeMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams,
             {
                 for (unsigned int j = i+1; j < 4; ++j) //diagonal terms are omitted because they are null
                 {
-                    K.addBlock(tetra[i], tetra[j], d2Volume_d2x(i, j) * childForceTri[0]);
-                    K.addBlock(tetra[j], tetra[i], d2Volume_d2x(j, i) * childForceTri[0]);
+                    matrix.addBlock(tetra[i], tetra[j], d2Volume_d2x(i, j) * childForceTetra[0]);
+                    matrix.addBlock(tetra[j], tetra[i], d2Volume_d2x(j, i) * childForceTetra[0]);
                 }
             }
         }
     }
-
-    K.compress();
-}
-
-template <class TIn, class TOut>
-const linearalgebra::BaseMatrix* VolumeMapping<TIn, TOut>::getK()
-{
-    return &K;
 }
 
 template <class TIn, class TOut>
 void VolumeMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
     sofa::core::GeometricStiffnessMatrix* matrices)
 {
-    const unsigned& geometricStiffness = d_geometricStiffness.getValue().getSelectedId();
+    const unsigned& geometricStiffness = this->d_geometricStiffness.getValue().getSelectedId();
     if( !geometricStiffness )
     {
         return;
@@ -380,11 +324,5 @@ void VolumeMapping<TIn, TOut>::buildGeometricStiffnessMatrix(
 
 }
 
-template <class TIn, class TOut>
-const type::vector<sofa::linearalgebra::BaseMatrix*>* VolumeMapping<TIn, TOut>::
-getJs()
-{
-    return &baseMatrices;
-}
 
 }
diff --git a/Sofa/Component/Mapping/NonLinear/tests/AreaMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/AreaMapping_test.cpp
index 72e7deb9e5e..1325b49c451 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/AreaMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/AreaMapping_test.cpp
@@ -69,7 +69,6 @@ TEST(AreaMapping, firstDerivative)
 
     const sofa::type::Mat<3,3,SReal> dA = computeDerivativeArea(vertices);
 
-    static constexpr SReal h = 1e-6;
     for (unsigned int vId = 0; vId < 3; ++vId)
     {
         for (unsigned int axis = 0; axis < 3; ++axis)
diff --git a/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp
index ab49b58673c..66479a8c324 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp
@@ -84,15 +84,5 @@ TYPED_TEST( SquareMappingTest , test )
     ASSERT_TRUE(this->test());
 }
 
-TYPED_TEST( SquareMappingTest , testNoGeometricStiffnessMatrix )
-{
-    TypeParam* map = static_cast<TypeParam*>( this->mapping );
-    map->d_useGeometricStiffnessMatrix.setValue(false);
-
-    ASSERT_TRUE(this->test());
-}
-
-
-
 } // namespace
 } // namespace sofa
diff --git a/Sofa/Component/Mapping/NonLinear/tests/VolumeMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/VolumeMapping_test.cpp
index 26248638920..7a9f7d8b0c7 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/VolumeMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/VolumeMapping_test.cpp
@@ -74,7 +74,6 @@ TEST(VolumeMapping, firstDerivative)
 
     const sofa::type::Mat<4,3,SReal> dV = computeDerivativeVolume(vertices);
 
-    static constexpr SReal h = 1e-6;
     for (unsigned int vId = 0; vId < 4; ++vId)
     {
         for (unsigned int axis = 0; axis < 3; ++axis)
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h
index dfdb2afd0c8..88da4face8e 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h
@@ -19,6 +19,7 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
+#pragma once
 #include <sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h>
 #include <Eigen/Sparse>
 #include <sofa/type/Vec.h>

From 675d752fabba490dddeea31ce4256523e19aa8f9 Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Wed, 2 Oct 2024 05:06:12 +0200
Subject: [PATCH 08/43]  [examples] Update example scene of RungeKutta to make
 it stable (#5036)

* [examples] Update example scene of RungeKutta to make it stable

* remove warnings and add as a regression
---
 examples/Component/ODESolver/Forward/RungeKutta4Solver.scn | 6 +++---
 examples/RegressionStateScenes.regression-tests            | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn b/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn
index c45ca8d11f1..05fd84a1003 100644
--- a/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn
+++ b/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<Node name="root" gravity="-1.8 0 100" dt="0.001">
+<Node name="root" gravity="-1.8 0 100" dt="0.0005">
     <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
@@ -14,13 +14,13 @@
     
     <Node name="DeformableObject">
         <RungeKutta4Solver name="odeExplicitSolver" />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
+        <SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh" />
         <MeshTopology src="@loader" />
         <MechanicalObject src="@loader" />
         <UniformMass totalMass="15" />
         <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 &#x0A;&#x09;&#x09;&#x09;&#x09;&#x09;&#x09;&#x09;11 12 13 14 15 16 17 18 19 20 &#x0A;&#x09;&#x09;&#x09;&#x09;&#x09;&#x09;&#x09;21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 &#x0A;&#x09;&#x09;&#x09;&#x09;&#x09;&#x09;&#x09;41 42 43 44 45 46 47 268 269 270 271 343 345" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.45" method="large" />
+        <TetrahedronFEMForceField name="FEM" youngModulus="5000" poissonRatio="0.45" method="large" />
         <Node>
             <MeshOBJLoader name="meshLoader_0" filename="mesh/truthcylinder1.obj" handleSeams="1" />
             <OglModel name="m_Visual" src="@meshLoader_0" color="red" />
diff --git a/examples/RegressionStateScenes.regression-tests b/examples/RegressionStateScenes.regression-tests
index 64f9119959e..9c28cd6161b 100644
--- a/examples/RegressionStateScenes.regression-tests
+++ b/examples/RegressionStateScenes.regression-tests
@@ -56,6 +56,7 @@ Component/Mass/MeshMatrixMass.scn 100 1e-4 0 1
 Component/MechanicalLoad/InteractionEllipsoidForceField.scn 100 1e-4 0 1
 Component/ODESolver/Forward/EulerExplicitSolver.scn 3000 1e-4 0 1
 Component/ODESolver/Forward/EulerExplicitSolver_diagonal.scn 3000 1e-4 0 1
+Component/ODESolver/Forward/RungeKutta4Solver.scn 3000 1e-4 0 1
 Component/ODESolver/Backward/EulerImplicitSolver.scn 3000 1e-4 0 1
 Component/SolidMechanics/FEM/BeamFEMForceField.scn 100 1e-4 0 1
 Component/SolidMechanics/FEM/HexahedronFEMForceField.scn 300 1e-4 0 1

From fcd78a723bd497bda3affeceeb9a26980d957f74 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Wed, 2 Oct 2024 20:36:20 +0900
Subject: [PATCH 09/43] [Engine] Apply new factory registration mechanism
 (#5010)

* apply new register mechanism to engine

* Apply suggestions from code review (updates on component description)

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

* Update PairBoxRoi.cpp (remove useless comment)

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
---
 .../component/engine/analyze/AverageCoord.cpp | 10 ++--
 .../engine/analyze/ClusteringEngine.cpp       |  9 ++--
 .../component/engine/analyze/Distances.cpp    |  9 ++--
 .../engine/analyze/HausdorffDistance.cpp      |  9 ++--
 .../engine/analyze/ShapeMatching.cpp          |  9 ++--
 .../component/engine/analyze/SumEngine.cpp    | 10 ++--
 .../sofa/component/engine/analyze/init.cpp    | 25 ++++++++-
 .../generate/ExtrudeEdgesAndGenerateQuads.cpp | 11 ++--
 .../generate/ExtrudeQuadsAndGenerateHexas.cpp | 11 ++--
 .../engine/generate/ExtrudeSurface.cpp        | 11 ++--
 .../engine/generate/GenerateCylinder.cpp      | 12 ++---
 .../engine/generate/GenerateGrid.cpp          | 12 ++---
 .../engine/generate/GenerateRigidMass.cpp     | 10 ++--
 .../engine/generate/GenerateSphere.cpp        | 12 ++---
 .../generate/GroupFilterYoungModulus.cpp      | 11 ++--
 .../component/engine/generate/JoinPoints.cpp  | 10 ++--
 .../component/engine/generate/MergeMeshes.cpp | 11 ++--
 .../component/engine/generate/MergePoints.cpp | 11 ++--
 .../component/engine/generate/MergeSets.cpp   | 12 ++---
 .../engine/generate/MergeVectors.cpp          | 32 ++++++-----
 .../generate/MeshBarycentricMapperEngine.cpp  | 12 ++---
 .../engine/generate/MeshClosingEngine.cpp     | 10 ++--
 .../engine/generate/MeshTetraStuffing.cpp     |  8 +--
 .../component/engine/generate/NormEngine.cpp  | 10 ++--
 .../engine/generate/NormalsFromPoints.cpp     | 11 ++--
 .../RandomPointDistributionInSurface.cpp      | 11 ++--
 .../sofa/component/engine/generate/Spiral.cpp | 11 ++--
 .../sofa/component/engine/generate/init.cpp   | 53 ++++++++++++++++++-
 .../sofa/component/engine/select/BoxROI.cpp   | 19 ++++---
 .../engine/select/ComplementaryROI.cpp        | 10 ++--
 .../engine/select/IndicesFromValues.cpp       | 18 ++-----
 .../component/engine/select/MergeROIs.cpp     |  8 +--
 .../engine/select/MeshBoundaryROI.cpp         |  7 ++-
 .../sofa/component/engine/select/MeshROI.cpp  | 11 ++--
 .../component/engine/select/MeshSampler.cpp   | 12 ++---
 .../engine/select/MeshSplittingEngine.cpp     | 10 ++--
 .../engine/select/MeshSubsetEngine.cpp        | 10 ++--
 .../engine/select/NearestPointROI.cpp         |  9 ++--
 .../component/engine/select/PairBoxRoi.cpp    | 15 +++---
 .../sofa/component/engine/select/PlaneROI.cpp | 11 ++--
 .../engine/select/PointsFromIndices.cpp       | 13 ++---
 .../component/engine/select/ProximityROI.cpp  | 12 ++---
 .../select/SelectConnectedLabelsROI.cpp       |  8 +--
 .../engine/select/SelectLabelROI.cpp          |  8 +--
 .../component/engine/select/SphereROI.cpp     | 10 ++--
 .../engine/select/SubsetTopology.cpp          | 11 ++--
 .../engine/select/ValuesFromIndices.cpp       | 10 ++--
 .../engine/select/ValuesFromPositions.cpp     | 11 ++--
 .../src/sofa/component/engine/select/init.cpp | 53 ++++++++++++++++++-
 .../engine/transform/DifferenceEngine.cpp     | 10 ++--
 .../engine/transform/DilateEngine.cpp         |  8 +--
 .../transform/DisplacementMatrixEngine.cpp    | 10 ++--
 .../engine/transform/IndexValueMapper.cpp     | 11 ++--
 .../engine/transform/Indices2ValuesMapper.cpp | 11 ++--
 .../engine/transform/Indices2ValuesMapper.inl |  1 -
 .../component/engine/transform/MapIndices.cpp |  8 +--
 .../component/engine/transform/MathOp.cpp     | 28 +++++-----
 .../transform/ProjectiveTransformEngine.cpp   |  9 ++--
 .../engine/transform/QuatToRigidEngine.cpp    | 11 ++--
 .../engine/transform/ROIValueMapper.cpp       | 11 ++--
 .../engine/transform/RigidToQuatEngine.cpp    | 12 ++---
 .../engine/transform/SmoothMeshEngine.cpp     | 11 ++--
 .../engine/transform/TransformEngine.cpp      |  9 ++--
 .../transform/TransformMatrixEngine.cpp       | 28 +++++++---
 .../engine/transform/TransformPosition.cpp    | 10 ++--
 .../engine/transform/Vertex2Frame.cpp         | 11 ++--
 .../sofa/component/engine/transform/init.cpp  | 50 +++++++++++++++++
 .../Engine/src/sofa/component/engine/init.cpp | 15 ++++++
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 .../src/sofa/helper/ComponentChange.cpp       |  1 +
 70 files changed, 549 insertions(+), 366 deletions(-)

diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/AverageCoord.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/AverageCoord.cpp
index 4daba0bc2c4..9644f4769cf 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/AverageCoord.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/AverageCoord.cpp
@@ -30,14 +30,14 @@ namespace sofa::component::engine::analyze
 
 using namespace sofa::defaulttype;
 
-int AverageCoordClass = core::RegisterObject("Compute the average of coordinates")
+void registerAverageCoord(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute the average of coordinates.")
         .add< AverageCoord<Vec2Types> >()
         .add< AverageCoord<Vec3Types> >()
         .add< AverageCoord<Rigid2Types> >()
-        .add< AverageCoord<Rigid3Types> >()
- 
-        ;
-
+        .add< AverageCoord<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API AverageCoord<Vec2Types>;
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API AverageCoord<Rigid2Types>;
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.cpp
index 067d8b32fb1..5f8f1b112b3 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.cpp
@@ -29,10 +29,11 @@ namespace sofa::component::engine::analyze
 
 using namespace sofa::defaulttype;
 
-int ClusteringEngineClass = core::RegisterObject("Group points into overlapping clusters according to a user defined number of clusters and radius")
-        .add< ClusteringEngine<Vec3Types> >()
- 
-        ;
+void registerClusteringEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Group points into overlapping clusters according to a user defined number of clusters and radius.")
+        .add< ClusteringEngine<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API ClusteringEngine<Vec3Types>;
  
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.cpp
index c1becb4944f..50519602b29 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.cpp
@@ -30,10 +30,11 @@ namespace sofa::component::engine::analyze
 
 using namespace sofa::defaulttype;
 
-int DistancesClass = core::RegisterObject("Compute distances based on a grid.")
-        .add< Distances<Vec3Types> >()
- 
-        ;
+void registerDistances(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute distances based on a grid.")
+        .add< Distances<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API Distances<Vec3Types>;
  
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.cpp
index fc2b4e88b8a..31260f7ca45 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.cpp
@@ -30,14 +30,15 @@ namespace sofa::component::engine::analyze
 
 using namespace sofa::defaulttype;
 
-int HausdorffDistanceClass = core::RegisterObject("Compute the Hausdorff distance of two point clouds")
+void registerHausdorffDistance(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute the Hausdorff distance of two point clouds.")
         .add< HausdorffDistance<Vec1Types> >()
         .add< HausdorffDistance<Vec2Types> >()
         .add< HausdorffDistance<Vec3Types> >(true)
         .add< HausdorffDistance<Rigid2Types> >()
-        .add< HausdorffDistance<Rigid3Types> >()
- 
-        ;
+        .add< HausdorffDistance<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API HausdorffDistance<Vec1Types>;
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API HausdorffDistance<Vec2Types>;
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.cpp
index 7df2dff0f3e..07bec50db9f 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.cpp
@@ -32,11 +32,12 @@ namespace sofa::component::engine::analyze
 
 using namespace defaulttype;
 
-int ShapeMatchingClass = core::RegisterObject("Compute target positions using shape matching deformation method by Mueller et al.")
+void registerShapeMatching(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute target positions using shape matching deformation method by Mueller et al.")
         .add< ShapeMatching<Vec3Types> >()
-        .add< ShapeMatching<Rigid3Types> >()
- 
-        ;
+        .add< ShapeMatching<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API ShapeMatching<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API ShapeMatching<Rigid3Types>;
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/SumEngine.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/SumEngine.cpp
index 44e23a40712..6f42adf8dce 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/SumEngine.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/SumEngine.cpp
@@ -27,13 +27,13 @@ namespace sofa::component::engine::analyze
 {
 
 using namespace sofa::type;
-using namespace sofa::defaulttype;
 
-int SumEngineClass = core::RegisterObject("Computing the Sum between two vector of dofs")
+void registerSumEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Computing the sum between two vector of dofs.")
         .add< SumEngine<Vec1> >()
-        .add< SumEngine<Vec3> >(true) // default template
-
-        ;
+        .add< SumEngine<Vec3> >(true));
+}
 
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API SumEngine<Vec1>;
 template class SOFA_COMPONENT_ENGINE_ANALYZE_API SumEngine<Vec3>;
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/init.cpp b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/init.cpp
index 3cb16116d29..636efc80782 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/init.cpp
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/init.cpp
@@ -21,13 +21,23 @@
 ******************************************************************************/
 #include <sofa/component/engine/analyze/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::engine::analyze
 {
-    
+
+extern void registerAverageCoord(sofa::core::ObjectFactory* factory);
+extern void registerClusteringEngine(sofa::core::ObjectFactory* factory);
+extern void registerDistances(sofa::core::ObjectFactory* factory);
+extern void registerHausdorffDistance(sofa::core::ObjectFactory* factory);
+extern void registerShapeMatching(sofa::core::ObjectFactory* factory);
+extern void registerSumEngine(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +55,24 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAverageCoord(factory);
+    registerClusteringEngine(factory);
+    registerDistances(factory);
+    registerHausdorffDistance(factory);
+    registerShapeMatching(factory);
+    registerSumEngine(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeEdgesAndGenerateQuads.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeEdgesAndGenerateQuads.cpp
index 95baaf1f2d4..08672cf543d 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeEdgesAndGenerateQuads.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeEdgesAndGenerateQuads.cpp
@@ -29,13 +29,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int ExtrudeEdgesAndGenerateQuadsClass = core::RegisterObject("This engine extrudes an edge-based curve into a quad surface patch")
-        .add< ExtrudeEdgesAndGenerateQuads<Vec3Types> >(true) // default template
- 
-        ;
+void registerExtrudeEdgesAndGenerateQuads(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine extruding an edge-based curve into a quad surface patch.")
+        .add< ExtrudeEdgesAndGenerateQuads<Vec3Types> >(true));
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API ExtrudeEdgesAndGenerateQuads<Vec3Types>;
  
-
-
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeQuadsAndGenerateHexas.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeQuadsAndGenerateHexas.cpp
index 76f27e4a39b..51fa444c9ad 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeQuadsAndGenerateHexas.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeQuadsAndGenerateHexas.cpp
@@ -29,13 +29,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int ExtrudeQuadsAndGenerateHexasClass = core::RegisterObject("This engine extrudes a quad-based surface into a set of hexahedral elements")
-        .add< ExtrudeQuadsAndGenerateHexas<Vec3Types> >()
- 
-        ;
+void registerExtrudeQuadsAndGenerateHexas(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine extruding a quad-based surface into a set of hexahedral elements.")
+        .add< ExtrudeQuadsAndGenerateHexas<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API ExtrudeQuadsAndGenerateHexas<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeSurface.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeSurface.cpp
index 4a2101dea77..725c0f67d8e 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeSurface.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/ExtrudeSurface.cpp
@@ -30,13 +30,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int ExtrudeSurfaceClass = core::RegisterObject("This class truns on spiral any topological model")
-        .add< ExtrudeSurface<Vec3Types> >()
- 
-        ;
+void registerExtrudeSurface(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine creating a mesh from the extrusion of the surface of a given mesh.")
+        .add< ExtrudeSurface<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API ExtrudeSurface<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.cpp
index 88b9afadceb..ddbc3208fe7 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.cpp
@@ -28,14 +28,12 @@ namespace sofa::component::engine::generate
 {
 using namespace sofa::defaulttype;
 
-int GenerateCylinderClass = core::RegisterObject("Generate a Cylindrical Tetrahedral Mesh")
-        .add< GenerateCylinder<Vec3Types> >()
- 
-        ;
-
+void registerGenerateCylinder(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine generating a cylindrical tetrahedral mesh.")
+        .add< GenerateCylinder<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API GenerateCylinder<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateGrid.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateGrid.cpp
index 7c630069faf..1fc515fe15b 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateGrid.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateGrid.cpp
@@ -28,16 +28,14 @@ namespace sofa::component::engine::generate
 {
 using namespace sofa::defaulttype;
 
-int GenerateGridClass = core::RegisterObject("Generate a Grid Tetrahedral or Hexahedral Mesh")
+void registerGenerateGrid(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine generating a grid tetrahedral or hexahedral mesh.")
         .add< GenerateGrid<Vec3Types> >()
-        .add< GenerateGrid<Vec2Types> >()
- 
-        ;
-
+        .add< GenerateGrid<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API GenerateGrid<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API GenerateGrid<Vec2Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.cpp
index f8374e99e33..27faf76ec6b 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.cpp
@@ -29,12 +29,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int GenerateRigidMassClass = core::RegisterObject("An engine computing the RigidMass of a mesh : mass, volume and inertia matrix.")
-        .add< GenerateRigidMass<Rigid3Types, Rigid3Mass> >()
-
-        ;
+void registerGenerateRigidMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine computing the RigidMass of a mesh: mass, volume and inertia matrix.")
+        .add< GenerateRigidMass<Rigid3Types, Rigid3Mass> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API GenerateRigidMass<Rigid3Types, Rigid3Mass>;
 
-
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateSphere.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateSphere.cpp
index bb03b81213f..5d165d2f487 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateSphere.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateSphere.cpp
@@ -28,14 +28,12 @@ namespace sofa::component::engine::generate
 {
 using namespace sofa::defaulttype;
 
-int GenerateSphereClass = core::RegisterObject("Generate a sphereical (Bezier) Tetrahedral and Triangular Mesh")
-        .add< GenerateSphere<Vec3Types> >()
- 
-        ;
-
+void registerGenerateSphere(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine generating a spherical (Bezier) tetrahedral and triangular mesh.")
+        .add< GenerateSphere<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API GenerateSphere<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GroupFilterYoungModulus.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GroupFilterYoungModulus.cpp
index 16635fb67f9..6ecd9ecbb31 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GroupFilterYoungModulus.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GroupFilterYoungModulus.cpp
@@ -30,13 +30,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int GroupFilterYoungModulusClass = core::RegisterObject("This class gives a vector of young modulus according of a list of defined groups")
-        .add< GroupFilterYoungModulus<Vec3Types> >()
- 
-        ;
+void registerGroupFilterYoungModulus(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine defining a vector of young modulus according of a list of defined groups.")
+        .add< GroupFilterYoungModulus<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API GroupFilterYoungModulus<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/JoinPoints.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/JoinPoints.cpp
index 378457abb9e..f83efab3d85 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/JoinPoints.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/JoinPoints.cpp
@@ -29,12 +29,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int JoinPointsClass = core::RegisterObject("?")
-        .add< JoinPoints<Vec3Types> >()
- 
-        ;
+void registerJoinPoints(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Merge points from a set of points within a given distance.")
+        .add< JoinPoints<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API JoinPoints<Vec3Types>;
- 
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeMeshes.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeMeshes.cpp
index 29a8ecfd356..d4396922807 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeMeshes.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeMeshes.cpp
@@ -26,21 +26,20 @@
 namespace sofa::component::engine::generate
 {
 
-int MergeMeshesClass = core::RegisterObject("Merge several meshes")
+void registerMergeMeshes(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Merge several meshes.")
         .add< MergeMeshes<defaulttype::Vec3Types> >(true) // default template
         .add< MergeMeshes<defaulttype::Vec1Types> >()
         .add< MergeMeshes<defaulttype::Vec2Types> >()
         .add< MergeMeshes<defaulttype::Rigid2Types> >()
-        .add< MergeMeshes<defaulttype::Rigid3Types> >()
- 
-        ;
+        .add< MergeMeshes<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeMeshes<defaulttype::Vec1Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeMeshes<defaulttype::Vec2Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeMeshes<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeMeshes<defaulttype::Rigid2Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeMeshes<defaulttype::Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp
index b728739c584..249bce47218 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp
@@ -26,14 +26,15 @@
 namespace sofa::component::engine::generate
 {
 
-int MergePointsClass = core::RegisterObject("Merge 2 cordinate vectors")
+void registerMergePoints(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Merge 2 cordinate vectors.")
         .add< MergePoints<defaulttype::Vec3Types> >(true) // default template
         .add< MergePoints<defaulttype::Vec1Types> >()
         .add< MergePoints<defaulttype::Vec2Types> >()
         .add< MergePoints<defaulttype::Rigid2Types> >()
-        .add< MergePoints<defaulttype::Rigid3Types> >()
- 
-        ;
+        .add< MergePoints<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergePoints<defaulttype::Vec1Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergePoints<defaulttype::Vec2Types>;
@@ -41,6 +42,4 @@ template class SOFA_COMPONENT_ENGINE_GENERATE_API MergePoints<defaulttype::Vec3T
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergePoints<defaulttype::Rigid2Types>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergePoints<defaulttype::Rigid3Types>;
  
-
-
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeSets.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeSets.cpp
index 584a7783d86..9e1d7602737 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeSets.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeSets.cpp
@@ -26,16 +26,14 @@
 namespace sofa::component::engine::generate
 {
 
-int MergeSetsClass = core::RegisterObject("Merge two sets of indices using specified boolean operation")
+void registerMergeSets(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Merge two sets of indices using specified boolean operation.")
         .add< MergeSets<int> >(true)
-        .add< MergeSets<unsigned int> >()
-//.add< MergeSets<long long> >()
-//.add< MergeSets<unsigned long long> >()
-        ;
+        .add< MergeSets<unsigned int> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeSets<int>;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeSets<unsigned int>;
-//template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeSets<long long>;
-//template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeSets<unsigned long long>;
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeVectors.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeVectors.cpp
index 98e469fc86d..669b954ce31 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeVectors.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeVectors.cpp
@@ -26,25 +26,25 @@
 namespace sofa::component::engine::generate
 {
 
-int MergeVectorsClass = core::RegisterObject("Apply a merge operation to combine several inputs")
-    .add< MergeVectors< type::vector<SReal> > >(true)
-    .add< MergeVectors< type::vector<int> > >()
-    .add< MergeVectors< type::vector<bool> > >()
-    //.add< MergeVectors< type::vector<std::string> > >()
-    .add< MergeVectors< type::vector<type::Vec2u> > >()
-    .add< MergeVectors< type::vector<type::Vec2> > >()
-    .add< MergeVectors< type::vector<type::Vec3> > >()
-    .add< MergeVectors< type::vector<type::Vec4> > >()
-    .add< MergeVectors< defaulttype::Rigid2Types::VecCoord > >()
-    .add< MergeVectors< defaulttype::Rigid2Types::VecDeriv > >()
-    .add< MergeVectors< defaulttype::Rigid3Types::VecCoord > >()
-    .add< MergeVectors< defaulttype::Rigid3Types::VecDeriv > >();
-
+void registerMergeVectors(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a merge operation to combine several inputs.")
+        .add< MergeVectors< type::vector<SReal> > >(true)
+        .add< MergeVectors< type::vector<int> > >()
+        .add< MergeVectors< type::vector<bool> > >()
+        .add< MergeVectors< type::vector<type::Vec2u> > >()
+        .add< MergeVectors< type::vector<type::Vec2> > >()
+        .add< MergeVectors< type::vector<type::Vec3> > >()
+        .add< MergeVectors< type::vector<type::Vec4> > >()
+        .add< MergeVectors< defaulttype::Rigid2Types::VecCoord > >()
+        .add< MergeVectors< defaulttype::Rigid2Types::VecDeriv > >()
+        .add< MergeVectors< defaulttype::Rigid3Types::VecCoord > >()
+        .add< MergeVectors< defaulttype::Rigid3Types::VecDeriv > >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< type::vector<int> >;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< type::vector<bool> >;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< type::vector<type::Vec2u> >;
-
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< type::vector<SReal> >;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< type::vector<type::Vec2> >;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< type::vector<type::Vec3> >;
@@ -54,6 +54,4 @@ template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< defaulttype::Rig
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< defaulttype::Rigid3Types::VecCoord >;
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MergeVectors< defaulttype::Rigid3Types::VecDeriv >;
 
-
-
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshBarycentricMapperEngine.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshBarycentricMapperEngine.cpp
index c36ff11f4ca..d85c0b5d9d5 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshBarycentricMapperEngine.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshBarycentricMapperEngine.cpp
@@ -30,14 +30,12 @@ namespace sofa::component::engine::generate
 {
 using namespace sofa::defaulttype;
 
-int MeshBarycentricMapperEngineClass = core::RegisterObject("This class maps a set of points in a topological model and provide barycentric coordinates")
-        .add< MeshBarycentricMapperEngine<Vec3Types> >()
- 
-        ;
+void registerMeshBarycentricMapperEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine mapping a set of points in a topological model and provide barycentric coordinates")
+        .add< MeshBarycentricMapperEngine<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MeshBarycentricMapperEngine<Vec3Types>;
- 
-
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshClosingEngine.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshClosingEngine.cpp
index 5970a2ad90b..60697748f86 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshClosingEngine.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshClosingEngine.cpp
@@ -26,12 +26,12 @@
 namespace sofa::component::engine::generate
 {
 
-int MeshClosingEngineClass = core::RegisterObject("Merge several meshes")
-        .add< MeshClosingEngine<defaulttype::Vec3Types> >(true) // default template
-        ;
+void registerMeshClosingEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Close a given mesh.")
+        .add< MeshClosingEngine<defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API MeshClosingEngine<defaulttype::Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp
index 7b40eb82e63..2afe7cb5456 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp
@@ -34,9 +34,11 @@ namespace sofa::component::engine::generate
 using namespace sofa::defaulttype;
 using type::vector;
 
-int MeshTetraStuffingClass = core::RegisterObject("Create a tetrahedral volume mesh from a surface, using the algorithm from F. Labelle and J.R. Shewchuk, \"Isosurface Stuffing: Fast Tetrahedral Meshes with Good Dihedral Angles\", SIGGRAPH 2007.")
-        .add< MeshTetraStuffing >()
-        ;
+void registerMeshTetraStuffing(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Create a tetrahedral volume mesh from a surface, using the algorithm from F. Labelle and J.R. Shewchuk, \"Isosurface Stuffing: Fast Tetrahedral Meshes with Good Dihedral Angles\", SIGGRAPH 2007.")
+        .add< MeshTetraStuffing >());
+}
 
 MeshTetraStuffing::MeshTetraStuffing()
     : d_vbbox(initData(&d_vbbox, "vbbox", "BBox to restrict the volume to"))
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormEngine.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormEngine.cpp
index 09ca7eec731..de24c00ec14 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormEngine.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormEngine.cpp
@@ -26,12 +26,12 @@
 namespace sofa::component::engine::generate
 {
 
-int NormEngineClass = core::RegisterObject("Convert Vec in Real")
-        .add< NormEngine<type::Vec3> >(true) // default template
-
-        ;
+void registerNormEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Convert Vec in Real")
+        .add< NormEngine<type::Vec3> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API NormEngine<type::Vec3>;
 
-
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormalsFromPoints.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormalsFromPoints.cpp
index 8c9c6573bfa..953dbe0ef3d 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormalsFromPoints.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/NormalsFromPoints.cpp
@@ -29,13 +29,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int NormalsFromPointsClass = core::RegisterObject("Compute vertex normals by averaging face normals")
-        .add< NormalsFromPoints<Vec3Types> >()
- 
-        ;
+void registerNormalsFromPoints(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute vertex normals by averaging face normals.")
+        .add< NormalsFromPoints<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API NormalsFromPoints<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/RandomPointDistributionInSurface.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/RandomPointDistributionInSurface.cpp
index c2ebee7f179..ead70d5312c 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/RandomPointDistributionInSurface.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/RandomPointDistributionInSurface.cpp
@@ -29,13 +29,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int RandomPointDistributionInSurfaceClass = core::RegisterObject("This class truns on spiral any topological model")
-        .add< RandomPointDistributionInSurface<Vec3Types> >()
- 
-        ;
+void registerRandomPointDistributionInSurface(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine distributing points over a surface randomly.")
+        .add< RandomPointDistributionInSurface<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API RandomPointDistributionInSurface<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/Spiral.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/Spiral.cpp
index be857c442fe..541eea29c12 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/Spiral.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/Spiral.cpp
@@ -30,13 +30,12 @@ namespace sofa::component::engine::generate
 
 using namespace sofa::defaulttype;
 
-int SpiralClass = core::RegisterObject("This class truns on spiral any topological model")
-        .add< Spiral<Vec3Types> >()
- 
-        ;
+void registerSpiral(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine turning on spiral any topological model.")
+        .add< Spiral<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_GENERATE_API Spiral<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::generate
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/init.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/init.cpp
index 84dbb29dcd0..9da9eda2c5e 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/init.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/init.cpp
@@ -21,13 +21,37 @@
 ******************************************************************************/
 #include <sofa/component/engine/generate/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::engine::generate
 {
-    
+
+extern void registerExtrudeEdgesAndGenerateQuads(sofa::core::ObjectFactory* factory);
+extern void registerExtrudeQuadsAndGenerateHexas(sofa::core::ObjectFactory* factory);
+extern void registerExtrudeSurface(sofa::core::ObjectFactory* factory);
+extern void registerGenerateCylinder(sofa::core::ObjectFactory* factory);
+extern void registerGenerateGrid(sofa::core::ObjectFactory* factory);
+extern void registerGenerateRigidMass(sofa::core::ObjectFactory* factory);
+extern void registerGenerateSphere(sofa::core::ObjectFactory* factory);
+extern void registerGroupFilterYoungModulus(sofa::core::ObjectFactory* factory);
+extern void registerJoinPoints(sofa::core::ObjectFactory* factory);
+extern void registerMergeMeshes(sofa::core::ObjectFactory* factory);
+extern void registerMergePoints(sofa::core::ObjectFactory* factory);
+extern void registerMergeSets(sofa::core::ObjectFactory* factory);
+extern void registerMergeVectors(sofa::core::ObjectFactory* factory);
+extern void registerMeshBarycentricMapperEngine(sofa::core::ObjectFactory* factory);
+extern void registerMeshClosingEngine(sofa::core::ObjectFactory* factory);
+extern void registerMeshTetraStuffing(sofa::core::ObjectFactory* factory);
+extern void registerNormalsFromPoints(sofa::core::ObjectFactory* factory);
+extern void registerNormEngine(sofa::core::ObjectFactory* factory);
+extern void registerRandomPointDistributionInSurface(sofa::core::ObjectFactory* factory);
+extern void registerSpiral(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +69,38 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerExtrudeEdgesAndGenerateQuads(factory);
+    registerExtrudeQuadsAndGenerateHexas(factory);
+    registerExtrudeSurface(factory);
+    registerGenerateCylinder(factory);
+    registerGenerateGrid(factory);
+    registerGenerateRigidMass(factory);
+    registerGenerateSphere(factory);
+    registerGroupFilterYoungModulus(factory);
+    registerJoinPoints(factory);
+    registerMergeMeshes(factory);
+    registerMergePoints(factory);
+    registerMergeSets(factory);
+    registerMergeVectors(factory);
+    registerMeshBarycentricMapperEngine(factory);
+    registerMeshClosingEngine(factory);
+    registerMeshTetraStuffing(factory);
+    registerNormalsFromPoints(factory);
+    registerNormEngine(factory);
+    registerRandomPointDistributionInSurface(factory);
+    registerSpiral(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BoxROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BoxROI.cpp
index 079bc76679c..919ce24a1e3 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BoxROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BoxROI.cpp
@@ -24,25 +24,30 @@
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/defaulttype/VecTypes.h>
 
-namespace sofa::component::engine::select::boxroi
+namespace sofa::component::engine::select
 {
 
 using namespace sofa::defaulttype;
 
-int BoxROIClass = core::RegisterObject("Find the primitives (vertex/edge/triangle/quad/tetrahedron/hexahedron) inside given boxes")
+void registerBoxROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine selecting the any primitives (vertex/edge/triangle/quad/tetrahedron/hexahedron) inside given boxes.")
         .add< BoxROI<Vec3Types> >(true) //default
         .add< BoxROI<Vec2Types> >()
         .add< BoxROI<Vec1Types> >()
         .add< BoxROI<Rigid3Types> >()
-        .add< BoxROI<Vec6Types> >()
- 
-        ;
+        .add< BoxROI<Vec6Types> >());
+}
+
+namespace boxroi
+{
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API BoxROI<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API BoxROI<Vec2Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API BoxROI<Vec1Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API BoxROI<Rigid3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API BoxROI<Vec6Types>;
- 
 
-} // namespace sofa::component::engine::select::boxroi
+} // namespace boxroi
+
+} // namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ComplementaryROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ComplementaryROI.cpp
index 0ad166d2833..d66fbdc3c98 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ComplementaryROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ComplementaryROI.cpp
@@ -30,12 +30,12 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int ComplementaryROIClass = core::RegisterObject("Find the points that are NOT in the input sets")
-        .add<ComplementaryROI<Vec3Types> >()
- 
-        ;
+void registerComplementaryROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find the points that are NOT in the input sets.")
+        .add<ComplementaryROI<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API ComplementaryROI<Vec3Types>;
  
-
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/IndicesFromValues.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/IndicesFromValues.cpp
index 4079bf5af78..a745d976431 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/IndicesFromValues.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/IndicesFromValues.cpp
@@ -28,7 +28,9 @@
 namespace sofa::component::engine::select
 {
 
-int IndicesFromValuesClass = core::RegisterObject("Find the indices of a list of values within a larger set of values")
+void registerIndicesFromValues(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine finding the indices of a list of values within a larger set of values.")
         .add< IndicesFromValues<std::string> >()
         .add< IndicesFromValues<int> >()
         .add< IndicesFromValues<unsigned int> >()
@@ -38,13 +40,8 @@ int IndicesFromValuesClass = core::RegisterObject("Find the indices of a list of
         .add< IndicesFromValues< type::fixed_array<unsigned int, 8> > >()
         .add< IndicesFromValues<SReal> >()
         .add< IndicesFromValues<type::Vec2> >()
-        .add< IndicesFromValues<type::Vec3> >()
-        // .add< IndicesFromValues<defaulttype::Rigid2Types::Coord> >()
-        // .add< IndicesFromValues<defaulttype::Rigid2Types::Deriv> >()
-        // .add< IndicesFromValues<defaulttype::Rigid3Types::Coord> >()
-        // .add< IndicesFromValues<defaulttype::Rigid3Types::Deriv> >()
- 
-        ;
+        .add< IndicesFromValues<type::Vec3> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<std::string>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<int>;
@@ -56,10 +53,5 @@ template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues< type::fixed_a
 template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<SReal>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<type::Vec2>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<type::Vec3>;
-// template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<defaulttype::Rigid2Types::Coord>;
-// template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<defaulttype::Rigid2Types::Deriv>;
-// template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<defaulttype::Rigid3Types::Coord>;
-// template class SOFA_COMPONENT_ENGINE_SELECT_API IndicesFromValues<defaulttype::Rigid3Types::Deriv>;
- 
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MergeROIs.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MergeROIs.cpp
index 6bb3910d902..fb94352fb96 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MergeROIs.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MergeROIs.cpp
@@ -72,9 +72,11 @@ void MergeROIs::doUpdate()
         for(size_t i=0 ; i<indices.size() ; i++) outputIndices[j][i]=indices[i];
     }
 }
-int MergeROIsClass = core::RegisterObject("Merge a list of ROIs (vector<Indices>) into a single Data (vector<svector<Indices>>)")
-        .add< MergeROIs >(true)
-        ;
 
+void registerMergeROIs(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Merge a list of ROIs (vector<Indices>) into a single Data (vector<svector<Indices>>).")
+        .add< MergeROIs >());
+}
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp
index f44b1ecea31..e866d610604 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp
@@ -26,8 +26,11 @@
 namespace sofa::component::engine::select
 {
 
-int MeshBoundaryROIClass = core::RegisterObject("Outputs indices of boundary vertices of a triangle/quad mesh")
-        .add< MeshBoundaryROI >(true);
+void registerMeshBoundaryROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Outputs indices of boundary vertices of a triangle/quad mesh")
+        .add< MeshBoundaryROI >());
+}
 
 MeshBoundaryROI::MeshBoundaryROI(): Inherit1()
                                     , d_triangles(initData(&d_triangles,"triangles","input triangles"))
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.cpp
index 478603b985f..ea025fa74d9 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.cpp
@@ -29,17 +29,16 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int MeshROIClass = core::RegisterObject("Find the primitives (vertex/edge/triangle/tetrahedron) inside a given mesh")
+void registerMeshROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find the primitives (vertex/edge/triangle/tetrahedron) inside a given mesh.")
         .add< MeshROI<Vec3Types> >(true) //default template
         .add< MeshROI<Rigid3Types> >()
-        .add< MeshROI<Vec6Types> >()
- 
-        ;
+        .add< MeshROI<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API MeshROI<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API MeshROI<Rigid3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API MeshROI<Vec6Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSampler.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSampler.cpp
index e71bf8436a7..029bba009b6 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSampler.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSampler.cpp
@@ -27,14 +27,12 @@
 namespace sofa::component::engine::select
 {
 
-int MeshSamplerClass = core::RegisterObject("Select uniformly distributed points on a mesh based on Euclidean or Geodesic distance measure")
-        .add< MeshSampler<Vec3Types> >(true)
- 
-        ;
+void registerMeshSampler(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Select uniformly distributed points on a mesh based on Euclidean or Geodesic distance measure.")
+        .add< MeshSampler<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API MeshSampler<Vec3Types>;
- 
-
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSplittingEngine.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSplittingEngine.cpp
index d837ccbf545..a1b828281b0 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSplittingEngine.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSplittingEngine.cpp
@@ -26,12 +26,12 @@
 namespace sofa::component::engine::select
 {
 
-int MeshSplittingEngineClass = core::RegisterObject("This class breaks a mesh in multiple parts, based on selected vertices or cells.")
-        .add< MeshSplittingEngine<defaulttype::Vec3Types> >(true) // default template
-        ;
+void registerMeshSplittingEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine breaking a mesh in multiple parts, based on selected vertices or cells.")
+        .add< MeshSplittingEngine<defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API MeshSplittingEngine<defaulttype::Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.cpp
index 6641bcba60b..82d6b58be4c 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.cpp
@@ -26,12 +26,12 @@
 namespace sofa::component::engine::select
 {
 
-int MeshSubsetEngineClass = core::RegisterObject("Extract a mesh subset based on selected vertices")
-        .add< MeshSubsetEngine<defaulttype::Vec3Types> >(true) // default template
-        ;
+void registerMeshSubsetEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Extract a mesh subset based on selected vertices.")
+        .add< MeshSubsetEngine<defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API MeshSubsetEngine<defaulttype::Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.cpp
index 23d13270e01..469a8c082db 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.cpp
@@ -28,14 +28,16 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int NearestPointROIClass = core::RegisterObject("Attach given pair of particles, projecting the positions of the second particles to the first ones")
+void registerNearestPointROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given pair of particles, projecting the positions of the second particles to the first ones.")
         .add< NearestPointROI<Vec3Types> >()
         .add< NearestPointROI<Vec2Types> >()
         .add< NearestPointROI<Vec1Types> >()
         .add< NearestPointROI<Vec6Types> >()
         .add< NearestPointROI<Rigid3Types> >()
-        .add< NearestPointROI<Rigid2Types> >()
-        ;
+        .add< NearestPointROI<Rigid2Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API NearestPointROI<sofa::defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API NearestPointROI<sofa::defaulttype::Vec2Types>;
@@ -43,4 +45,5 @@ template class SOFA_COMPONENT_ENGINE_SELECT_API NearestPointROI<sofa::defaulttyp
 template class SOFA_COMPONENT_ENGINE_SELECT_API NearestPointROI<sofa::defaulttype::Vec6Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API NearestPointROI<sofa::defaulttype::Rigid3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API NearestPointROI<sofa::defaulttype::Rigid2Types>;
+
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PairBoxRoi.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PairBoxRoi.cpp
index 0ca8ab3c352..e71474a4c5a 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PairBoxRoi.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PairBoxRoi.cpp
@@ -29,17 +29,16 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int PairBoxROIClass = core::RegisterObject("Find the primitives (vertex/edge/triangle/tetrahedron) inside a given box")
-        .add< PairBoxROI<Vec3Types> >()
+void registerPairBoxROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find all the points located between two boxes.")
+        .add< PairBoxROI<Vec3Types> >(true)
         .add< PairBoxROI<Rigid3Types> >()
-        .add< PairBoxROI<Vec6Types> >() //Phuoc
- 
-        ;
+        .add< PairBoxROI<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API PairBoxROI<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API PairBoxROI<Rigid3Types>;
-template class SOFA_COMPONENT_ENGINE_SELECT_API PairBoxROI<Vec6Types>; //Phuoc
- 
-
+template class SOFA_COMPONENT_ENGINE_SELECT_API PairBoxROI<Vec6Types>;
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PlaneROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PlaneROI.cpp
index 5576a015a4d..60f454d0f8f 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PlaneROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PlaneROI.cpp
@@ -29,15 +29,14 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int PlaneROIClass = core::RegisterObject("Find the primitives inside a given plane")
+void registerPlaneROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find the primitives inside a given plane.")
         .add< PlaneROI<Vec3Types> >()
-        .add< PlaneROI<Rigid3Types> >()
- 
-        ;
+        .add< PlaneROI<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API PlaneROI<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API PlaneROI<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PointsFromIndices.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PointsFromIndices.cpp
index fe68535eaab..09733432acb 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PointsFromIndices.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/PointsFromIndices.cpp
@@ -30,15 +30,12 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int PointsFromIndicesClass = core::RegisterObject("Find the points given a list of indices")
-        .add< PointsFromIndices<Vec3Types> >()
-// .add< PointsFromIndices<Rigid3Types> >()
- 
-        ;
+void registerPointsFromIndices(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find the points given a list of indices.")
+        .add< PointsFromIndices<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API PointsFromIndices<Vec3Types>;
-// template class SOFA_COMPONENT_ENGINE_SELECT_API PointsFromIndices<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.cpp
index a29b50a2cf4..654d88d698e 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.cpp
@@ -30,14 +30,12 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int ProximityROIClass = core::RegisterObject("Find the N closest primitives from a given position")
-        .add< ProximityROI<Vec3Types> >()
- 
-        ;
+void registerProximityROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find the N closest primitives from a given position.")
+        .add< ProximityROI<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API ProximityROI<Vec3Types>;
-//template class SOFA_COMPONENT_ENGINE_SELECT_API SphereROI<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.cpp
index c11b1ea7b6b..c48c676c447 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.cpp
@@ -28,12 +28,14 @@
 namespace sofa::component::engine::select
 {
 
-int SelectConnectedLabelsROIClass = core::RegisterObject("Select a subset of points or cells labeled from different sources, that are connected given a list of connection pairs")
+void registerSelectConnectedLabelsROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Select a subset of points or cells labeled from different sources, that are connected given a list of connection pairs.")
         .add< SelectConnectedLabelsROI<unsigned int> >(true)
         .add< SelectConnectedLabelsROI<unsigned char> >()
         .add< SelectConnectedLabelsROI<unsigned short> >()
-        .add< SelectConnectedLabelsROI<int> >()
-        ;
+        .add< SelectConnectedLabelsROI<int> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API SelectConnectedLabelsROI<unsigned int>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API SelectConnectedLabelsROI<unsigned char>;
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectLabelROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectLabelROI.cpp
index 226951c6aaf..038d905e4b9 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectLabelROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectLabelROI.cpp
@@ -28,12 +28,14 @@
 namespace sofa::component::engine::select
 {
 
-int SelectLabelROIClass = core::RegisterObject("Select a subset of labeled points or cells stored in (vector<svector<label>>) given certain labels")
+void registerSelectLabelROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Select a subset of labeled points or cells stored in (vector<svector<label>>) given certain labels.")
         .add< SelectLabelROI<unsigned int> >(true)
         .add< SelectLabelROI<unsigned char> >()
         .add< SelectLabelROI<unsigned short> >()
-        .add< SelectLabelROI<int> >()
-        ;
+        .add< SelectLabelROI<int> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API SelectLabelROI<unsigned int>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API SelectLabelROI<unsigned char>;
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.cpp
index 55a64ef6d57..1ea4fe8801a 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.cpp
@@ -30,14 +30,14 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int SphereROIClass = core::RegisterObject("Find the primitives (vertex/edge/triangle/tetrahedron) inside a given sphere")
+void registerSphereROI(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine selecting the primitives (vertex/edge/triangle/tetrahedron) inside a given sphere.")
         .add< SphereROI<Vec3Types> >(true)
-        .add< SphereROI<Rigid3Types> >()
-        ;
+        .add< SphereROI<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API SphereROI<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API SphereROI<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SubsetTopology.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SubsetTopology.cpp
index 17d5c563351..b64940945e6 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SubsetTopology.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SubsetTopology.cpp
@@ -30,15 +30,14 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int SubsetTopologyClass = core::RegisterObject("Engine used to create subset topology given box, sphere, plan, ...")
+void registerSubsetTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine used to create subset topology given box, sphere, plan, ...")
         .add< SubsetTopology<Vec3Types> >()
-        .add< SubsetTopology<Rigid3Types> >()
- 
-        ;
+        .add< SubsetTopology<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API SubsetTopology<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API SubsetTopology<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromIndices.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromIndices.cpp
index 0255ceb695c..3c1275d1fda 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromIndices.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromIndices.cpp
@@ -28,7 +28,9 @@
 namespace sofa::component::engine::select
 {
 
-int ValuesFromIndicesClass = core::RegisterObject("Find the values given a list of indices")
+void registerValuesFromIndices(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Find the values given a list of indices.")
         .add< ValuesFromIndices<std::string> >()
         .add< ValuesFromIndices<int> >()
         .add< ValuesFromIndices<unsigned int> >()
@@ -44,9 +46,8 @@ int ValuesFromIndicesClass = core::RegisterObject("Find the values given a list
         .add< ValuesFromIndices<defaulttype::Rigid2Types::Coord> >()
         .add< ValuesFromIndices<defaulttype::Rigid2Types::Deriv> >()
         .add< ValuesFromIndices<defaulttype::Rigid3Types::Coord> >()
-        .add< ValuesFromIndices<defaulttype::Rigid3Types::Deriv> >()
- 
-        ;
+        .add< ValuesFromIndices<defaulttype::Rigid3Types::Deriv> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromIndices<std::string>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromIndices<int>;
@@ -64,6 +65,5 @@ template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromIndices<defaulttype::R
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromIndices<defaulttype::Rigid2Types::Deriv>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromIndices<defaulttype::Rigid3Types::Coord>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromIndices<defaulttype::Rigid3Types::Deriv>;
- 
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.cpp
index c53cfb90d66..ceb83789ba5 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.cpp
@@ -29,15 +29,14 @@ namespace sofa::component::engine::select
 
 using namespace sofa::defaulttype;
 
-int ValuesFromPositionsClass = core::RegisterObject("Assign values to primitives (vertex/edge/triangle/tetrahedron) based on a linear interpolation of values along a direction")
+void registerValuesFromPositions(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Assign values to primitives (vertex/edge/triangle/tetrahedron) based on a linear interpolation of values along a direction.")
         .add< ValuesFromPositions<Vec3Types> >()
-        .add< ValuesFromPositions<Rigid3Types> >()
- 
-        ;
+        .add< ValuesFromPositions<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromPositions<Vec3Types>;
 template class SOFA_COMPONENT_ENGINE_SELECT_API ValuesFromPositions<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::select
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/init.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/init.cpp
index 57add32cd26..4d8239a46b4 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/init.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/init.cpp
@@ -21,13 +21,37 @@
 ******************************************************************************/
 #include <sofa/component/engine/select/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::engine::select
 {
-    
+ 
+extern void registerBoxROI(sofa::core::ObjectFactory* factory);
+extern void registerComplementaryROI(sofa::core::ObjectFactory* factory);
+extern void registerIndicesFromValues(sofa::core::ObjectFactory* factory);
+extern void registerMergeROIs(sofa::core::ObjectFactory* factory);
+extern void registerMeshBoundaryROI(sofa::core::ObjectFactory* factory);
+extern void registerMeshROI(sofa::core::ObjectFactory* factory);
+extern void registerMeshSampler(sofa::core::ObjectFactory* factory);
+extern void registerMeshSplittingEngine(sofa::core::ObjectFactory* factory);
+extern void registerMeshSubsetEngine(sofa::core::ObjectFactory* factory);
+extern void registerNearestPointROI(sofa::core::ObjectFactory* factory);
+extern void registerPairBoxROI(sofa::core::ObjectFactory* factory);
+extern void registerPlaneROI(sofa::core::ObjectFactory* factory);
+extern void registerPointsFromIndices(sofa::core::ObjectFactory* factory);
+extern void registerProximityROI(sofa::core::ObjectFactory* factory);
+extern void registerSelectConnectedLabelsROI(sofa::core::ObjectFactory* factory);
+extern void registerSelectLabelROI(sofa::core::ObjectFactory* factory);
+extern void registerSphereROI(sofa::core::ObjectFactory* factory);
+extern void registerSubsetTopology(sofa::core::ObjectFactory* factory);
+extern void registerValuesFromIndices(sofa::core::ObjectFactory* factory);
+extern void registerValuesFromPositions(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +69,38 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBoxROI(factory);
+    registerComplementaryROI(factory);
+    registerIndicesFromValues(factory);
+    registerMergeROIs(factory);
+    registerMeshBoundaryROI(factory);
+    registerMeshROI(factory);
+    registerMeshSampler(factory);
+    registerMeshSplittingEngine(factory);
+    registerMeshSubsetEngine(factory);
+    registerNearestPointROI(factory);
+    registerPairBoxROI(factory);
+    registerPlaneROI(factory);
+    registerPointsFromIndices(factory);
+    registerProximityROI(factory);
+    registerSelectConnectedLabelsROI(factory);
+    registerSelectLabelROI(factory);
+    registerSphereROI(factory);
+    registerSubsetTopology(factory);
+    registerValuesFromIndices(factory);
+    registerValuesFromPositions(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.cpp
index 1b4614c5f9f..f5da34d688b 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.cpp
@@ -29,14 +29,14 @@ namespace sofa::component::engine::transform
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int DifferenceEngineClass = core::RegisterObject("Computing the difference between two vector of dofs")
+void registerDifferenceEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Computing the difference between two vector of dofs.")
         .add< DifferenceEngine<Vec1> >()
-        .add< DifferenceEngine<Vec3> >(true) // default template
-
-        ;
+        .add< DifferenceEngine<Vec3> >(true));
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API DifferenceEngine<Vec1>;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API DifferenceEngine<Vec3>;
 
-
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DilateEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DilateEngine.cpp
index 436b8d0bf09..13699d6ed80 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DilateEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DilateEngine.cpp
@@ -28,9 +28,11 @@ namespace sofa::component::engine::transform
 
 using namespace defaulttype;
 
-int DilateEngineClass = core::RegisterObject("Dilates a given mesh by moving vertices along their normal.")
-        .add< DilateEngine<Vec3Types>>(true) // default template
-                                      ;
+void registerDilateEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Dilates a given mesh by moving vertices along their normal.")
+        .add< DilateEngine<Vec3Types>>());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API DilateEngine<Vec3Types>;
 
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp
index 51af18326f0..8f7eab1f906 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp
@@ -31,10 +31,12 @@ namespace sofa::component::engine::transform
 using namespace type;
 using namespace defaulttype;
 
-int DisplacementTransformEngineClass = core::RegisterObject("Converts a vector of Rigid to a vector of displacement transforms.")
-    .add< DisplacementTransformEngine<Rigid3Types,Mat4x4> >()
-    .add< DisplacementTransformEngine<Rigid3Types,Rigid3Types::Coord> >()
-;
+void registerDisplacementTransformEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Converts a vector of Rigid to a vector of displacement transforms.")
+        .add< DisplacementTransformEngine<Rigid3Types, Mat4x4> >()
+        .add< DisplacementTransformEngine<Rigid3Types, Rigid3Types::Coord> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API DisplacementTransformEngine<Rigid3Types,Mat4x4>;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API DisplacementTransformEngine<Rigid3Types,Rigid3Types::Coord>;
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/IndexValueMapper.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/IndexValueMapper.cpp
index 963bf763259..0b5108baa54 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/IndexValueMapper.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/IndexValueMapper.cpp
@@ -31,13 +31,12 @@ namespace sofa::component::engine::transform
 using namespace sofa;
 using namespace sofa::defaulttype;
 
-int IndexValueMapperClass = core::RegisterObject("Input values to output values mapper. Includes indices rules, such as replacement, resize")
-        .add< IndexValueMapper<Vec3Types> >(true)
- 
-        ;
+void registerIndexValueMapper(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Input values to output values mapper. Includes indices rules, such as replacement, resize.")
+        .add< IndexValueMapper<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API IndexValueMapper<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.cpp
index d44c040edaa..cd006e4371a 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.cpp
@@ -31,13 +31,12 @@ namespace sofa::component::engine::transform
 using namespace sofa;
 using namespace sofa::defaulttype;
 
-int Indices2ValuesMapperClass = core::RegisterObject("?")
-        .add< Indices2ValuesMapper<Vec3Types> >(true)
- 
-        ;
+void registerIndices2ValuesMapper(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Input multiple values to output values mapper. Includes indices rules, such as replacement, resize.")
+        .add< Indices2ValuesMapper<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API Indices2ValuesMapper<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.inl b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.inl
index 57ad89da5f2..60b527c11a7 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.inl
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Indices2ValuesMapper.inl
@@ -23,7 +23,6 @@
 #include <sofa/component/engine/transform/Indices2ValuesMapper.h>
 
 #include <sofa/core/objectmodel/BaseObject.h>
-#include <sofa/helper/system/FileRepository.h>
 
 namespace sofa::component::engine::transform
 {
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MapIndices.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MapIndices.cpp
index f3229908db2..018c98036fb 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MapIndices.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MapIndices.cpp
@@ -28,14 +28,16 @@
 namespace sofa::component::engine::transform
 {
 
-int MapIndicesClass = core::RegisterObject("Apply a permutation to a set of indices")
+void registerMapIndices(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a permutation to a set of indices.")
         .add< MapIndices<int> >()
         .add< MapIndices<unsigned int> >()
         .add< MapIndices< type::fixed_array<unsigned int, 2> > >()
         .add< MapIndices< type::fixed_array<unsigned int, 3> > >()
         .add< MapIndices< type::fixed_array<unsigned int, 4> > >()
-        .add< MapIndices< type::fixed_array<unsigned int, 8> > >()
-        ;
+        .add< MapIndices< type::fixed_array<unsigned int, 8> > >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MapIndices<int>;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MapIndices<unsigned int>;
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MathOp.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MathOp.cpp
index afbc8c493ce..1dd7a4b0895 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MathOp.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/MathOp.cpp
@@ -26,22 +26,22 @@
 namespace sofa::component::engine::transform
 {
 
-int MathOpClass = core::RegisterObject("Apply a math operation to combine several inputs")
-    .add< MathOp< type::vector<SReal> > >(true)
-    .add< MathOp< type::vector<int> > >()
-    .add< MathOp< type::vector<bool> > >()
-    .add< MathOp< type::vector<type::Vec2> > >()
-    .add< MathOp< type::vector<type::Vec3> > >()
-    .add< MathOp< defaulttype::Rigid2Types::VecCoord > >()
-    .add< MathOp< defaulttype::Rigid2Types::VecDeriv > >()
-    .add< MathOp< defaulttype::Rigid3Types::VecCoord > >()
-    .add< MathOp< defaulttype::Rigid3Types::VecDeriv > >()
- 
-        ;
+void registerMathOp(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a math operation to combine several inputs.")
+        .add< MathOp< type::vector<SReal> > >(true)
+        .add< MathOp< type::vector<int> > >()
+        .add< MathOp< type::vector<bool> > >()
+        .add< MathOp< type::vector<type::Vec2> > >()
+        .add< MathOp< type::vector<type::Vec3> > >()
+        .add< MathOp< defaulttype::Rigid2Types::VecCoord > >()
+        .add< MathOp< defaulttype::Rigid2Types::VecDeriv > >()
+        .add< MathOp< defaulttype::Rigid3Types::VecCoord > >()
+        .add< MathOp< defaulttype::Rigid3Types::VecDeriv > >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< type::vector<int> >;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< type::vector<bool> >;
-
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< type::vector<SReal> >;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< type::vector<type::Vec2> >;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< type::vector<type::Vec3> >;
@@ -49,7 +49,5 @@ template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< defaulttype::Rigid2Ty
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< defaulttype::Rigid2Types::VecDeriv >;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< defaulttype::Rigid3Types::VecCoord >;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API MathOp< defaulttype::Rigid3Types::VecDeriv >;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.cpp
index 93e1ac3a0ba..fc1ad8e536b 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.cpp
@@ -26,12 +26,13 @@
 namespace sofa::component::engine::transform
 {
 
-int ProjectiveTransformEngineClass = core::RegisterObject("Project the position of 3d points onto a plane according to a projection matrix")
-        .add< ProjectiveTransformEngine<defaulttype::Vec3Types> >(true) // default template
-        ;
+void registerProjectiveTransformEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project the position of 3d points onto a plane according to a projection matrix.")
+        .add< ProjectiveTransformEngine<defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API ProjectiveTransformEngine<defaulttype::Vec3Types>;
 
-
 } // namespace sofa::component::engine::transform
 
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp
index 956211abae9..ab9fae4a9e7 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp
@@ -29,13 +29,12 @@
 namespace sofa::component::engine::transform
 {
 
-int QuatToRigidEngineClass = core::RegisterObject("Transform a vector of Rigids into two independant vectors for positions (Vec3) and orientations (Quat).")
-        .add< QuatToRigidEngine<sofa::defaulttype::Vec3Types> >()
- 
-        ;
+void registerQuatToRigidEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Transform a vector of Rigids into two independant vectors for positions (Vec3) and orientations (Quat).")
+        .add< QuatToRigidEngine<sofa::defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API QuatToRigidEngine<sofa::defaulttype::Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ROIValueMapper.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ROIValueMapper.cpp
index 65b67b2689e..d0f1e1d6117 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ROIValueMapper.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ROIValueMapper.cpp
@@ -25,11 +25,10 @@
 namespace sofa::component::engine::transform
 {
 
-using namespace sofa;
-
-int ROIValueMapperClass = core::RegisterObject("Generate a list of values from value-indices pairs")
-        .add< ROIValueMapper >(true)
-        ;
-
+void registerROIValueMapper(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Generate a list of values from value-indices pairs.")
+        .add< ROIValueMapper >());
+}
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/RigidToQuatEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/RigidToQuatEngine.cpp
index fe7526254ba..a051c2700fa 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/RigidToQuatEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/RigidToQuatEngine.cpp
@@ -29,14 +29,12 @@
 namespace sofa::component::engine::transform
 {
 
-int RigidToQuatEngineClass = core::RegisterObject("Transform a couple of Vec3 and Quaternion in Rigid")
-        .add< RigidToQuatEngine<sofa::defaulttype::Vec3Types> >()
- 
-        .addAlias("RigidEngine")
-        ;
+void registerRigidToQuatEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Transform a couple of Vec3 and Quaternion in Rigid.")
+        .add< RigidToQuatEngine<sofa::defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API RigidToQuatEngine<sofa::defaulttype::Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/SmoothMeshEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/SmoothMeshEngine.cpp
index c85baf5ba1e..e8fefddbf54 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/SmoothMeshEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/SmoothMeshEngine.cpp
@@ -29,13 +29,12 @@ namespace sofa::component::engine::transform
 
 using namespace sofa::defaulttype;
 
-int SmoothMeshEngineClass = core::RegisterObject("Compute the laplacian smoothing of a mesh")
-        .add< SmoothMeshEngine<Vec3Types> >()
- 
-        ;
+void registerSmoothMeshEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute the laplacian smoothing of a mesh.")
+        .add< SmoothMeshEngine<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API SmoothMeshEngine<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformEngine.cpp
index 5fa0cfec169..b3c4262e2b2 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformEngine.cpp
@@ -26,14 +26,15 @@
 namespace sofa::component::engine::transform
 {
 
-int TransformEngineClass = core::RegisterObject("Transform position of 3d points")
+void registerTransformEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Engine applying a transformation on 3d points (translation / rotation).")
         .add< TransformEngine<defaulttype::Vec3Types> >(true) // default template
         .add< TransformEngine<defaulttype::Vec1Types> >()
         .add< TransformEngine<defaulttype::Vec2Types> >()
         .add< TransformEngine<defaulttype::Rigid2Types> >()
-        .add< TransformEngine<defaulttype::Rigid3Types> >()
-
-        ;
+        .add< TransformEngine<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API TransformEngine<defaulttype::Vec1Types>;
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API TransformEngine<defaulttype::Vec2Types>;
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformMatrixEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformMatrixEngine.cpp
index 28589f5d4b4..86f047b6cad 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformMatrixEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformMatrixEngine.cpp
@@ -33,17 +33,29 @@ namespace sofa::component::engine::transform
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int TranslateTransformMatrixEngineClass = core::RegisterObject("Compose the input transform (if any) with the given translation")
-        .add< TranslateTransformMatrixEngine >();
+void registerTranslateTransformMatrixEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compose the input transform (if any) with the given translation.")
+        .add< TranslateTransformMatrixEngine >());
+}
 
-int InvertTransformMatrixEngineClass = core::RegisterObject("Inverts the input transform")
-        .add< InvertTransformMatrixEngine >();
+void registerInvertTransformMatrixEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Inverts the input transform.")
+        .add< InvertTransformMatrixEngine >());
+}
 
-int ScaleTransformMatrixEngineClass = core::RegisterObject("Compose the input transform (if any) with the given scale transformation")
-        .add< ScaleTransformMatrixEngine >();
+void registerScaleTransformMatrixEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compose the input transform (if any) with the given scale transformation.")
+        .add< ScaleTransformMatrixEngine >());
+}
 
-int RotateTransformMatrixEngineClass = core::RegisterObject("Compose the input transform (if any) with the given rotation")
-        .add< RotateTransformMatrixEngine >();
+void registerRotateTransformMatrixEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compose the input transform (if any) with the given rotation.")
+        .add< RotateTransformMatrixEngine >());
+}
 
 /*
  * AbstractTransformMatrixEngine
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.cpp
index c038bdc03d1..1a5fda53f3b 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.cpp
@@ -30,12 +30,12 @@ namespace sofa::component::engine::transform
 
 using namespace sofa::defaulttype;
 
-int TransformPositionClass = core::RegisterObject("Transform position of 3d points")
-        .add< TransformPosition<Vec3Types> >(true)
-        ;
+void registerTransformPosition(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Transform position of 3d points.")
+        .add< TransformPosition<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API TransformPosition<Vec3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Vertex2Frame.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Vertex2Frame.cpp
index fecc91b00c5..25990a77941 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Vertex2Frame.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/Vertex2Frame.cpp
@@ -30,13 +30,12 @@ namespace sofa::component::engine::transform
 
 using namespace sofa::defaulttype;
 
-int Vertex2FrameClass = core::RegisterObject("")
-        .add< Vertex2Frame<Rigid3Types> >()
- 
-        ;
+void registerVertex2Frame(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Return a rigid position from the vertices, texCoords, normals and facets of any mesh.")
+        .add< Vertex2Frame<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API Vertex2Frame<Rigid3Types>;
- 
-
 
 } //namespace sofa::component::engine::transform
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp
index c4c25209d5d..d85e6a7fae0 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp
@@ -21,13 +21,37 @@
 ******************************************************************************/
 #include <sofa/component/engine/transform/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::engine::transform
 {
     
+extern void registerDifferenceEngine(sofa::core::ObjectFactory* factory);
+extern void registerDilateEngine(sofa::core::ObjectFactory* factory);
+extern void registerDisplacementTransformEngine(sofa::core::ObjectFactory* factory);
+extern void registerIndexValueMapper(sofa::core::ObjectFactory* factory);
+extern void registerIndices2ValuesMapper(sofa::core::ObjectFactory* factory);
+extern void registerMapIndices(sofa::core::ObjectFactory* factory);
+extern void registerMathOp(sofa::core::ObjectFactory* factory);
+extern void registerProjectiveTransformEngine(sofa::core::ObjectFactory* factory);
+extern void registerQuatToRigidEngine(sofa::core::ObjectFactory* factory);
+extern void registerRigidToQuatEngine(sofa::core::ObjectFactory* factory);
+extern void registerROIValueMapper(sofa::core::ObjectFactory* factory);
+extern void registerSmoothMeshEngine(sofa::core::ObjectFactory* factory);
+extern void registerTransformEngine(sofa::core::ObjectFactory* factory);
+extern void registerTranslateTransformMatrixEngine(sofa::core::ObjectFactory* factory);
+extern void registerInvertTransformMatrixEngine(sofa::core::ObjectFactory* factory);
+extern void registerScaleTransformMatrixEngine(sofa::core::ObjectFactory* factory);
+extern void registerRotateTransformMatrixEngine(sofa::core::ObjectFactory* factory);
+extern void registerTransformPosition(sofa::core::ObjectFactory* factory);
+extern void registerVertex2Frame(sofa::core::ObjectFactory* factory);
+
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +69,37 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerDifferenceEngine(factory);
+    registerDilateEngine(factory);
+    registerDisplacementTransformEngine(factory);
+    registerIndexValueMapper(factory);
+    registerIndices2ValuesMapper(factory);
+    registerMapIndices(factory);
+    registerMathOp(factory);
+    registerProjectiveTransformEngine(factory);
+    registerQuatToRigidEngine(factory);
+    registerRigidToQuatEngine(factory);
+    registerROIValueMapper(factory);
+    registerSmoothMeshEngine(factory);
+    registerTransformEngine(factory);
+    registerTranslateTransformMatrixEngine(factory);
+    registerInvertTransformMatrixEngine(factory);
+    registerScaleTransformMatrixEngine(factory);
+    registerRotateTransformMatrixEngine(factory);
+    registerTransformPosition(factory);
+    registerVertex2Frame(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Engine/src/sofa/component/engine/init.cpp b/Sofa/Component/Engine/src/sofa/component/engine/init.cpp
index 1b376416087..05eeff6cc2b 100644
--- a/Sofa/Component/Engine/src/sofa/component/engine/init.cpp
+++ b/Sofa/Component/Engine/src/sofa/component/engine/init.cpp
@@ -26,6 +26,9 @@
 #include <sofa/component/engine/select/init.h>
 #include <sofa/component/engine/transform/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::engine
 {
 
@@ -33,6 +36,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -50,6 +54,14 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Analyze");
+    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Generate");
+    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Select");
+    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Transform");
+}
+
 void init()
 {
     static bool first = true;
@@ -61,6 +73,9 @@ void init()
         sofa::component::engine::select::init();
         sofa::component::engine::transform::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 783ca1c1aeb..58834cfc9a1 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -86,6 +86,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Haptics");
     factory->registerObjectsFromPlugin("Sofa.Component.Diffusion");
     factory->registerObjectsFromPlugin("Sofa.Component.ODESolver");
+    factory->registerObjectsFromPlugin("Sofa.Component.Engine");
 }
 
 void init()
diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
index a0ef1c3c0a9..d659ec8bb71 100644
--- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -784,6 +784,7 @@ const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = {
     {"ImplicitEulerSolver", Dealiased("v24.12","EulerImplicitSolver")},
     {"ImplicitEuler", Dealiased("v24.12","EulerImplicitSolver")},
     {"VariationalSolver", Dealiased("v24.12","VariationalSymplecticSolver")},
+    {"RigidEngine", Dealiased("v24.12","RigidToQuatEngine")},
 
 };
 

From f963b0640baef346b9563a8ed2ceca62161892c0 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Wed, 2 Oct 2024 13:50:51 +0200
Subject: [PATCH 10/43] [ODESolver] Rename files to match class name (#5034)

---
 .../ODESolver/Forward/CMakeLists.txt          |   3 +-
 ...ulerSolver.cpp => EulerExplicitSolver.cpp} |   2 +-
 .../odesolver/forward/EulerExplicitSolver.h   | 128 ++++++++++++++++++
 .../component/odesolver/forward/EulerSolver.h | 108 +--------------
 4 files changed, 134 insertions(+), 107 deletions(-)
 rename Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/{EulerSolver.cpp => EulerExplicitSolver.cpp} (99%)
 create mode 100644 Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.h

diff --git a/Sofa/Component/ODESolver/Forward/CMakeLists.txt b/Sofa/Component/ODESolver/Forward/CMakeLists.txt
index dbb3f1dc19b..d5f6ed16360 100644
--- a/Sofa/Component/ODESolver/Forward/CMakeLists.txt
+++ b/Sofa/Component/ODESolver/Forward/CMakeLists.txt
@@ -7,6 +7,7 @@ set(HEADER_FILES
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/config.h.in
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/init.h
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/EulerSolver.h
+    ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/EulerExplicitSolver.h
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/CentralDifferenceSolver.h
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/RungeKutta2Solver.h
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/RungeKutta4Solver.h
@@ -15,7 +16,7 @@ set(HEADER_FILES
 
 set(SOURCE_FILES
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/init.cpp
-    ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/EulerSolver.cpp
+    ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/EulerExplicitSolver.cpp
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/CentralDifferenceSolver.cpp
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/RungeKutta2Solver.cpp
     ${SOFACOMPONENTODESOLVERFORWARD_SOURCE_DIR}/RungeKutta4Solver.cpp
diff --git a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.cpp
similarity index 99%
rename from Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp
rename to Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.cpp
index f13798253fa..a1a0ecc83b2 100644
--- a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp
+++ b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.cpp
@@ -19,7 +19,7 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#include <sofa/component/odesolver/forward/EulerSolver.h>
+#include <sofa/component/odesolver/forward/EulerExplicitSolver.h>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/simulation/MechanicalOperations.h>
 #include <sofa/simulation/VectorOperations.h>
diff --git a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.h b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.h
new file mode 100644
index 00000000000..d5c9d1b83f2
--- /dev/null
+++ b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerExplicitSolver.h
@@ -0,0 +1,128 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/odesolver/forward/config.h>
+
+#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/LinearSolver.h>
+#include <sofa/core/behavior/MultiVec.h>
+
+namespace sofa::simulation::common
+{
+class MechanicalOperations;
+class VectorOperations;
+}
+
+namespace sofa::component::odesolver::forward
+{
+
+/**
+ * The simplest time integration.
+ * Two variants of the Euler solver are available in this component:
+ * - forward Euler method, also called explicit Euler method
+ * - semi-implicit Euler method, also called semi-explicit Euler method or symplectic Euler
+ *
+ * In both variants, acceleration is first computed. The system to compute the acceleration
+ * is M * a = f, where M is the mass matrix and f can be a force.
+ * In case of a diagonal mass matrix, M is trivially invertible and the acceleration
+ * can be computed without a linear solver.
+ *
+ * f is accumulated by force fields through the addForce function. Mappings can
+ * also contribute by projecting forces of mapped objects.
+ * f is computed based on the current state (current velocity and position).
+ *
+ * Explicit Euler method:
+ * The option "symplectic" must be set to false to use this variant.
+ * The explicit Euler method produces an approximate discrete solution by iterating
+ * x_{n+1} = x_n + v_n * dt
+ * v_{n+1} = v_n + a * dt
+ *
+ * Semi-implicit Euler method:
+ * The option "symplectic" must be set to true to use this variant.
+ * The semi-implicit Euler method produces an approximate discrete solution by iterating
+ * v_{n+1} = v_n + a * dt
+ * x_{n+1} = x_n + v_{n+1} * dt
+ *
+ * The semi-implicit Euler method is more robust than the standard Euler method.
+ */
+class SOFA_COMPONENT_ODESOLVER_FORWARD_API EulerExplicitSolver : public sofa::core::behavior::OdeSolver
+{
+public:
+    SOFA_CLASS(EulerExplicitSolver, sofa::core::behavior::OdeSolver);
+
+protected:
+    EulerExplicitSolver();
+
+public:
+    void solve(const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override;
+
+    Data<bool> d_symplectic; ///< If true (default), the velocities are updated before the positions and the method is symplectic, more robust. If false, the positions are updated before the velocities (standard Euler, less robust).
+    Data<bool> d_threadSafeVisitor; ///< If true, do not use realloc and free visitors in fwdInteractionForceField.
+
+    SingleLink<EulerExplicitSolver, core::behavior::LinearSolver, BaseLink::FLAG_STRONGLINK> l_linearSolver;
+
+    /// Given an input derivative order (0 for position, 1 for velocity, 2 for acceleration),
+    /// how much will it affect the output derivative of the given order.
+    SReal getIntegrationFactor(int inputDerivative, int outputDerivative) const override ;
+
+    /// Given a solution of the linear system,
+    /// how much will it affect the output derivative of the given order.
+    ///
+    SReal getSolutionIntegrationFactor(int outputDerivative) const override ;
+
+    void init() override ;
+
+protected:
+
+    /// Update state variable (new position and velocity) based on the computed acceleration
+    /// The update takes constraints into account
+    void updateState(sofa::simulation::common::VectorOperations* vop,
+                     sofa::simulation::common::MechanicalOperations* mop,
+                     sofa::core::MultiVecCoordId xResult,
+                     sofa::core::MultiVecDerivId vResult,
+                     const sofa::core::behavior::MultiVecDeriv& acc,
+                     SReal dt) const;
+
+    /// Gravity times time step size is added to the velocity for some masses
+    /// v += g * dt
+    static void addSeparateGravity(sofa::simulation::common::MechanicalOperations* mop, SReal dt, core::MultiVecDerivId v);
+
+    /// Assemble the force vector (right-hand side of the equation)
+    static void computeForce(sofa::simulation::common::MechanicalOperations* mop, core::MultiVecDerivId f);
+
+    /// Compute the acceleration from the force and the inverse of the mass
+    /// acc = M^-1 * f
+    static void computeAcceleration(sofa::simulation::common::MechanicalOperations* mop,
+                                    core::MultiVecDerivId acc,
+                                    core::ConstMultiVecDerivId f);
+
+    /// Apply projective constraints, such as FixedProjectiveConstraint
+    static void projectResponse(sofa::simulation::common::MechanicalOperations* mop, core::MultiVecDerivId vecId);
+
+    static void solveConstraints(sofa::simulation::common::MechanicalOperations* mop, core::MultiVecDerivId acc);
+
+    void assembleSystemMatrix(sofa::simulation::common::MechanicalOperations* mop) const;
+
+    void solveSystem(core::MultiVecDerivId solution, core::MultiVecDerivId rhs) const;
+};
+
+} // namespace sofa::component::odesolver::forward
diff --git a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.h b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.h
index d5c9d1b83f2..2b904f356bb 100644
--- a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.h
+++ b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.h
@@ -20,109 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/component/odesolver/forward/config.h>
+#include <sofa/config.h>
 
-#include <sofa/core/behavior/OdeSolver.h>
-#include <sofa/core/behavior/LinearSolver.h>
-#include <sofa/core/behavior/MultiVec.h>
-
-namespace sofa::simulation::common
-{
-class MechanicalOperations;
-class VectorOperations;
-}
-
-namespace sofa::component::odesolver::forward
-{
-
-/**
- * The simplest time integration.
- * Two variants of the Euler solver are available in this component:
- * - forward Euler method, also called explicit Euler method
- * - semi-implicit Euler method, also called semi-explicit Euler method or symplectic Euler
- *
- * In both variants, acceleration is first computed. The system to compute the acceleration
- * is M * a = f, where M is the mass matrix and f can be a force.
- * In case of a diagonal mass matrix, M is trivially invertible and the acceleration
- * can be computed without a linear solver.
- *
- * f is accumulated by force fields through the addForce function. Mappings can
- * also contribute by projecting forces of mapped objects.
- * f is computed based on the current state (current velocity and position).
- *
- * Explicit Euler method:
- * The option "symplectic" must be set to false to use this variant.
- * The explicit Euler method produces an approximate discrete solution by iterating
- * x_{n+1} = x_n + v_n * dt
- * v_{n+1} = v_n + a * dt
- *
- * Semi-implicit Euler method:
- * The option "symplectic" must be set to true to use this variant.
- * The semi-implicit Euler method produces an approximate discrete solution by iterating
- * v_{n+1} = v_n + a * dt
- * x_{n+1} = x_n + v_{n+1} * dt
- *
- * The semi-implicit Euler method is more robust than the standard Euler method.
- */
-class SOFA_COMPONENT_ODESOLVER_FORWARD_API EulerExplicitSolver : public sofa::core::behavior::OdeSolver
-{
-public:
-    SOFA_CLASS(EulerExplicitSolver, sofa::core::behavior::OdeSolver);
-
-protected:
-    EulerExplicitSolver();
-
-public:
-    void solve(const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override;
-
-    Data<bool> d_symplectic; ///< If true (default), the velocities are updated before the positions and the method is symplectic, more robust. If false, the positions are updated before the velocities (standard Euler, less robust).
-    Data<bool> d_threadSafeVisitor; ///< If true, do not use realloc and free visitors in fwdInteractionForceField.
-
-    SingleLink<EulerExplicitSolver, core::behavior::LinearSolver, BaseLink::FLAG_STRONGLINK> l_linearSolver;
-
-    /// Given an input derivative order (0 for position, 1 for velocity, 2 for acceleration),
-    /// how much will it affect the output derivative of the given order.
-    SReal getIntegrationFactor(int inputDerivative, int outputDerivative) const override ;
-
-    /// Given a solution of the linear system,
-    /// how much will it affect the output derivative of the given order.
-    ///
-    SReal getSolutionIntegrationFactor(int outputDerivative) const override ;
-
-    void init() override ;
-
-protected:
-
-    /// Update state variable (new position and velocity) based on the computed acceleration
-    /// The update takes constraints into account
-    void updateState(sofa::simulation::common::VectorOperations* vop,
-                     sofa::simulation::common::MechanicalOperations* mop,
-                     sofa::core::MultiVecCoordId xResult,
-                     sofa::core::MultiVecDerivId vResult,
-                     const sofa::core::behavior::MultiVecDeriv& acc,
-                     SReal dt) const;
-
-    /// Gravity times time step size is added to the velocity for some masses
-    /// v += g * dt
-    static void addSeparateGravity(sofa::simulation::common::MechanicalOperations* mop, SReal dt, core::MultiVecDerivId v);
-
-    /// Assemble the force vector (right-hand side of the equation)
-    static void computeForce(sofa::simulation::common::MechanicalOperations* mop, core::MultiVecDerivId f);
-
-    /// Compute the acceleration from the force and the inverse of the mass
-    /// acc = M^-1 * f
-    static void computeAcceleration(sofa::simulation::common::MechanicalOperations* mop,
-                                    core::MultiVecDerivId acc,
-                                    core::ConstMultiVecDerivId f);
-
-    /// Apply projective constraints, such as FixedProjectiveConstraint
-    static void projectResponse(sofa::simulation::common::MechanicalOperations* mop, core::MultiVecDerivId vecId);
-
-    static void solveConstraints(sofa::simulation::common::MechanicalOperations* mop, core::MultiVecDerivId acc);
-
-    void assembleSystemMatrix(sofa::simulation::common::MechanicalOperations* mop) const;
-
-    void solveSystem(core::MultiVecDerivId solution, core::MultiVecDerivId rhs) const;
-};
-
-} // namespace sofa::component::odesolver::forward
+#include <sofa/component/odesolver/forward/EulerExplicitSolver.h>
+SOFA_HEADER_DEPRECATED("v24.12", "v25.06", "sofa/component/odesolver/forward/EulerExplicitSolver.h")

From b8bdb031dce6577c3312bb6ba9f39c3e1c92cb32 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Fri, 4 Oct 2024 02:26:42 +0200
Subject: [PATCH 11/43] [VolumetricRendering] Initialize SOFACuda (#5039)

---
 .../extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp     | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp
index 53de20dbe46..a45c8caefc7 100644
--- a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp
+++ b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp
@@ -21,7 +21,10 @@
 ******************************************************************************/
 #include <VolumetricRendering/CUDA/init.h>
 #include <VolumetricRendering/initVolumetricRendering.h>
+#include <SofaCUDA/init.h>
 #include <sofa/core/ObjectFactory.h>
+
+
 namespace volumetricrendering::cuda
 {
 
@@ -53,6 +56,7 @@ void init()
     if (first)
     {
         volumetricrendering::init();
+        sofa::gpu::cuda::init();
         first = false;
     }
 }

From 9152342f360d1a25d2132b7351d58457ab2f59ec Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Fri, 4 Oct 2024 21:58:46 +0900
Subject: [PATCH 12/43] [LinearSolver] Apply new factory registration mechanism
 (#5011)

* apply new register mechanism to linearsolver

* fix unit tests

* Apply suggestions from code review (updates on component description)

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
---
 .../direct/AsyncSparseLDLSolver.cpp           | 10 +++--
 .../linearsolver/direct/BTDLinearSolver.cpp   |  9 ++--
 .../linearsolver/direct/CholeskySolver.cpp    |  7 +++-
 .../direct/EigenSimplicialLDLT.cpp            | 10 +++--
 .../direct/EigenSimplicialLLT.cpp             | 15 ++++---
 .../linearsolver/direct/EigenSparseLU.cpp     | 15 ++++---
 .../linearsolver/direct/EigenSparseQR.cpp     | 15 ++++---
 .../direct/MatrixLinearSystem[BTDMatrix].cpp  |  9 ++--
 .../direct/PrecomputedLinearSolver.cpp        |  8 ++--
 .../linearsolver/direct/SVDLinearSolver.cpp   | 10 ++---
 .../linearsolver/direct/SparseLDLSolver.cpp   | 11 ++---
 .../TypedMatrixLinearSystem[BTDMatrix].cpp    |  9 ++++
 .../component/linearsolver/direct/init.cpp    | 41 ++++++++++++++++++-
 .../linearsolver/iterative/CGLinearSolver.cpp | 19 ++++-----
 .../MatrixFreeSystem[GraphScattered].cpp      | 14 ++++---
 .../iterative/MinResLinearSolver.cpp          | 20 ++++-----
 .../iterative/ShewchukPCGLinearSolver.cpp     |  8 ++--
 .../component/linearsolver/iterative/init.cpp | 25 ++++++++++-
 .../ordering/AMDOrderingMethod.cpp            |  7 +++-
 .../ordering/COLAMDOrderingMethod.cpp         |  7 +++-
 .../ordering/NaturalOrderingMethod.cpp        |  7 +++-
 .../component/linearsolver/ordering/init.cpp  | 17 ++++++++
 .../BlockJacobiPreconditioner.cpp             |  7 +++-
 .../preconditioner/JacobiPreconditioner.cpp   | 10 ++---
 .../PrecomputedMatrixSystem.cpp               | 39 +++++++++++++++---
 .../PrecomputedWarpPreconditioner.cpp         |  8 ++--
 .../preconditioner/RotationMatrixSystem.cpp   | 38 ++++++++++++++---
 .../preconditioner/SSORPreconditioner.cpp     | 10 ++---
 .../preconditioner/WarpPreconditioner.cpp     | 10 +++--
 .../linearsolver/preconditioner/init.cpp      | 27 +++++++++++-
 .../src/sofa/component/linearsolver/init.cpp  | 15 +++++++
 .../tests/ConstantForceField_test.cpp         |  1 +
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 .../src/sofa/helper/ComponentChange.cpp       | 11 +++++
 .../ParallelImplementationsRegistry_test.cpp  |  4 ++
 35 files changed, 358 insertions(+), 116 deletions(-)

diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/AsyncSparseLDLSolver.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/AsyncSparseLDLSolver.cpp
index 151e45250eb..5049fba0152 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/AsyncSparseLDLSolver.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/AsyncSparseLDLSolver.cpp
@@ -30,10 +30,12 @@ namespace sofa::component::linearsolver::direct
 using linearalgebra::CompressedRowSparseMatrix;
 using linearalgebra::FullVector;
 
-int AsyncSparseLDLSolverClass = core::RegisterObject("Asynchronous direct Linear Solver using a Sparse LDL^T factorization.")
-    .add< AsyncSparseLDLSolver< CompressedRowSparseMatrix<SReal>                , FullVector<SReal> > >(true)
-    .add< AsyncSparseLDLSolver< CompressedRowSparseMatrix<type::Mat<3,3,SReal> >, FullVector<SReal> > >()
-;
+void registerAsyncSparseLDLSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Asynchronous direct Linear Solver using a Sparse LDL^T factorization.")
+        .add< AsyncSparseLDLSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >(true)
+        .add< AsyncSparseLDLSolver< CompressedRowSparseMatrix<type::Mat<3, 3, SReal> >, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API AsyncSparseLDLSolver< CompressedRowSparseMatrix<SReal>                 ,FullVector<SReal> >;
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API AsyncSparseLDLSolver< CompressedRowSparseMatrix< type::Mat<3,3,SReal> >,FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.cpp
index 1aa29fd88ad..0eadbac996e 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.cpp
@@ -31,9 +31,12 @@
 
 namespace sofa::component::linearsolver::direct
 {
-int BTDLinearSolverClass = core::RegisterObject("Linear system solver using Thomas Algorithm for Block Tridiagonal matrices")
-    .add< BTDLinearSolver<linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> > >(true)
-;
+
+void registerBTDLinearSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver using Thomas Algorithm for Block Tridiagonal matrices.")
+        .add< BTDLinearSolver<linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> > >(true));
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API BTDLinearSolver< linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> >;
 
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/CholeskySolver.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/CholeskySolver.cpp
index f4a9417e8a6..c887c85f5a5 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/CholeskySolver.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/CholeskySolver.cpp
@@ -30,9 +30,12 @@ namespace sofa::component::linearsolver::direct
 using namespace sofa::defaulttype;
 using namespace sofa::linearalgebra;
 
-int CholeskySolverClass = core::RegisterObject("Direct linear solver based on Cholesky factorization, for dense matrices")
+void registerCholeskySolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver based on Cholesky factorization, for dense matrices.")
         .add< CholeskySolver< SparseMatrix<SReal>, FullVector<SReal> > >(true)
-        .add< CholeskySolver< FullMatrix<SReal>, FullVector<SReal> > >();
+        .add< CholeskySolver< FullMatrix<SReal>, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API CholeskySolver< SparseMatrix<SReal>, FullVector<SReal> >;
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API CholeskySolver< FullMatrix<SReal>, FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLDLT.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLDLT.cpp
index 92452e1cba8..10900568c00 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLDLT.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLDLT.cpp
@@ -30,9 +30,11 @@ namespace sofa::component::linearsolver::direct
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSimplicialLDLT< SReal >;
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSimplicialLDLT< sofa::type::Mat<3,3,SReal> >;
 
-int EigenSimplicialLDLTCRSClass = sofa::core::RegisterObject("Direct Linear Solver using a Sparse LDL^T factorization.")
-.add< EigenSimplicialLDLT< SReal > >()
-.add< EigenSimplicialLDLT< sofa::type::Mat<3,3,SReal> > >()
-;
+void registerEigenSimplicialLDLT(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver using a Sparse LDL^T factorization.")
+        .add< EigenSimplicialLDLT< SReal > >()
+        .add< EigenSimplicialLDLT< sofa::type::Mat<3, 3, SReal> > >());
+}
 
 }
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLLT.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLLT.cpp
index 260bf66c3c4..50ce6184726 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLLT.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSimplicialLLT.cpp
@@ -27,12 +27,15 @@
 
 namespace sofa::component::linearsolver::direct
 {
-    template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSimplicialLLT< SReal >;
-    template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSimplicialLLT< sofa::type::Mat<3,3,SReal> >;
 
-    int EigenSimplicialLLTCRSClass = sofa::core::RegisterObject("Direct Linear Solver using a Sparse LL^T factorization.")
-    .add< EigenSimplicialLLT< SReal > >()
-    .add< EigenSimplicialLLT< sofa::type::Mat<3,3,SReal> > >()
-    ;
+template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSimplicialLLT< SReal >;
+template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSimplicialLLT< sofa::type::Mat<3,3,SReal> >;
+
+void registerEigenSimplicialLLT(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver using a Sparse LL^T factorization.")
+        .add< EigenSimplicialLLT< SReal > >()
+        .add< EigenSimplicialLLT< sofa::type::Mat<3, 3, SReal> > >());
+}
 
 }
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseLU.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseLU.cpp
index 3c31eb127ae..8f705911e98 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseLU.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseLU.cpp
@@ -27,12 +27,15 @@
 
 namespace sofa::component::linearsolver::direct
 {
-    template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseLU< SReal >;
-    template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseLU< sofa::type::Mat<3,3,SReal> >;
 
-    int EigenSparseLUCRSClass = sofa::core::RegisterObject("Direct Linear Solver using a Sparse LU factorization.")
-    .add< EigenSparseLU< SReal > >()
-    .add< EigenSparseLU< sofa::type::Mat<3,3,SReal> > >()
-    ;
+template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseLU< SReal >;
+template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseLU< sofa::type::Mat<3,3,SReal> >;
+
+void registerEigenSparseLU(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver using a Sparse LU factorization.")
+        .add< EigenSparseLU< SReal > >()
+        .add< EigenSparseLU< sofa::type::Mat<3, 3, SReal> > >());
+}
 
 }
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseQR.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseQR.cpp
index 790246c146c..ab353d4f08e 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseQR.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSparseQR.cpp
@@ -27,12 +27,15 @@
 
 namespace sofa::component::linearsolver::direct
 {
-    template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseQR< SReal >;
-    template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseQR< sofa::type::Mat<3,3,SReal>>;
 
-    int EigenSparseQRCRSClass = sofa::core::RegisterObject("Direct Linear Solver using a Sparse QR factorization.")
-    .add< EigenSparseQR< SReal > >()
-    .add< EigenSparseQR< sofa::type::Mat<3,3,SReal> > >()
-    ;
+template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseQR< SReal >;
+template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API EigenSparseQR< sofa::type::Mat<3,3,SReal>>;
+
+void registerEigenSparseQR(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver using a Sparse QR factorization.")
+        .add< EigenSparseQR< SReal > >()
+        .add< EigenSparseQR< sofa::type::Mat<3, 3, SReal> > >());
+}
 
 }
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/MatrixLinearSystem[BTDMatrix].cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/MatrixLinearSystem[BTDMatrix].cpp
index 2bfd60b26d1..a20b2cbd53b 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/MatrixLinearSystem[BTDMatrix].cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/MatrixLinearSystem[BTDMatrix].cpp
@@ -27,10 +27,13 @@
 
 namespace sofa::component::linearsystem
 {
+
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API MatrixLinearSystem< linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> >;
 
-int AssemblingMatrixLinearSystemBTDClass = core::RegisterObject("Linear system")
-.add<MatrixLinearSystem< linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> > >();
-;
+void registerMatrixLinearSystemBTDMatrix(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system dedicated to a Band Tri Diagonal matrix.")
+        .add<MatrixLinearSystem< linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> > >());
+}
 
 }
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.cpp
index ce9235152f0..4c49fa0d738 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.cpp
@@ -28,9 +28,11 @@ namespace sofa::component::linearsolver::direct
 
 using namespace sofa::linearalgebra;
 
-int PrecomputedLinearSolverClass = core::RegisterObject("Linear system solver based on a precomputed inverse matrix")
-        .add< PrecomputedLinearSolver< CompressedRowSparseMatrix<SReal> , FullVector<SReal> > >()
-        ;
+void registerPrecomputedLinearSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver based on a precomputed inverse matrix")
+        .add< PrecomputedLinearSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API PrecomputedLinearSolver< CompressedRowSparseMatrix<SReal> , FullVector<SReal> >;
 
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.cpp
index c1b513a292d..6b42d529ef6 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.cpp
@@ -32,13 +32,13 @@ namespace sofa::component::linearsolver::direct
 
 using namespace sofa::linearalgebra;
 
-int SVDLinearSolverClass = core::RegisterObject("Linear system solver using a SVD decomposition of a dense matrix")
+void registerSVDLinearSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver using a SVD decomposition of a dense matrix.")
         .add< SVDLinearSolver< FullMatrix<SReal>, FullVector<SReal> > >()
         .add< SVDLinearSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >()
-        .add< SVDLinearSolver< CompressedRowSparseMatrix<type::Mat<3,3, SReal>>, FullVector<SReal> > >()
-        .addAlias("SVDLinear")
-        .addAlias("SVD")
-        ;
+        .add< SVDLinearSolver< CompressedRowSparseMatrix<type::Mat<3, 3, SReal>>, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API SVDLinearSolver< FullMatrix<SReal>, FullVector<SReal> >;
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API SVDLinearSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolver.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolver.cpp
index 432fce75598..5b336137077 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolver.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolver.cpp
@@ -29,11 +29,12 @@ namespace sofa::component::linearsolver::direct
 
 using namespace sofa::linearalgebra;
 
-int SparseLDLSolverClass = core::RegisterObject("Direct Linear Solver using a Sparse LDL^T factorization.")
-        .add< SparseLDLSolver< CompressedRowSparseMatrix<SReal>,FullVector<SReal> > >(true)
-        .add< SparseLDLSolver< CompressedRowSparseMatrix<type::Mat<3,3,SReal> >,FullVector<SReal> > >()
-
-;
+void registerSparseLDLSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver using a Sparse LDL^T factorization.")
+        .add< SparseLDLSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >(true)
+        .add< SparseLDLSolver< CompressedRowSparseMatrix<type::Mat<3, 3, SReal> >, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API SparseLDLSolver< CompressedRowSparseMatrix<SReal>,FullVector<SReal> >;
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API SparseLDLSolver< CompressedRowSparseMatrix< type::Mat<3,3,SReal> >,FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/TypedMatrixLinearSystem[BTDMatrix].cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/TypedMatrixLinearSystem[BTDMatrix].cpp
index 83593d78d59..a379a362aec 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/TypedMatrixLinearSystem[BTDMatrix].cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/TypedMatrixLinearSystem[BTDMatrix].cpp
@@ -23,7 +23,16 @@
 #include <sofa/component/linearsolver/direct/TypedMatrixLinearSystem[BTDMatrix].h>
 #include <sofa/component/linearsystem/TypedMatrixLinearSystem.inl>
 
+#include <sofa/core/ObjectFactory.h>
+
 namespace sofa::component::linearsystem
 {
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API TypedMatrixLinearSystem< linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> >;
+
+void registerTypedMatrixLinearSystemBTDMatrix(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system dedicated to a Band Tri Diagonal typed matrix.")
+        .add<TypedMatrixLinearSystem< linearalgebra::BTDMatrix<6, SReal>, linearalgebra::BlockVector<6, SReal> > >());
+}
+
 }
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/init.cpp b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/init.cpp
index c2cb8734ee2..2515edac27b 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/init.cpp
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/init.cpp
@@ -22,13 +22,33 @@
 #include <sofa/component/linearsolver/direct/EigenSolverFactory.h>
 #include <sofa/component/linearsolver/direct/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
+namespace sofa::component::linearsystem
+{
+    extern void registerMatrixLinearSystemBTDMatrix(sofa::core::ObjectFactory* factory);
+    extern void registerTypedMatrixLinearSystemBTDMatrix(sofa::core::ObjectFactory* factory);
+}
+
 namespace sofa::component::linearsolver::direct
 {
-    
+   
+extern void registerAsyncSparseLDLSolver(sofa::core::ObjectFactory* factory);
+extern void registerBTDLinearSolver(sofa::core::ObjectFactory* factory);
+extern void registerCholeskySolver(sofa::core::ObjectFactory* factory);
+extern void registerEigenSimplicialLDLT(sofa::core::ObjectFactory* factory);
+extern void registerEigenSimplicialLLT(sofa::core::ObjectFactory* factory);
+extern void registerEigenSparseLU(sofa::core::ObjectFactory* factory);
+extern void registerEigenSparseQR(sofa::core::ObjectFactory* factory);
+extern void registerPrecomputedLinearSolver(sofa::core::ObjectFactory* factory);
+extern void registerSparseLDLSolver(sofa::core::ObjectFactory* factory);
+extern void registerSVDLinearSolver(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -63,11 +83,30 @@ void registerOrderingMethods()
     registerOrderingMethods<MainQRFactory, Scalar>();
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAsyncSparseLDLSolver(factory);
+    registerBTDLinearSolver(factory);
+    registerCholeskySolver(factory);
+    registerEigenSimplicialLDLT(factory);
+    registerEigenSimplicialLLT(factory);
+    registerEigenSparseLU(factory);
+    registerEigenSparseQR(factory);
+    linearsystem::registerMatrixLinearSystemBTDMatrix(factory);
+    registerPrecomputedLinearSolver(factory);
+    registerSparseLDLSolver(factory);
+    registerSVDLinearSolver(factory);
+    linearsystem::registerTypedMatrixLinearSystemBTDMatrix(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         registerOrderingMethods<float>();
         registerOrderingMethods<double>();
 
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/CGLinearSolver.cpp b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/CGLinearSolver.cpp
index d37ba06bb40..c7fc473754e 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/CGLinearSolver.cpp
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/CGLinearSolver.cpp
@@ -64,20 +64,19 @@ inline void CGLinearSolver<component::linearsolver::GraphScatteredMatrix,compone
 }
 using namespace sofa::linearalgebra;
 
-int CGLinearSolverClass = core::RegisterObject("Linear system solver using the conjugate gradient iterative algorithm")
+void registerCGLinearSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver using the conjugate gradient iterative algorithm")
         .add< CGLinearSolver< GraphScatteredMatrix, GraphScatteredVector > >(true)
         .add< CGLinearSolver< FullMatrix<SReal>, FullVector<SReal> > >()
         .add< CGLinearSolver< SparseMatrix<SReal>, FullVector<SReal> > >()
         .add< CGLinearSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >()
-        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<2,2,SReal> >, FullVector<SReal> > >()
-        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<3,3,SReal> >, FullVector<SReal> > >()
-        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<4,4,SReal> >, FullVector<SReal> > >()
-        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<6,6,SReal> >, FullVector<SReal> > >()
-        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<8,8,SReal> >, FullVector<SReal> > >()
-
-        .addAlias("CGSolver")
-        .addAlias("ConjugateGradient")
-        ;
+        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<2, 2, SReal> >, FullVector<SReal> > >()
+        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<3, 3, SReal> >, FullVector<SReal> > >()
+        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<4, 4, SReal> >, FullVector<SReal> > >()
+        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<6, 6, SReal> >, FullVector<SReal> > >()
+        .add< CGLinearSolver< CompressedRowSparseMatrix<Mat<8, 8, SReal> >, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API CGLinearSolver< GraphScatteredMatrix, GraphScatteredVector >;
 template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API CGLinearSolver< FullMatrix<SReal>, FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixFreeSystem[GraphScattered].cpp b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixFreeSystem[GraphScattered].cpp
index 0c515378227..1da21eb1bbd 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixFreeSystem[GraphScattered].cpp
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixFreeSystem[GraphScattered].cpp
@@ -25,12 +25,16 @@
 
 namespace sofa::component::linearsystem
 {
-    using sofa::component::linearsolver::GraphScatteredMatrix;
-    using sofa::component::linearsolver::GraphScatteredVector;
 
-    template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API MatrixFreeSystem<linearsolver::GraphScatteredMatrix, GraphScatteredVector>;
+using sofa::component::linearsolver::GraphScatteredMatrix;
+using sofa::component::linearsolver::GraphScatteredVector;
 
-    int MatrixFreeSystemClass = core::RegisterObject("Matrix-free linear system")
-        .add< MatrixFreeSystem<GraphScatteredMatrix, GraphScatteredVector> >();
+template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API MatrixFreeSystem<linearsolver::GraphScatteredMatrix, GraphScatteredVector>;
+
+void registerMatrixFreeSystemGraphScattered(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Matrix-free (unbuilt) linear system.")
+        .add< MatrixFreeSystem<GraphScatteredMatrix, GraphScatteredVector> >());
+}
 
 } //namespace sofa::component::linearsystem
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.cpp b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.cpp
index 3461baeca09..8c967538b4a 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.cpp
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.cpp
@@ -31,21 +31,19 @@ using namespace sofa::type;
 using namespace sofa::defaulttype;
 using namespace sofa::linearalgebra;
 
-
-int MinResLinearSolverClass = core::RegisterObject("Linear system solver using the MINRES iterative algorithm")
+void registerMinResLinearSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver using the MINRES iterative algorithm.")
         .add< MinResLinearSolver< GraphScatteredMatrix, GraphScatteredVector > >(true)
         .add< MinResLinearSolver< FullMatrix<SReal>, FullVector<SReal> > >()
         .add< MinResLinearSolver< SparseMatrix<SReal>, FullVector<SReal> > >()
         .add< MinResLinearSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >()
-        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<2,2,SReal> >, FullVector<SReal> > >()
-        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<3,3,SReal> >, FullVector<SReal> > >()
-        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<4,4,SReal> >, FullVector<SReal> > >()
-        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<6,6,SReal> >, FullVector<SReal> > >()
-        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<8,8,SReal> >, FullVector<SReal> > >()
-
-        .addAlias("MINRESSolver")
-        .addAlias("MinResSolver")
-        ;
+        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<2, 2, SReal> >, FullVector<SReal> > >()
+        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<3, 3, SReal> >, FullVector<SReal> > >()
+        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<4, 4, SReal> >, FullVector<SReal> > >()
+        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<6, 6, SReal> >, FullVector<SReal> > >()
+        .add< MinResLinearSolver< CompressedRowSparseMatrix<Mat<8, 8, SReal> >, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API MinResLinearSolver< GraphScatteredMatrix, GraphScatteredVector >;
 template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API MinResLinearSolver< FullMatrix<SReal>, FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.cpp b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.cpp
index 31a37f1962c..5cd240c90db 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.cpp
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.cpp
@@ -28,9 +28,11 @@
 namespace sofa::component::linearsolver::iterative
 {
 
-int ShewchukPCGLinearSolverClass = core::RegisterObject("Linear system solver using the conjugate gradient iterative algorithm")
-    .add< ShewchukPCGLinearSolver<GraphScatteredMatrix,GraphScatteredVector> >(true)
-    .addAlias("PCGLinearSolver");
+void registerShewchukPCGLinearSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver using the Shewchuk conjugate gradient iterative algorithm.")
+        .add< ShewchukPCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector> >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API ShewchukPCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector>;
 
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/init.cpp b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/init.cpp
index c64c072b575..c29da966335 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/init.cpp
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/init.cpp
@@ -21,13 +21,25 @@
 ******************************************************************************/
 #include <sofa/component/linearsolver/iterative/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
+namespace sofa::component::linearsystem
+{
+    extern void registerMatrixFreeSystemGraphScattered(sofa::core::ObjectFactory* factory);
+}
+
 namespace sofa::component::linearsolver::iterative
 {
-    
+
+extern void registerCGLinearSolver(sofa::core::ObjectFactory* factory);
+extern void registerMinResLinearSolver(sofa::core::ObjectFactory* factory);
+extern void registerShewchukPCGLinearSolver(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +57,22 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerCGLinearSolver(factory);
+    linearsystem::registerMatrixFreeSystemGraphScattered(factory);
+    registerMinResLinearSolver(factory);
+    registerShewchukPCGLinearSolver(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/AMDOrderingMethod.cpp b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/AMDOrderingMethod.cpp
index f64521895c8..9cc53bc6c49 100644
--- a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/AMDOrderingMethod.cpp
+++ b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/AMDOrderingMethod.cpp
@@ -25,8 +25,11 @@
 namespace sofa::component::linearsolver::ordering
 {
 
-int AMDOrderingMethodClass = sofa::core::RegisterObject("Approximate minimum degree ordering implemented in the Eigen library")
-    .add<AMDOrderingMethod>();
+void registerAMDOrderingMethod(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Approximate minimum degree ordering implemented in the Eigen library.")
+        .add<AMDOrderingMethod>());
+}
 
 std::string AMDOrderingMethod::methodName() const
 {
diff --git a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/COLAMDOrderingMethod.cpp b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/COLAMDOrderingMethod.cpp
index 3ee7670ffbf..7c8080f97ef 100644
--- a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/COLAMDOrderingMethod.cpp
+++ b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/COLAMDOrderingMethod.cpp
@@ -25,8 +25,11 @@
 namespace sofa::component::linearsolver::ordering
 {
 
-int COLAMDOrderingMethodClass = sofa::core::RegisterObject("Column approximate minimum degree ordering implemented in the Eigen library")
-    .add<COLAMDOrderingMethod>();
+void registerCOLAMDOrderingMethod(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Column approximate minimum degree ordering implemented in the Eigen library.")
+        .add<COLAMDOrderingMethod>());
+}
 
 std::string COLAMDOrderingMethod::methodName() const
 {
diff --git a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/NaturalOrderingMethod.cpp b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/NaturalOrderingMethod.cpp
index 95fbaaac862..e618bbc7a10 100644
--- a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/NaturalOrderingMethod.cpp
+++ b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/NaturalOrderingMethod.cpp
@@ -42,7 +42,10 @@ void NaturalOrderingMethod::computePermutation(
     }
 }
 
-int NaturalOrderingMethodClass = core::RegisterObject("Natural order (no permutation). Corresponding to an identity matrix.")
-    .add<NaturalOrderingMethod>();
+void registerNaturalOrderingMethod(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Natural order (no permutation). Corresponding to an identity matrix.")
+        .add<NaturalOrderingMethod>());
+}
 
 }
diff --git a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/init.cpp b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/init.cpp
index 63dd35a4118..9df8a85c25c 100644
--- a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/init.cpp
+++ b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/init.cpp
@@ -21,13 +21,20 @@
 ******************************************************************************/
 #include <sofa/component/linearsolver/ordering/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::linearsolver::ordering
 {
 
+extern void registerAMDOrderingMethod(sofa::core::ObjectFactory* factory);
+extern void registerCOLAMDOrderingMethod(sofa::core::ObjectFactory* factory);
+extern void registerNaturalOrderingMethod(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +52,21 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAMDOrderingMethod(factory);
+    registerCOLAMDOrderingMethod(factory);
+    registerNaturalOrderingMethod(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.cpp
index 0b1d8c1de4b..84c98e82376 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.cpp
@@ -27,8 +27,11 @@ namespace sofa::component::linearsolver::preconditioner
 
 using namespace sofa::linearalgebra;
 
-int BlockJacobiPreconditionerClass = core::RegisterObject("Linear solver based on a NxN block diagonal matrix (i.e. block Jacobi preconditioner)")
-        .add< BlockJacobiPreconditioner<BlockDiagonalMatrix<3,SReal> ,FullVector<SReal> > >();
+void registerBlockJacobiPreconditioner(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear solver based on a NxN block diagonal matrix (i.e. block Jacobi preconditioner).")
+        .add< BlockJacobiPreconditioner<BlockDiagonalMatrix<3, SReal>, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API BlockJacobiPreconditioner<BlockDiagonalMatrix<3, SReal>, FullVector<SReal> >;
 
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/JacobiPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/JacobiPreconditioner.cpp
index ddc5ae29adc..162a3dfd877 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/JacobiPreconditioner.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/JacobiPreconditioner.cpp
@@ -28,11 +28,11 @@ namespace sofa::component::linearsolver::preconditioner
 
 using namespace sofa::linearalgebra;
 
-int JacobiPreconditionerClass = core::RegisterObject("Linear solver based on a diagonal matrix (i.e. Jacobi preconditioner)")
-        .add< JacobiPreconditioner<DiagonalMatrix<SReal>, FullVector<SReal> > >(true)
-        .addAlias("JacobiLinearSolver")
-        .addAlias("JacobiSolver")
-        ;
+void registerJacobiPreconditioner(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear solver based on a diagonal matrix (i.e. Jacobi preconditioner).")
+        .add< JacobiPreconditioner<DiagonalMatrix<SReal>, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API JacobiPreconditioner<DiagonalMatrix<SReal>, FullVector<SReal> >;
 
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedMatrixSystem.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedMatrixSystem.cpp
index 3d43ff07361..d49e246c306 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedMatrixSystem.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedMatrixSystem.cpp
@@ -1,14 +1,41 @@
-#include <sofa/component/linearsolver/preconditioner/PrecomputedMatrixSystem.h>
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/component/linearsolver/preconditioner/PrecomputedMatrixSystem.h>
 #include <sofa/linearalgebra/FullVector.h>
 #include <sofa/linearalgebra/CompressedRowSparseMatrix.h>
 #include <sofa/core/ObjectFactory.h>
 
 namespace sofa::component::linearsolver::preconditioner
 {
-    using sofa::linearalgebra::CompressedRowSparseMatrix;
-    using sofa::linearalgebra::FullVector;
-    template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API PrecomputedMatrixSystem< linearalgebra::CompressedRowSparseMatrix<SReal>, FullVector<SReal> >;
 
-    int PrecomputedMatrixSystemClass = core::RegisterObject("Matrix system")
-        .add<PrecomputedMatrixSystem< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >(true);
+using sofa::linearalgebra::CompressedRowSparseMatrix;
+using sofa::linearalgebra::FullVector;
+
+template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API PrecomputedMatrixSystem< linearalgebra::CompressedRowSparseMatrix<SReal>, FullVector<SReal> >;
+
+void registerPrecomputedMatrixSystem(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Precomputed matrix system.")
+        .add<PrecomputedMatrixSystem< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >());
+}
+
 }
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.cpp
index 483b4b65747..897f854328d 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.cpp
@@ -25,9 +25,11 @@
 namespace sofa::component::linearsolver::preconditioner
 {
 
-int PrecomputedWarpPreconditionerClass = core::RegisterObject("Linear system solver based on a precomputed inverse matrix, wrapped by a per-node rotation matrix")
-    .add< PrecomputedWarpPreconditioner< defaulttype::Vec3Types > >()
-    ;
+void registerPrecomputedWarpPreconditioner(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver based on a precomputed inverse matrix, wrapped by a per-node rotation matrix.")
+        .add< PrecomputedWarpPreconditioner< defaulttype::Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API PrecomputedWarpPreconditioner< defaulttype::Vec3Types >;
 
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/RotationMatrixSystem.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/RotationMatrixSystem.cpp
index 6b5f16142cd..ffa1961911f 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/RotationMatrixSystem.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/RotationMatrixSystem.cpp
@@ -1,14 +1,40 @@
-#include <sofa/component/linearsolver/preconditioner/RotationMatrixSystem.h>
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/component/linearsolver/preconditioner/RotationMatrixSystem.h>
 #include <sofa/linearalgebra/RotationMatrix.h>
 #include <sofa/linearalgebra/FullVector.h>
 #include <sofa/core/ObjectFactory.h>
 
 namespace sofa::component::linearsolver::preconditioner
 {
-    using sofa::linearalgebra::RotationMatrix;
-    using sofa::linearalgebra::FullVector;
-    template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API RotationMatrixSystem< RotationMatrix<SReal>, FullVector<SReal> >;
+using sofa::linearalgebra::RotationMatrix;
+using sofa::linearalgebra::FullVector;
+
+template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API RotationMatrixSystem< RotationMatrix<SReal>, FullVector<SReal> >;
+
+void registerRotationMatrixSystem(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Rotation matrix warpping the main linear system.")
+        .add<RotationMatrixSystem< RotationMatrix<SReal>, FullVector<SReal> > >());
+}
 
-    int RotationMatrixSystemClass = core::RegisterObject("Rotation matrix warpping the main linear system")
-        .add<RotationMatrixSystem< RotationMatrix<SReal>, FullVector<SReal> > >(true);
 }
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp
index 426ce65735e..a4e249d56f0 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp
@@ -170,12 +170,12 @@ void SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3,3
     }
 }
 
-int SSORPreconditionerClass = core::RegisterObject("Linear system solver / preconditioner based on Symmetric Successive Over-Relaxation (SSOR). If the matrix is decomposed as $A = D + L + L^T$, this solver computes $(1/(2-w))(D/w+L)(D/w)^{-1}(D/w+L)^T x = b, or $(D+L)D^{-1}(D+L)^T x = b$ if $w=1$.")
+void registerSSORPreconditioner(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver / preconditioner based on Symmetric Successive Over-Relaxation (SSOR). If the matrix is decomposed as $A = D + L + L^T$, this solver computes $(1/(2-w))(D/w+L)(D/w)^{-1}(D/w+L)^T x = b, or $(D+L)D^{-1}(D+L)^T x = b$ if $w=1$.")
         .add< SSORPreconditioner< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >(true)
-        .add< SSORPreconditioner< CompressedRowSparseMatrix< type::Mat<3,3,SReal> >, FullVector<SReal> > >()
-        .addAlias("SSORLinearSolver")
-        .addAlias("SSORSolver")
-        ;
+        .add< SSORPreconditioner< CompressedRowSparseMatrix< type::Mat<3, 3, SReal> >, FullVector<SReal> > >());
+}
 
 template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix<SReal>, linearalgebra::FullVector<SReal> >;
 template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3, 3, SReal> >, linearalgebra::FullVector<SReal> >;
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/WarpPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/WarpPreconditioner.cpp
index 84419ada4d6..ae1ccc31644 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/WarpPreconditioner.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/WarpPreconditioner.cpp
@@ -31,10 +31,12 @@ namespace sofa::component::linearsolver::preconditioner
 
 using namespace sofa::linearalgebra;
 
-int WarpPreconditionerClass = core::RegisterObject("Linear system solver wrapping another (precomputed) linear solver by a per-node rotation matrix")
-    .add< WarpPreconditioner< RotationMatrix<SReal>, FullVector<SReal>, NoThreadManager > >()
-;
-template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API WarpPreconditioner< RotationMatrix<SReal>, FullVector<SReal>, NoThreadManager >;
+void registerWarpPreconditioner(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear system solver wrapping another (precomputed) linear solver by a per-node rotation matrix.")
+        .add< WarpPreconditioner< RotationMatrix<SReal>, FullVector<SReal>, NoThreadManager > >());
+}
 
+template class SOFA_COMPONENT_LINEARSOLVER_PRECONDITIONER_API WarpPreconditioner< RotationMatrix<SReal>, FullVector<SReal>, NoThreadManager >;
 
 } // namespace sofa::component::linearsolver::preconditioner
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/init.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/init.cpp
index b135b8700dc..38a7944ee1d 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/init.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/init.cpp
@@ -21,13 +21,24 @@
 ******************************************************************************/
 #include <sofa/component/linearsolver/preconditioner/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::linearsolver::preconditioner
 {
-    
+
+extern void registerBlockJacobiPreconditioner(sofa::core::ObjectFactory* factory);
+extern void registerJacobiPreconditioner(sofa::core::ObjectFactory* factory);
+extern void registerPrecomputedMatrixSystem(sofa::core::ObjectFactory* factory);
+extern void registerPrecomputedWarpPreconditioner(sofa::core::ObjectFactory* factory);
+extern void registerRotationMatrixSystem(sofa::core::ObjectFactory* factory);
+extern void registerSSORPreconditioner(sofa::core::ObjectFactory* factory);
+extern void registerWarpPreconditioner(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +56,25 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBlockJacobiPreconditioner(factory);
+    registerJacobiPreconditioner(factory);
+    registerPrecomputedMatrixSystem(factory);
+    registerPrecomputedWarpPreconditioner(factory);
+    registerRotationMatrixSystem(factory);
+    registerSSORPreconditioner(factory);
+    registerWarpPreconditioner(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp b/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp
index e6d0a6bdbbd..3e4a9c37cee 100644
--- a/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp
+++ b/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp
@@ -26,6 +26,9 @@
 #include <sofa/component/linearsolver/preconditioner/init.h>
 #include <sofa/component/linearsolver/ordering/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::linearsolver
 {
     
@@ -33,6 +36,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -50,6 +54,14 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Direct");
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Iterative");
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Ordering");
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Preconditioner");
+}
+
 void init()
 {
     static bool first = true;
@@ -61,6 +73,9 @@ void init()
         sofa::component::linearsolver::iterative::init();
         sofa::component::linearsolver::preconditioner::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
index c182c7d8e38..701de7d6e0b 100644
--- a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
@@ -77,6 +77,7 @@ struct ConstantForceField_test : public BaseSimulationTest, NumericTest<typename
         sofa::simpleapi::importPlugin("Sofa.Component.ODESolver");
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
         sofa::simpleapi::importPlugin("Sofa.Component.MechanicalLoad");
+        sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");
     }
 
     void TearDown() override {}
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 58834cfc9a1..540a98d851b 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -86,6 +86,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Haptics");
     factory->registerObjectsFromPlugin("Sofa.Component.Diffusion");
     factory->registerObjectsFromPlugin("Sofa.Component.ODESolver");
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
 }
 
diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
index d659ec8bb71..67f2e841145 100644
--- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -784,6 +784,17 @@ const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = {
     {"ImplicitEulerSolver", Dealiased("v24.12","EulerImplicitSolver")},
     {"ImplicitEuler", Dealiased("v24.12","EulerImplicitSolver")},
     {"VariationalSolver", Dealiased("v24.12","VariationalSymplecticSolver")},
+    {"SVDLinear", Dealiased("v24.12","SVDLinearSolver")},
+    {"SVD", Dealiased("v24.12","SVDLinearSolver")},
+    {"CGSolver", Dealiased("v24.12","CGLinearSolver")},
+    {"ConjugateGradient", Dealiased("v24.12","CGLinearSolver")},
+    {"MINRESSolver", Dealiased("v24.12","MinResLinearSolver")},
+    {"MinResSolver", Dealiased("v24.12","MinResLinearSolver")},
+    {"PCGLinearSolver", Dealiased("v24.12","ShewchukPCGLinearSolver")},
+    {"JacobiLinearSolver", Dealiased("v24.12","JacobiPreconditioner")},
+    {"JacobiSolver", Dealiased("v24.12","JacobiPreconditioner")},
+    {"SSORLinearSolver", Dealiased("v24.12","SSORPreconditioner")},
+    {"SSORSolver", Dealiased("v24.12","SSORPreconditioner")},
     {"RigidEngine", Dealiased("v24.12","RigidToQuatEngine")},
 
 };
diff --git a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
index 83d38f23066..6b8d46adccc 100644
--- a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
+++ b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
@@ -24,11 +24,15 @@
 #include <MultiThreading/ParallelImplementationsRegistry.h>
 #include <sofa/core/ObjectFactory.h>
 
+#include <sofa/simpleapi/SimpleApi.h>
+
 namespace multithreading
 {
 
 TEST(ParallelImplementationsRegistry, existInObjectFactory)
 {
+    sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); // sequential version will be added to the ObjectFactory
+
     const auto implementations = ParallelImplementationsRegistry::getImplementations();
 
     for (const auto& [seq, par] : implementations)

From 38ecbea18534611df204acbbd055b1a3b13a6208 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Fri, 4 Oct 2024 22:54:57 +0900
Subject: [PATCH 13/43] [Topology] Apply new factory registration mechanism
 (#5012)

* apply new register mechanism to topology

* remove aliases in scene

* change test with VisualModel

* remove aliases from unittest

* Apply suggestions from code review (updates on component description)

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
---
 .../Engine/Select/tests/MeshROI_test.cpp      |  6 +-
 .../Mass/tests/DiagonalMass_test.cpp          |  8 +--
 .../container/constant/CubeTopology.cpp       |  8 ++-
 .../container/constant/MeshTopology.cpp       | 10 ++--
 .../container/constant/SphereQuadTopology.cpp |  9 +--
 .../topology/container/constant/init.cpp      | 19 ++++++-
 .../DynamicSparseGridGeometryAlgorithms.cpp   | 11 ++--
 .../DynamicSparseGridTopologyContainer.cpp    | 11 ++--
 .../DynamicSparseGridTopologyModifier.cpp     |  8 ++-
 .../dynamic/EdgeSetGeometryAlgorithms.cpp     | 12 ++--
 .../dynamic/EdgeSetTopologyContainer.cpp      | 10 ++--
 .../dynamic/EdgeSetTopologyModifier.cpp       | 11 ++--
 .../HexahedronSetGeometryAlgorithms.cpp       | 12 ++--
 .../HexahedronSetTopologyContainer.cpp        | 10 ++--
 .../dynamic/HexahedronSetTopologyModifier.cpp | 10 ++--
 ...ltilevelHexahedronSetTopologyContainer.cpp | 10 ++--
 .../dynamic/PointSetGeometryAlgorithms.cpp    | 11 ++--
 .../dynamic/PointSetTopologyContainer.cpp     | 10 ++--
 .../dynamic/PointSetTopologyModifier.cpp      | 11 ++--
 .../dynamic/QuadSetGeometryAlgorithms.cpp     | 12 ++--
 .../dynamic/QuadSetTopologyContainer.cpp      | 11 ++--
 .../dynamic/QuadSetTopologyModifier.cpp       | 10 ++--
 .../TetrahedronSetGeometryAlgorithms.cpp      | 12 ++--
 .../TetrahedronSetTopologyContainer.cpp       | 10 ++--
 .../TetrahedronSetTopologyModifier.cpp        | 10 ++--
 .../dynamic/TriangleSetGeometryAlgorithms.cpp | 14 ++---
 .../dynamic/TriangleSetTopologyContainer.cpp  | 11 ++--
 .../dynamic/TriangleSetTopologyModifier.cpp   | 11 ++--
 .../topology/container/dynamic/init.cpp       | 57 ++++++++++++++++++-
 .../container/grid/CylinderGridTopology.cpp   | 11 ++--
 .../topology/container/grid/GridTopology.cpp  | 10 ++--
 .../container/grid/RegularGridTopology.cpp    | 11 ++--
 .../grid/SparseGridMultipleTopology.cpp       | 25 ++++----
 .../grid/SparseGridRamificationTopology.cpp   |  9 +--
 .../container/grid/SparseGridTopology.cpp     | 10 ++--
 .../container/grid/SphereGridTopology.cpp     | 11 ++--
 .../topology/container/grid/init.cpp          | 27 ++++++++-
 .../component/topology/container/init.cpp     | 14 +++++
 .../mapping/CenterPointTopologicalMapping.cpp | 11 ++--
 .../mapping/Edge2QuadTopologicalMapping.cpp   | 10 ++--
 .../mapping/Hexa2QuadTopologicalMapping.cpp   | 14 ++---
 .../mapping/Hexa2TetraTopologicalMapping.cpp  | 14 ++---
 .../mapping/IdentityTopologicalMapping.cpp    | 12 ++--
 .../Quad2TriangleTopologicalMapping.cpp       | 12 ++--
 .../mapping/SubsetTopologicalMapping.cpp      | 12 ++--
 .../Tetra2TriangleTopologicalMapping.cpp      | 14 ++---
 .../Triangle2EdgeTopologicalMapping.cpp       | 10 ++--
 .../sofa/component/topology/mapping/init.cpp  | 31 +++++++++-
 .../utility/TopologicalChangeProcessor.cpp    | 10 ++--
 .../utility/TopologyBoundingTrasher.cpp       |  8 ++-
 .../topology/utility/TopologyChecker.cpp      | 10 ++--
 .../sofa/component/topology/utility/init.cpp  | 19 ++++++-
 .../src/sofa/component/topology/init.cpp      | 14 +++++
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 .../src/sofa/helper/ComponentChange.cpp       | 11 +++-
 .../SceneChecking/tests/SceneChecker_test.cpp |  6 +-
 .../FixedLagrangianConstaint_Vec3.scn         |  2 +-
 57 files changed, 445 insertions(+), 259 deletions(-)

diff --git a/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp b/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp
index 2f5dd0ad8ef..aa3e96d8ab6 100644
--- a/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp
+++ b/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp
@@ -73,7 +73,7 @@ struct MeshROI_test : public BaseSimulationTest,
         "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >       "
         "   <Node name='node'>                                          "
         "       <MeshOBJLoader name='loader' filename='mesh/cube.obj'/>    "
-        "       <Mesh name='topology' src='@loader'/>                      "
+        "       <MeshTopology name='topology' src='@loader'/>                      "
         "       <MeshROI template='Vec3d' name='MeshROI'/>                 "
         "   </Node>                                                        "
         "</Node>                                                           " ;
@@ -136,7 +136,7 @@ struct MeshROI_test : public BaseSimulationTest,
         "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >       "
         "   <Node name='node'>                                          "
         "       <MeshOBJLoader name='loader' filename='mesh/dragon.obj'/>  "
-        "       <Mesh name='topology' src='@loader'/>                      "
+        "       <MeshTopology name='topology' src='@loader'/>                      "
         "       <MeshROI template='Vec3d' name='MeshROI'/>                 "
         "   </Node>                                                        "
         "</Node>                                                           " ;
@@ -157,7 +157,7 @@ struct MeshROI_test : public BaseSimulationTest,
         <Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >
            <Node name='node'>
                <MeshOBJLoader name='loader' filename='mesh/cube.obj'/>
-               <Mesh name='topology' src='@loader'/>
+               <MeshTopology name='topology' src='@loader'/>
                <MeshROI template='Vec3d' name='MeshROI' position='0. 0. 0. 2. 0. 0.' />
            </Node>
         </Node>
diff --git a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
index 882614ea793..1c4d0c378db 100644
--- a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
+++ b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
@@ -155,7 +155,7 @@ class DiagonalMass_test : public BaseTest
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "    <MechanicalObject />                                                                       "
-                "    <RegularGrid nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
+                "    <RegularGridTopology nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
                 "    <HexahedronSetGeometryAlgorithms />                                                        "
                 "   <DiagonalMass name='m_mass'/>                            "
                 "</Node>                                                     " ;
@@ -188,7 +188,7 @@ class DiagonalMass_test : public BaseTest
                 "<?xml version='1.0'?>                                                                          "
                 "<Node  name='Root' gravity='0 0 0' time='0' animate='0'   >                                    "
                 "    <MechanicalObject />                                                                       "
-                "    <RegularGrid nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
+                "    <RegularGridTopology nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
                 "    <HexahedronSetGeometryAlgorithms />                                                        "
                 "    <DiagonalMass name='m_mass' massDensity='1.0' />                                           "
                 "</Node>                                                                                        " ;
@@ -219,7 +219,7 @@ class DiagonalMass_test : public BaseTest
                 "<?xml version='1.0'?>                                                                          "
                 "<Node  name='Root' gravity='0 0 0' time='0' animate='0'   >                                    "
                 "    <MechanicalObject />                                                                       "
-                "    <RegularGrid nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
+                "    <RegularGridTopology nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
                 "    <HexahedronSetGeometryAlgorithms/>                                                         "
                 "    <DiagonalMass name='m_mass' totalMass='10'/>                                               "
                 "</Node>                                                                                        " ;
@@ -249,7 +249,7 @@ class DiagonalMass_test : public BaseTest
                 "<?xml version='1.0'?>                                                                          "
                 "<Node  name='Root' gravity='0 0 0' time='0' animate='0'   >                                    "
                 "    <MechanicalObject />                                                                       "
-                "    <RegularGrid nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
+                "    <RegularGridTopology nx='2' ny='2' nz='2' xmin='0' xmax='2' ymin='0' ymax='2' zmin='0' zmax='2' /> "
                 "    <HexahedronSetGeometryAlgorithms />                                                        "
                 "    <DiagonalMass name='m_mass' massDensity='1.0' totalMass='10'/>                             "
                 "</Node>                                                                                        " ;
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.cpp
index e666b76e0b1..d2eaa4d0ec2 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.cpp
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.cpp
@@ -57,9 +57,11 @@ void CubeTopology::parse(core::objectmodel::BaseObjectDescription* arg)
     this->setPos(d_min.getValue()[0], d_max.getValue()[0], d_min.getValue()[1], d_max.getValue()[1], d_min.getValue()[2], d_max.getValue()[2]);
 }
 
-int CubeTopologyClass = core::RegisterObject("Surface of a cube in 3D")
-        .add< CubeTopology >()
-        ;
+void registerCubeTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Surface topology of a cube in 3D (points, edges and quads).")
+        .add< CubeTopology >());
+}
 
 CubeTopology::CubeTopology(int _nx, int _ny, int _nz)
     : d_nx(initData(&d_nx, _nx, "nx", "x grid resolution"))
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
index 47f8a909fbf..f8384eca4a1 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
@@ -478,11 +478,11 @@ void MeshTopology::QuadUpdate::doUpdate()
 using namespace sofa::defaulttype;
 using core::topology::BaseMeshTopology;
 
-
-int MeshTopologyClass = core::RegisterObject("Generic mesh topology")
-        .addAlias("Mesh")
-        .add< MeshTopology >()
-        ;
+void registerMeshTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Generic constant topology loaded from a mesh file.")
+        .add< MeshTopology >());
+}
 
 MeshTopology::MeshTopology()
     : d_seqPoints(initData(&d_seqPoints, "position", "List of point positions"))
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.cpp
index d99065cf2b9..73e7bfaf9de 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.cpp
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.cpp
@@ -29,10 +29,11 @@ namespace sofa::component::topology::container::constant
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int SphereQuadTopologyClass = core::RegisterObject("Sphere topology constructed with deformed quads")
-        .addAlias("SphereQuad")
-        .add< SphereQuadTopology >()
-        ;
+void registerSphereQuadTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Sphere topology constructed with deformed quads.")
+        .add< SphereQuadTopology >());
+}
 
 SphereQuadTopology::SphereQuadTopology(int nx, int ny, int nz)
     : CubeTopology(nx, ny, nz),
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/init.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/init.cpp
index 8e3c0970fbc..52c2b119c28 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/init.cpp
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/init.cpp
@@ -21,13 +21,20 @@
 ******************************************************************************/
 #include <sofa/component/topology/container/constant/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology::container::constant
 {
-    
+  
+extern void registerCubeTopology(sofa::core::ObjectFactory* factory);
+extern void registerMeshTopology(sofa::core::ObjectFactory* factory);
+extern void registerSphereQuadTopology(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +52,21 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerCubeTopology(factory);
+    registerMeshTopology(factory);
+    registerSphereQuadTopology(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridGeometryAlgorithms.cpp
index 372842adb2f..a134550bdeb 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridGeometryAlgorithms.cpp
@@ -28,11 +28,13 @@ namespace sofa::component::topology::container::dynamic
 {
 
 using namespace sofa::defaulttype;
-int DynamicSparseGridGeometryAlgorithmsClass = core::RegisterObject ( "Hexahedron set geometry algorithms" )
-        .add< DynamicSparseGridGeometryAlgorithms<Vec3Types> > ( true ) // default template
-        .add< DynamicSparseGridGeometryAlgorithms<Vec2Types> >()
 
-        ;
+void registerDynamicSparseGridGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Dynamic sparse grid geometry algorithms.")
+        .add< DynamicSparseGridGeometryAlgorithms<Vec3Types> >(true) // default template
+        .add< DynamicSparseGridGeometryAlgorithms<Vec2Types> >());
+}
 
 template <>
 int DynamicSparseGridGeometryAlgorithms<Vec2Types>::findNearestElementInRestPos(const Coord& pos, sofa::type::Vec3& baryC, Real& distance) const
@@ -43,5 +45,4 @@ int DynamicSparseGridGeometryAlgorithms<Vec2Types>::findNearestElementInRestPos(
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API DynamicSparseGridGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API DynamicSparseGridGeometryAlgorithms<Vec2Types>;
 
-
 } // namespace sofa::component::topology::container::dynamic
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp
index 6858eaab746..8f7c5684a5f 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp
@@ -30,13 +30,14 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-using namespace std;
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int DynamicSparseGridTopologyContainerClass = core::RegisterObject ( "Hexahedron set topology container" )
-        .add< DynamicSparseGridTopologyContainer >()
-        ;
+void registerDynamicSparseGridTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Dynamic sparse grid geometry container.")
+        .add< DynamicSparseGridTopologyContainer >());
+}
 
 DynamicSparseGridTopologyContainer::DynamicSparseGridTopologyContainer()
     : d_resolution (initData (&d_resolution, type::Vec3i (0, 0, 0 ), "resolution", "voxel grid resolution" ) )
@@ -78,7 +79,7 @@ void DynamicSparseGridTopologyContainer::init()
 
     for( unsigned int i = 0; i < iirg.size(); i++)
     {
-        idrg2tpo.insert( make_pair( iirg[i], i ));
+        idrg2tpo.insert( std::make_pair( iirg[i], i ));
     }
 
     // Init values
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp
index 2a7687a7d95..3f88626577c 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp
@@ -30,9 +30,11 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-int DynamicSparseGridTopologyModifierClass = core::RegisterObject ( "Hexahedron set topology modifier" )
-        .add< DynamicSparseGridTopologyModifier >();
-
+void registerDynamicSparseGridTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Dynamic sparse grid geometry modifier.")
+        .add< DynamicSparseGridTopologyModifier >());
+}
 
 void DynamicSparseGridTopologyModifier::init()
 {
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.cpp
index f315be2f8d8..98ddf0cc07d 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.cpp
@@ -28,15 +28,18 @@
 
 namespace sofa::component::topology::container::dynamic
 {
+
 using namespace sofa::defaulttype;
-int EdgeSetGeometryAlgorithmsClass = core::RegisterObject("Edge set geometry algorithms")
+
+void registerEdgeSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Geometry algorithms dedicated to an edge topology.")
         .add< EdgeSetGeometryAlgorithms<Vec3Types> >(true) // default template
         .add< EdgeSetGeometryAlgorithms<Vec2Types> >()
         .add< EdgeSetGeometryAlgorithms<Vec1Types> >()
         .add< EdgeSetGeometryAlgorithms<Rigid3Types> >()
-        .add< EdgeSetGeometryAlgorithms<Rigid2Types> >()
-
-        ;
+        .add< EdgeSetGeometryAlgorithms<Rigid2Types> >());
+}
 
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetGeometryAlgorithms<Vec2Types>;
@@ -44,5 +47,4 @@ template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetGeometryAlgo
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetGeometryAlgorithms<Rigid3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetGeometryAlgorithms<Rigid2Types>;
 
-
 } //namespace sofa::component::topology::container::dynamic
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp
index b2c62930c8f..6d3de29e77f 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp
@@ -36,11 +36,13 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-using namespace std;
 using namespace sofa::defaulttype;
-int EdgeSetTopologyContainerClass = core::RegisterObject("Edge set topology container")
-        .add< EdgeSetTopologyContainer >()
-        ;
+
+void registerEdgeSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology container for an edge topology.")
+        .add< EdgeSetTopologyContainer >());
+}
 
 EdgeSetTopologyContainer::EdgeSetTopologyContainer()
     : PointSetTopologyContainer( )
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp
index cf7b145525b..0edd32a39a0 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp
@@ -40,12 +40,13 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-using namespace sofa::defaulttype;
-int EdgeSetTopologyModifierClass = core::RegisterObject("Edge set topology modifier")
-        .add< EdgeSetTopologyModifier >();
 
-using namespace std;
-using namespace sofa::defaulttype;
+void registerEdgeSetTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology modifier dedicated to an edge topology.")
+        .add< EdgeSetTopologyModifier >());
+}
+
 using namespace sofa::core::topology;
 
 void EdgeSetTopologyModifier::init()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetGeometryAlgorithms.cpp
index 2a5341d54c2..db5d1b4e6eb 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetGeometryAlgorithms.cpp
@@ -27,15 +27,17 @@
 
 namespace sofa::component::topology::container::dynamic
 {
+
 using namespace sofa::defaulttype;
-int HexahedronSetGeometryAlgorithmsClass = core::RegisterObject("Hexahedron set geometry algorithms")
-        .add< HexahedronSetGeometryAlgorithms<Vec3Types> >(true) // default template
-        .add< HexahedronSetGeometryAlgorithms<Vec2Types> >()
 
-        ;
+void registerHexahedronSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Geometry algorithms dedicated to an hexahedral topology.")
+        .add< HexahedronSetGeometryAlgorithms<Vec3Types> >(true) // default template
+        .add< HexahedronSetGeometryAlgorithms<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API HexahedronSetGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API HexahedronSetGeometryAlgorithms<Vec2Types>;
 
-
 } //namespace sofa::component::topology::container::dynamic
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp
index cf6cfe185ca..f9fa154edba 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp
@@ -28,15 +28,15 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-using namespace std;
-using namespace sofa::defaulttype;
 using sofa::core::topology::edgesInHexahedronArray;
 using sofa::core::topology::quadsOrientationInHexahedronArray;
 using sofa::core::topology::verticesInHexahedronArray;
 
-int HexahedronSetTopologyContainerClass = core::RegisterObject("Hexahedron set topology container")
-        .add< HexahedronSetTopologyContainer >()
-        ;
+void registerHexahedronSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology container dedicated to an hexahedral topology.")
+        .add< HexahedronSetTopologyContainer >());
+}
 
 HexahedronSetTopologyContainer::HexahedronSetTopologyContainer()
     : QuadSetTopologyContainer()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp
index 82a295788d7..93f8c310868 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp
@@ -30,11 +30,13 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-int HexahedronSetTopologyModifierClass = core::RegisterObject("Hexahedron set topology modifier")
-        .add< HexahedronSetTopologyModifier >();
 
-using namespace std;
-using namespace sofa::defaulttype;
+void registerHexahedronSetTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology modifier dedicated to an hexahedral topology.")
+        .add< HexahedronSetTopologyModifier >());
+}
+
 using namespace sofa::core::topology;
 
 void HexahedronSetTopologyModifier::init()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/MultilevelHexahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/MultilevelHexahedronSetTopologyContainer.cpp
index 8d57a6b00e9..050ef68e952 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/MultilevelHexahedronSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/MultilevelHexahedronSetTopologyContainer.cpp
@@ -33,13 +33,13 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-using namespace std;
 using namespace sofa::type;
-using namespace sofa::defaulttype;
 
-int MultilevelHexahedronSetTopologyContainerClass = core::RegisterObject("Hexahedron set topology container")
-        .add< MultilevelHexahedronSetTopologyContainer >()
-        ;
+void registerMultilevelHexahedronSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Multilevel Hexahedron set topology container.")
+        .add< MultilevelHexahedronSetTopologyContainer >());
+}
 
 MultilevelHexahedronSetTopologyContainer::MultilevelHexahedronSetTopologyContainer()
     : HexahedronSetTopologyContainer(),
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetGeometryAlgorithms.cpp
index 8022a9d2364..2f7f39b68a7 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetGeometryAlgorithms.cpp
@@ -29,12 +29,14 @@ namespace sofa::component::topology::container::dynamic
 {
 
 using namespace sofa::defaulttype;
-int PointSetGeometryAlgorithmsClass = core::RegisterObject("Point set geometry algorithms")
+
+void registerPointSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Geometry algorithms dedicated to a point topology.")
         .add< PointSetGeometryAlgorithms<Vec3Types> >(true) // default template
         .add< PointSetGeometryAlgorithms<Vec2Types> >()
-        .add< PointSetGeometryAlgorithms<Vec1Types> >()
-
-        ;
+        .add< PointSetGeometryAlgorithms<Vec1Types> >());
+}
 
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API PointSetGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API PointSetGeometryAlgorithms<Vec2Types>;
@@ -42,5 +44,4 @@ template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API PointSetGeometryAlg
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API PointSetGeometryAlgorithms<Rigid3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API PointSetGeometryAlgorithms<Rigid2Types>;
 
-
 } //namespace sofa::component::topology::container::dynamic
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.cpp
index b644cdf4511..ef8b6d401e1 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.cpp
@@ -49,11 +49,11 @@ struct GeneratePointID
 
 }
 
-using namespace sofa::defaulttype;
-
-int PointSetTopologyContainerClass = core::RegisterObject("Point set topology container")
-        .add< PointSetTopologyContainer >()
-        ;
+void registerPointSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology container dedicated to a point topology.")
+        .add< PointSetTopologyContainer >());
+}
 
 PointSetTopologyContainer::PointSetTopologyContainer(Size npoints)
     : d_initPoints (initData(&d_initPoints, "position", "Initial position of points",true,true))
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyModifier.cpp
index 6573eb11f4b..cc35bf05f07 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyModifier.cpp
@@ -33,12 +33,13 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-int PointSetTopologyModifierClass = core::RegisterObject("Point set topology modifier")
-        .add< PointSetTopologyModifier >();
 
-using namespace std;
-using namespace sofa::defaulttype;
-using namespace sofa::core::behavior;
+void registerPointSetTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology modifier dedicated to a point topology.")
+        .add< PointSetTopologyModifier >());
+}
+
 using namespace sofa::core::topology;
 
 void PointSetTopologyModifier::init()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetGeometryAlgorithms.cpp
index 9711e21b402..cf6a9461cbf 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetGeometryAlgorithms.cpp
@@ -28,15 +28,17 @@
 
 namespace sofa::component::topology::container::dynamic
 {
+
 using namespace sofa::defaulttype;
-int QuadSetGeometryAlgorithmsClass = core::RegisterObject("Quad set geometry algorithms")
-        .add< QuadSetGeometryAlgorithms<Vec3Types> >(true) // default template
-        .add< QuadSetGeometryAlgorithms<Vec2Types> >()
 
-        ;
+void registerQuadSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Geometry algorithms dedicated to a quad topology.")
+        .add< QuadSetGeometryAlgorithms<Vec3Types> >(true) // default template
+        .add< QuadSetGeometryAlgorithms<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API QuadSetGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API QuadSetGeometryAlgorithms<Vec2Types>;
 
-
 } //namespace sofa::component::topology::container::dynamic
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp
index ba4b361d837..05d4641150b 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp
@@ -28,12 +28,11 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-using namespace std;
-using namespace sofa::defaulttype;
-
-int QuadSetTopologyContainerClass = core::RegisterObject("Quad set topology container")
-        .add< QuadSetTopologyContainer >()
-        ;
+void registerQuadSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology container dedicated to a quad topology.")
+        .add< QuadSetTopologyContainer >());
+}
 
 QuadSetTopologyContainer::QuadSetTopologyContainer()
     : EdgeSetTopologyContainer()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp
index fc6efdd5d74..bee7780caa3 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp
@@ -30,15 +30,15 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-int QuadSetTopologyModifierClass = core::RegisterObject("Quad set topology modifier")
-        .add< QuadSetTopologyModifier >();
 
+void registerQuadSetTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology modifier dedicated to a quad topology.")
+        .add< QuadSetTopologyModifier >());
+}
 
-using namespace std;
-using namespace sofa::defaulttype;
 using namespace sofa::core::topology;
 
-
 void QuadSetTopologyModifier::init()
 {
     EdgeSetTopologyModifier::init();
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.cpp
index 33b6549d15b..7bf78f2b1a5 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.cpp
@@ -27,15 +27,17 @@
 
 namespace sofa::component::topology::container::dynamic
 {
+
 using namespace sofa::defaulttype;
-int TetrahedronSetGeometryAlgorithmsClass = core::RegisterObject("Tetrahedron set geometry algorithms")
-        .add< TetrahedronSetGeometryAlgorithms<Vec3Types> >(true) // default template
-        .add< TetrahedronSetGeometryAlgorithms<Vec2Types> >()
 
-        ;
+void registerTetrahedronSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Geometry algorithms dedicated to a tetrahedral topology.")
+        .add< TetrahedronSetGeometryAlgorithms<Vec3Types> >(true) // default template
+        .add< TetrahedronSetGeometryAlgorithms<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TetrahedronSetGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TetrahedronSetGeometryAlgorithms<Vec2Types>;
 
-
 } //namespace sofa::component::topology::container::dynamic
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp
index c4eede995d3..5f9fedd0175 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp
@@ -27,13 +27,13 @@
 namespace sofa::component::topology::container::dynamic
 {
 
-using namespace std;
-using namespace sofa::defaulttype;
 using sofa::core::topology::edgesInTetrahedronArray;
 
-int TetrahedronSetTopologyContainerClass = core::RegisterObject("Tetrahedron set topology container")
-        .add< TetrahedronSetTopologyContainer >()
-        ;
+void registerTetrahedronSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology container dedicated to a tetrahedral topology.")
+        .add< TetrahedronSetTopologyContainer >());
+}
 
 ///convention triangles in tetra (orientation interior)
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp
index 43d7a420445..faee40cbb0f 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp
@@ -33,11 +33,13 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-int TetrahedronSetTopologyModifierClass = core::RegisterObject("Tetrahedron set topology modifier")
-        .add< TetrahedronSetTopologyModifier >();
 
-using namespace std;
-using namespace sofa::defaulttype;
+void registerTetrahedronSetTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology modifier dedicated to a tetrahedral topology.")
+        .add< TetrahedronSetTopologyModifier >());
+}
+
 using namespace sofa::core::topology;
 
 //const unsigned int edgesInTetrahedronArray[6][2] = {{0,1}, {0,2}, {0,3}, {1,2}, {1,3}, {2,3}};
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp
index 180a0443b4f..9953a160abc 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp
@@ -27,14 +27,15 @@
 
 namespace sofa::component::topology::container::dynamic
 {
+
 using namespace sofa::defaulttype;
 
-int TriangleSetGeometryAlgorithmsClass = core::RegisterObject("Triangle set geometry algorithms")
+void registerTriangleSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Geometry algorithms dedicated to a triangular topology.")
         .add< TriangleSetGeometryAlgorithms<Vec3Types> >(true) // default template
-        .add< TriangleSetGeometryAlgorithms<Vec2Types> >()
-        ;
-
-
+        .add< TriangleSetGeometryAlgorithms<Vec2Types> >());
+}
 
 // methods specilizations declaration
 template<> SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API
@@ -50,12 +51,9 @@ int TriangleSetGeometryAlgorithms<defaulttype::Vec1Types>::SplitAlongPath(PointI
     sofa::type::vector< sofa::type::Vec3 >& coords_list,
     sofa::type::vector<EdgeID>& new_edges, SReal epsilonSnapPath, SReal epsilonSnapBorder);
 
-
-
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TriangleSetGeometryAlgorithms<Vec3Types>;
 template class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TriangleSetGeometryAlgorithms<Vec2Types>;
 
-
 template<>
 int TriangleSetGeometryAlgorithms<defaulttype::Vec2Types>::SplitAlongPath(PointID, Coord&, PointID, Coord&,
     sofa::type::vector< sofa::geometry::ElementType>&,
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp
index 48ab563d783..871f7896046 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp
@@ -26,13 +26,12 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-using namespace std;
-using namespace sofa::defaulttype;
 
-
-int TriangleSetTopologyContainerClass = core::RegisterObject("Triangle set topology container")
-        .add< TriangleSetTopologyContainer >()
-        ;
+void registerTriangleSetTopologyContainer(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology container dedicated to a triangular topology.")
+        .add< TriangleSetTopologyContainer >());
+}
 
 TriangleSetTopologyContainer::TriangleSetTopologyContainer()
     : EdgeSetTopologyContainer()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp
index f076b2cafcd..f03f972b45c 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp
@@ -33,12 +33,13 @@
 
 namespace sofa::component::topology::container::dynamic
 {
-int TriangleSetTopologyModifierClass = core::RegisterObject("Triangle set topology modifier")
-        .add< TriangleSetTopologyModifier >()
-        ;
 
-using namespace std;
-using namespace sofa::defaulttype;
+void registerTriangleSetTopologyModifier(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topology modifier dedicated to a triangular topology.")
+        .add< TriangleSetTopologyModifier >());
+}
+
 using namespace sofa::core::topology;
 
 void TriangleSetTopologyModifier::init()
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/init.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/init.cpp
index 88ac7674543..1caad7ab75e 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/init.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/init.cpp
@@ -21,13 +21,39 @@
 ******************************************************************************/
 #include <sofa/component/topology/container/dynamic/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology::container::dynamic
 {
-    
+
+extern void registerDynamicSparseGridGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerDynamicSparseGridTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerDynamicSparseGridTopologyModifier(sofa::core::ObjectFactory* factory);
+extern void registerEdgeSetGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerEdgeSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerEdgeSetTopologyModifier(sofa::core::ObjectFactory* factory);
+extern void registerHexahedronSetGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerHexahedronSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerHexahedronSetTopologyModifier(sofa::core::ObjectFactory* factory);
+extern void registerMultilevelHexahedronSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerPointSetGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerPointSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerPointSetTopologyModifier(sofa::core::ObjectFactory* factory);
+extern void registerQuadSetGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerQuadSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerQuadSetTopologyModifier(sofa::core::ObjectFactory* factory);
+extern void registerTetrahedronSetGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerTetrahedronSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerTetrahedronSetTopologyModifier(sofa::core::ObjectFactory* factory);
+extern void registerTriangleSetGeometryAlgorithms(sofa::core::ObjectFactory* factory);
+extern void registerTriangleSetTopologyContainer(sofa::core::ObjectFactory* factory);
+extern void registerTriangleSetTopologyModifier(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +71,40 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerDynamicSparseGridGeometryAlgorithms(factory);
+    registerDynamicSparseGridTopologyContainer(factory);
+    registerDynamicSparseGridTopologyModifier(factory);
+    registerEdgeSetGeometryAlgorithms(factory);
+    registerEdgeSetTopologyContainer(factory);
+    registerEdgeSetTopologyModifier(factory);
+    registerHexahedronSetGeometryAlgorithms(factory);
+    registerHexahedronSetTopologyContainer(factory);
+    registerHexahedronSetTopologyModifier(factory);
+    registerMultilevelHexahedronSetTopologyContainer(factory);
+    registerPointSetGeometryAlgorithms(factory);
+    registerPointSetTopologyContainer(factory);
+    registerPointSetTopologyModifier(factory);
+    registerQuadSetGeometryAlgorithms(factory);
+    registerQuadSetTopologyContainer(factory);
+    registerQuadSetTopologyModifier(factory);
+    registerTetrahedronSetGeometryAlgorithms(factory);
+    registerTetrahedronSetTopologyContainer(factory);
+    registerTetrahedronSetTopologyModifier(factory);
+    registerTriangleSetGeometryAlgorithms(factory);
+    registerTriangleSetTopologyContainer(factory);
+    registerTriangleSetTopologyModifier(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp
index 66d02134b14..d2fadfe0bf8 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp
@@ -29,12 +29,11 @@ namespace sofa::component::topology::container::grid
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-
-
-int CylinderGridTopologyClass = core::RegisterObject("Cylinder grid in 3D")
-        .addAlias("CylinderGrid")
-        .add< CylinderGridTopology >()
-        ;
+void registerCylinderGridTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Cylinder grid in 3D.")
+        .add< CylinderGridTopology >());
+}
 
 CylinderGridTopology::CylinderGridTopology(int nx, int ny, int nz)
     : GridTopology(nx, ny, nz)
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.cpp
index 166d08df145..ae70dd43d2a 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.cpp
@@ -27,11 +27,11 @@
 namespace sofa::component::topology::container::grid
 {
 
-int GridTopologyClass = core::RegisterObject("Base class fo a regular grid in 3D")
-        .addAlias("Grid")
-        .add< GridTopology >()
-        ;
-
+void registerGridTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Base class fo a regular grid in 3D.")
+        .add< GridTopology >());
+}
 
 GridTopology::GridUpdate::GridUpdate(GridTopology *t):
     m_topology(t)
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/RegularGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/RegularGridTopology.cpp
index da3187e7395..1f28f85aa55 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/RegularGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/RegularGridTopology.cpp
@@ -411,11 +411,10 @@ void RegularGridTopology::createTexCoords()
     }
 }
 
-
-int RegularGridTopologyClass = core::RegisterObject("Regular grid in 3D")
-        .addAlias("RegularGrid")
-        .add< RegularGridTopology >()
-        ;
-
+void registerRegularGridTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Regular grid in 3D.")
+        .add< RegularGridTopology >());
+}
 
 } //namespace sofa::component::topology::container::grid
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp
index f13bd44174c..b485ae44b92 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp
@@ -27,18 +27,19 @@
 namespace sofa::component::topology::container::grid
 {
 
-int SparseGridMultipleTopologyClass = core::RegisterObject("Sparse grid in 3D")
-        .addAlias("SparseGridMultiple")
-        .add< SparseGridMultipleTopology >()
-        ;
-
-
-SparseGridMultipleTopology::SparseGridMultipleTopology( bool _isVirtual ) : SparseGridRamificationTopology(_isVirtual),
-                                                                            d_fileTopologies(initData(&d_fileTopologies, type::vector< std::string >() , "fileTopologies", "All topology filenames")),
-                                                                            d_dataStiffnessCoefs(initData(&d_dataStiffnessCoefs, type::vector< float >() , "stiffnessCoefs", "A stiffness coefficient for each topology filename")),
-                                                                            d_dataMassCoefs(initData(&d_dataMassCoefs, type::vector< float >() , "massCoefs", "A mass coefficient for each topology filename")),
-                                                                            d_computeRamifications(initData(&d_computeRamifications, true , "computeRamifications", "Are ramifications wanted?")),
-                                                                            d_erasePreviousCoef(initData(&d_erasePreviousCoef, false , "erasePreviousCoef", "Does a new stiffness/mass coefficient replace the previous or blend half/half with it?"))
+void registerSparseGridMultipleTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Sparse grid in 3D.")
+        .add< SparseGridMultipleTopology >());
+}
+
+SparseGridMultipleTopology::SparseGridMultipleTopology( bool _isVirtual ) 
+    : SparseGridRamificationTopology(_isVirtual)
+    , d_fileTopologies(initData(&d_fileTopologies, type::vector< std::string >() , "fileTopologies", "All topology filenames"))
+    , d_dataStiffnessCoefs(initData(&d_dataStiffnessCoefs, type::vector< float >() , "stiffnessCoefs", "A stiffness coefficient for each topology filename"))
+    , d_dataMassCoefs(initData(&d_dataMassCoefs, type::vector< float >() , "massCoefs", "A mass coefficient for each topology filename"))
+    , d_computeRamifications(initData(&d_computeRamifications, true , "computeRamifications", "Are ramifications wanted?"))
+    , d_erasePreviousCoef(initData(&d_erasePreviousCoef, false , "erasePreviousCoef", "Does a new stiffness/mass coefficient replace the previous or blend half/half with it?"))
 {
     _fileTopologies.setOriginalData(&d_fileTopologies);
     _dataStiffnessCoefs.setOriginalData(&d_dataStiffnessCoefs);
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.cpp
index 62f036d2445..ea4c192920c 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.cpp
@@ -27,10 +27,11 @@
 namespace sofa::component::topology::container::grid
 {
 
-int SparseGridRamificationTopologyClass = core::RegisterObject("Sparse grid in 3D (modified)")
-        .addAlias("SparseGridRamification")
-        .add< SparseGridRamificationTopology >()
-        ;
+void registerSparseGridRamificationTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Sparse grid in 3D (modified).")
+        .add< SparseGridRamificationTopology >());
+}
 
 SparseGridRamificationTopology::SparseGridRamificationTopology(bool isVirtual)
     : SparseGridTopology(isVirtual)
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp
index 10a1f45173d..43b5e136953 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp
@@ -42,11 +42,11 @@ using namespace sofa::helper;
 namespace sofa::component::topology::container::grid
 {
 
-int SparseGridTopologyClass = core::RegisterObject("Sparse grid in 3D")
-        .addAlias("SparseGrid")
-        .add< SparseGridTopology >()
-        ;
-
+void registerSparseGridTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Sparse grid in 3D.")
+        .add< SparseGridTopology >());
+}
 
 const float SparseGridTopology::WEIGHT27[8][27] =
 {
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp
index 2e2e93c1653..39ea54ec88e 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp
@@ -29,12 +29,11 @@ namespace sofa::component::topology::container::grid
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-
-
-int SphereGridTopologyClass = core::RegisterObject("Sphere grid in 3D")
-        .addAlias("SphereGrid")
-        .add< SphereGridTopology >()
-        ;
+void registerSphereGridTopology(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Sphere grid in 3D.")
+        .add< SphereGridTopology >());
+}
 
 SphereGridTopology::SphereGridTopology(int nx, int ny, int nz)
     : GridTopology(nx, ny, nz)
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/init.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/init.cpp
index a134bb36d20..59702ee2338 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/init.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/init.cpp
@@ -21,13 +21,24 @@
 ******************************************************************************/
 #include <sofa/component/topology/container/grid/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology::container::grid
 {
-    
+
+extern void registerCylinderGridTopology(sofa::core::ObjectFactory* factory);
+extern void registerGridTopology(sofa::core::ObjectFactory* factory);
+extern void registerRegularGridTopology(sofa::core::ObjectFactory* factory);
+extern void registerSparseGridMultipleTopology(sofa::core::ObjectFactory* factory);
+extern void registerSparseGridRamificationTopology(sofa::core::ObjectFactory* factory);
+extern void registerSparseGridTopology(sofa::core::ObjectFactory* factory);
+extern void registerSphereGridTopology(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +56,25 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerCylinderGridTopology(factory);
+    registerGridTopology(factory);
+    registerRegularGridTopology(factory);
+    registerSparseGridMultipleTopology(factory);
+    registerSparseGridRamificationTopology(factory);
+    registerSparseGridTopology(factory);
+    registerSphereGridTopology(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp b/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp
index ff104b239f8..99b3ffeac8d 100644
--- a/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp
+++ b/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp
@@ -25,6 +25,9 @@
 #include <sofa/component/topology/container/dynamic/init.h>
 #include <sofa/component/topology/container/grid/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology::container
 {
 
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,6 +53,13 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container.Constant");
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container.Dynamic");
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container.Grid");
+}
+
 void init()
 {
     static bool first = true;
@@ -59,6 +70,9 @@ void init()
         sofa::component::topology::container::dynamic::init();
         sofa::component::topology::container::grid::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/CenterPointTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/CenterPointTopologicalMapping.cpp
index 4e9ad9e2c77..c53d1e9b848 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/CenterPointTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/CenterPointTopologicalMapping.cpp
@@ -31,14 +31,15 @@
 
 namespace sofa::component::topology::mapping
 {
-using namespace sofa::defaulttype;
+
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int CenterPointTopologicalMappingClass = core::RegisterObject ( "" )
-        .add< CenterPointTopologicalMapping >()
-        ;
+void registerCenterPointTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where each primitive in the input topology will be mapped to a point in the output topology.")
+        .add< CenterPointTopologicalMapping >());
+}
 
 // Implementation
 CenterPointTopologicalMapping::CenterPointTopologicalMapping ()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Edge2QuadTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Edge2QuadTopologicalMapping.cpp
index 2f5bcfe4a2a..4b46f4c3194 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Edge2QuadTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Edge2QuadTopologicalMapping.cpp
@@ -39,11 +39,11 @@ using namespace sofa::defaulttype;
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int Edge2QuadTopologicalMappingClass = core::RegisterObject("Special case of mapping where EdgeSetTopology is converted to QuadSetTopology.")
-        .add< Edge2QuadTopologicalMapping >()
-
-        ;
+void registerEdge2QuadTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where EdgeSetTopology is converted to QuadSetTopology.")
+        .add< Edge2QuadTopologicalMapping >());
+}
 
 // Implementation
 Edge2QuadTopologicalMapping::Edge2QuadTopologicalMapping()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.cpp
index c7a9f35ef73..c749876cfe9 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.cpp
@@ -42,18 +42,14 @@
 namespace sofa::component::topology::mapping
 {
 
-using namespace sofa::defaulttype;
-
 using namespace sofa::component::topology;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int Hexa2QuadTopologicalMappingClass = core::RegisterObject("Special case of mapping where HexahedronSetTopology is converted to QuadSetTopology")
-        .add< Hexa2QuadTopologicalMapping >()
-
-        ;
-
-// Implementation
+void registerHexa2QuadTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where HexahedronSetTopology is converted to QuadSetTopology")
+        .add< Hexa2QuadTopologicalMapping >());
+}
 
 Hexa2QuadTopologicalMapping::Hexa2QuadTopologicalMapping()
     : sofa::core::topology::TopologicalMapping()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp
index 818c9de3f78..3a0ff141ab2 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp
@@ -41,18 +41,14 @@
 namespace sofa::component::topology::mapping
 {
 
-using namespace sofa::defaulttype;
-
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int Hexa2TetraTopologicalMappingClass = core::RegisterObject("Special case of mapping where HexahedronSetTopology is converted to TetrahedronSetTopology")
-        .add< Hexa2TetraTopologicalMapping >()
-
-        ;
-
-// Implementation
+void registerHexa2TetraTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where HexahedronSetTopology is converted to TetrahedronSetTopology")
+        .add< Hexa2TetraTopologicalMapping >());
+}
 
 Hexa2TetraTopologicalMapping::Hexa2TetraTopologicalMapping()
     : sofa::core::topology::TopologicalMapping()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/IdentityTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/IdentityTopologicalMapping.cpp
index 04f1d379292..12334c60a8a 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/IdentityTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/IdentityTopologicalMapping.cpp
@@ -48,16 +48,14 @@
 namespace sofa::component::topology::mapping
 {
 
-using namespace sofa::defaulttype;
-
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int IdentityTopologicalMappingClass = core::RegisterObject("This class is a specific implementation of TopologicalMapping where the destination topology should be kept identical to the source topology. The implementation currently assumes that both topology have been initialized identically.")
-        .add< IdentityTopologicalMapping >()
-
-        ;
+void registerIdentityTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("TopologicalMapping where the destination topology should be kept identical to the source topology. The implementation currently assumes that both topology have been initialized identically.")
+        .add< IdentityTopologicalMapping >());
+}
 
 IdentityTopologicalMapping::IdentityTopologicalMapping()
 {
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Quad2TriangleTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Quad2TriangleTopologicalMapping.cpp
index 1d949df3185..9158923af67 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Quad2TriangleTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Quad2TriangleTopologicalMapping.cpp
@@ -53,13 +53,11 @@ typedef BaseMeshTopology In;
 /// Output Topology
 typedef BaseMeshTopology Out;
 
-// Register in the Factory
-int Quad2TriangleTopologicalMappingClass = core::RegisterObject("Special case of mapping where QuadSetTopology is converted to TriangleSetTopology")
-        .add< Quad2TriangleTopologicalMapping >()
-
-        ;
-
-// Implementation
+void registerQuad2TriangleTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where QuadSetTopology is converted to TriangleSetTopology")
+        .add< Quad2TriangleTopologicalMapping >());
+}
 
 Quad2TriangleTopologicalMapping::Quad2TriangleTopologicalMapping()
     : sofa::core::topology::TopologicalMapping()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.cpp
index efbda7a7405..3330149e011 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.cpp
@@ -47,16 +47,14 @@
 namespace sofa::component::topology::mapping
 {
 
-using namespace sofa::defaulttype;
-
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int SubsetTopologicalMappingClass = core::RegisterObject("This class is a specific implementation of TopologicalMapping where the destination topology is a subset of the source topology. The implementation currently assumes that both topologies have been initialized correctly.")
-        .add< SubsetTopologicalMapping >()
-
-        ;
+void registerSubsetTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("TopologicalMapping where the destination topology is a subset of the source topology. The implementation currently assumes that both topologies have been initialized correctly.")
+        .add< SubsetTopologicalMapping >());
+}
 
 SubsetTopologicalMapping::SubsetTopologicalMapping()
     : d_samePoints(initData(&d_samePoints, false, "samePoints", "True if the same set of points is used in both topologies"))
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp
index 5158b94a940..315dab425f9 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp
@@ -42,18 +42,14 @@
 namespace sofa::component::topology::mapping
 {
 
-using namespace sofa::defaulttype;
-
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int Tetra2TriangleTopologicalMappingClass = core::RegisterObject("Special case of mapping where TetrahedronSetTopology is converted to TriangleSetTopology")
-        .add< Tetra2TriangleTopologicalMapping >()
-
-        ;
-
-// Implementation
+void registerTetra2TriangleTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where TetrahedronSetTopology is converted to TriangleSetTopology")
+        .add< Tetra2TriangleTopologicalMapping >());
+}
 
 Tetra2TriangleTopologicalMapping::Tetra2TriangleTopologicalMapping()
     : sofa::core::topology::TopologicalMapping()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Triangle2EdgeTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Triangle2EdgeTopologicalMapping.cpp
index a43dbf4e255..a8c83f5b0a1 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Triangle2EdgeTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Triangle2EdgeTopologicalMapping.cpp
@@ -41,14 +41,14 @@
 namespace sofa::component::topology::mapping
 {
 
-using namespace sofa::defaulttype;
-
 using namespace sofa::component::topology::mapping;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int Triangle2EdgeTopologicalMappingClass = core::RegisterObject("Special case of mapping where TriangleSetTopology is converted to EdgeSetTopology")
-        .add< Triangle2EdgeTopologicalMapping >();
+void registerTriangle2EdgeTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Topological mapping where TriangleSetTopology is converted to EdgeSetTopology")
+        .add< Triangle2EdgeTopologicalMapping >());
+}
 
 Triangle2EdgeTopologicalMapping::Triangle2EdgeTopologicalMapping()
     : sofa::core::topology::TopologicalMapping()
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/init.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/init.cpp
index c84007bf931..7a520cdffd2 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/init.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/init.cpp
@@ -21,13 +21,26 @@
 ******************************************************************************/
 #include <sofa/component/topology/mapping/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology::mapping
 {
-    
+
+extern void registerCenterPointTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerEdge2QuadTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerHexa2QuadTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerHexa2TetraTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerIdentityTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerQuad2TriangleTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerSubsetTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerTetra2TriangleTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerTriangle2EdgeTopologicalMapping(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +58,27 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerCenterPointTopologicalMapping(factory);
+    registerEdge2QuadTopologicalMapping(factory);
+    registerHexa2QuadTopologicalMapping(factory);
+    registerHexa2TetraTopologicalMapping(factory);
+    registerIdentityTopologicalMapping(factory);
+    registerQuad2TriangleTopologicalMapping(factory);
+    registerSubsetTopologicalMapping(factory);
+    registerTetra2TriangleTopologicalMapping(factory);
+    registerTriangle2EdgeTopologicalMapping(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.cpp b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.cpp
index 9532d64031d..f9cacb1af93 100644
--- a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.cpp
+++ b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.cpp
@@ -50,11 +50,11 @@ namespace sofa::component::topology::utility
 using namespace sofa::type;
 using namespace defaulttype;
 
-
-
-int TopologicalChangeProcessorClass = core::RegisterObject("Read topological Changes and process them.")
-        .add< TopologicalChangeProcessor >();
-
+void registerTopologicalChangeProcessor(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Read topological changes and process them.")
+        .add< TopologicalChangeProcessor >());
+}
 
 TopologicalChangeProcessor::TopologicalChangeProcessor()
     : d_filename(initData(&d_filename, "filename", "input file name for topological changes."))
diff --git a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyBoundingTrasher.cpp b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyBoundingTrasher.cpp
index 4f2eda6e674..853dd829362 100644
--- a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyBoundingTrasher.cpp
+++ b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyBoundingTrasher.cpp
@@ -28,11 +28,13 @@
 namespace sofa::component::topology::utility
 {
 
-using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int TopologyBoundingTrasherClass = core::RegisterObject("A class to remove all elements going outside from the given Bounding Box.")
-        .add< TopologyBoundingTrasher<Vec3Types>  >(true);
+void registerTopologyBoundingTrasher(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Component removing all elements going outside from the given bounding box.")
+        .add< TopologyBoundingTrasher<Vec3Types>  >());
+}
 
 template class SOFA_COMPONENT_TOPOLOGY_UTILITY_API TopologyBoundingTrasher<Vec3Types>;
 
diff --git a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyChecker.cpp b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyChecker.cpp
index a2b86bf7270..cc5994e227a 100644
--- a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyChecker.cpp
+++ b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologyChecker.cpp
@@ -33,13 +33,13 @@
 namespace sofa::component::topology::utility
 {
 
-using namespace defaulttype;
 using namespace sofa::core::topology;
 
-
-int TopologyCheckerClass = core::RegisterObject("Read topological Changes and process them.")
-        .add< TopologyChecker >();
-
+void registerTopologyChecker(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Read topological Changes and process them.")
+        .add< TopologyChecker >());
+}
 
 TopologyChecker::TopologyChecker()
     : d_eachStep(initData(&d_eachStep, false, "eachStep", "Check topology at each step"))
diff --git a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/init.cpp b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/init.cpp
index c4cbe818890..fc671fdd1e1 100644
--- a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/init.cpp
+++ b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/init.cpp
@@ -21,13 +21,20 @@
 ******************************************************************************/
 #include <sofa/component/topology/utility/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology::utility
 {
-    
+
+extern void registerTopologicalChangeProcessor(sofa::core::ObjectFactory* factory);
+extern void registerTopologyBoundingTrasher(sofa::core::ObjectFactory* factory);
+extern void registerTopologyChecker(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +52,21 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerTopologicalChangeProcessor(factory);
+    registerTopologyBoundingTrasher(factory);
+    registerTopologyChecker(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Topology/src/sofa/component/topology/init.cpp b/Sofa/Component/Topology/src/sofa/component/topology/init.cpp
index 90c1fb75ffc..145ed36c9ec 100644
--- a/Sofa/Component/Topology/src/sofa/component/topology/init.cpp
+++ b/Sofa/Component/Topology/src/sofa/component/topology/init.cpp
@@ -25,6 +25,9 @@
 #include <sofa/component/topology/mapping/init.h>
 #include <sofa/component/topology/utility/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::topology
 {
 
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,6 +53,13 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container");
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology.Mapping");
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology.Utility");
+}
+
 void init()
 {
     static bool first = true;
@@ -59,6 +70,9 @@ void init()
         sofa::component::topology::mapping::init();
         sofa::component::topology::utility::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 540a98d851b..c9626de10c1 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -86,6 +86,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Haptics");
     factory->registerObjectsFromPlugin("Sofa.Component.Diffusion");
     factory->registerObjectsFromPlugin("Sofa.Component.ODESolver");
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology");
     factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
 }
diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
index 67f2e841145..b2d0cd8f36d 100644
--- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -784,6 +784,15 @@ const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = {
     {"ImplicitEulerSolver", Dealiased("v24.12","EulerImplicitSolver")},
     {"ImplicitEuler", Dealiased("v24.12","EulerImplicitSolver")},
     {"VariationalSolver", Dealiased("v24.12","VariationalSymplecticSolver")},
+    {"Mesh", Dealiased("v24.12","MeshTopology")},
+    {"SphereQuad", Dealiased("v24.12","SphereQuadTopology")},
+    {"CylinderGrid", Dealiased("v24.12","CylinderGridTopology")},
+    {"Grid", Dealiased("v24.12","GridTopology")},
+    {"RegularGrid", Dealiased("v24.12","RegularGridTopology")},
+    {"SparseGridMultiple", Dealiased("v24.12","SparseGridMultipleTopology")},
+    {"SparseGridRamification", Dealiased("v24.12","SparseGridRamificationTopology")},
+    {"SparseGrid", Dealiased("v24.12","SparseGridTopology")},
+    {"SphereGrid", Dealiased("v24.12","SphereGridTopology")},
     {"SVDLinear", Dealiased("v24.12","SVDLinearSolver")},
     {"SVD", Dealiased("v24.12","SVDLinearSolver")},
     {"CGSolver", Dealiased("v24.12","CGLinearSolver")},
@@ -796,7 +805,7 @@ const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = {
     {"SSORLinearSolver", Dealiased("v24.12","SSORPreconditioner")},
     {"SSORSolver", Dealiased("v24.12","SSORPreconditioner")},
     {"RigidEngine", Dealiased("v24.12","RigidToQuatEngine")},
-
+  
 };
 
 } // namespace sofa::helper::lifecycle
diff --git a/applications/projects/SceneChecking/tests/SceneChecker_test.cpp b/applications/projects/SceneChecking/tests/SceneChecker_test.cpp
index b5511140d91..9de8d0bbcf4 100644
--- a/applications/projects/SceneChecking/tests/SceneChecker_test.cpp
+++ b/applications/projects/SceneChecking/tests/SceneChecker_test.cpp
@@ -209,15 +209,15 @@ struct SceneChecker_test : public BaseSimulationTest
 
     void checkUsingAlias(bool sceneWithAlias)
     {
-        const std::string withAlias = "Mesh";
-        const std::string withoutAlias = "MeshTopology";
+        const std::string withAlias = "VisualModel";
+        const std::string withoutAlias = "VisualModelImpl";
         const std::string componentName = sceneWithAlias ? withAlias : withoutAlias;
 
         std::stringstream scene;
         scene << "<?xml version='1.0'?>                                           \n"
               << "<Node name='Root' gravity='0 -9.81 0' time='0' animate='0' >    \n"
               << "    <RequiredPlugin name='Sofa.Component.StateContainer'/>      \n"
-              << "    <RequiredPlugin name='Sofa.Component.Topology.Container.Constant'/>      \n"
+              << "    <RequiredPlugin name='Sofa.Component.Visual'/>              \n"
               << "    <MechanicalObject template='Vec3d' />                       \n"
               << "    <" << componentName << "/>                                  \n"
               << "</Node>                                                         \n";
diff --git a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
index ef74dbb59a4..47d32cedd42 100644
--- a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
+++ b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
@@ -29,7 +29,7 @@
 
     <!-- $$$$$$$$$$$$$$$$$$$$$$ TOPOLOGY 1 $$$$$$$$$$$$$$$$$$$$$$ -->
     <Node name="BEAMVOLUME">
-        <RegularGrid name="HexaTop" n="25 5 5" min="0 0 0" max="0.5 0.1 0.1"/>
+        <RegularGridTopology name="HexaTop" n="25 5 5" min="0 0 0" max="0.5 0.1 0.1"/>
         <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position"/>
         <TetrahedronSetTopologyModifier name="Modifier"/>
         <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="true"/>

From 9e08f22f3dd3373d0137344222074c59d6f3573e Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Mon, 7 Oct 2024 02:09:12 +0200
Subject: [PATCH 14/43] [examples] Remove old tutorials (#5035)

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
---
 examples/Tutorials/OldTutorials/demo1.scn     |  39 -----
 .../Tutorials/OldTutorials/demo1.scn.view     |   2 -
 examples/Tutorials/OldTutorials/demo10.scn    | 125 --------------
 .../Tutorials/OldTutorials/demo10Triangle.scn | 144 ----------------
 examples/Tutorials/OldTutorials/demo2.scn     |  47 -----
 .../Tutorials/OldTutorials/demo2.scn.view     |   2 -
 examples/Tutorials/OldTutorials/demo3.scn     |  89 ----------
 .../Tutorials/OldTutorials/demo3.scn.view     |   2 -
 examples/Tutorials/OldTutorials/demo4.scn     | 126 --------------
 .../Tutorials/OldTutorials/demo4.scn.view     |   2 -
 examples/Tutorials/OldTutorials/demo5.scn     | 133 --------------
 .../Tutorials/OldTutorials/demo5.scn.view     |   2 -
 examples/Tutorials/OldTutorials/demo6.scn     | 143 ---------------
 .../Tutorials/OldTutorials/demo6.scn.view     |   2 -
 .../Tutorials/OldTutorials/demo6Triangle.scn  | 161 -----------------
 .../OldTutorials/demo6Triangle.scn.view       |   2 -
 examples/Tutorials/OldTutorials/demo7.scn     | 145 ----------------
 .../Tutorials/OldTutorials/demo7.scn.view     |   2 -
 .../Tutorials/OldTutorials/demo7Triangle.scn  | 162 -----------------
 .../OldTutorials/demo7Triangle.scn.view       |   2 -
 examples/Tutorials/OldTutorials/demo8.scn     | 146 ----------------
 .../Tutorials/OldTutorials/demo8.scn.view     |   2 -
 .../Tutorials/OldTutorials/demo8Triangle.scn  | 163 ------------------
 .../OldTutorials/demo8Triangle.scn.view       |   2 -
 examples/Tutorials/OldTutorials/demo9.scn     | 148 ----------------
 examples/Tutorials/OldTutorials/tutorial1.scn |  73 --------
 .../Tutorials/OldTutorials/tutorial1.scn.view |   2 -
 examples/Tutorials/OldTutorials/tutorial2.scn |  84 ---------
 .../Tutorials/OldTutorials/tutorial2.scn.view |   2 -
 examples/Tutorials/OldTutorials/tutorial3.scn |  99 -----------
 .../Tutorials/OldTutorials/tutorial3.scn.view |   2 -
 examples/Tutorials/OldTutorials/tutorial4.scn | 105 -----------
 .../Tutorials/OldTutorials/tutorial4.scn.view |   2 -
 .../Tutorials/OldTutorials/tutorial4FEM.scn   | 105 -----------
 .../OldTutorials/tutorial4FEM.scn.view        |   2 -
 35 files changed, 2269 deletions(-)
 delete mode 100644 examples/Tutorials/OldTutorials/demo1.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo1.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo10.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo10Triangle.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo2.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo2.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo3.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo3.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo4.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo4.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo5.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo5.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo6.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo6.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo6Triangle.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo6Triangle.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo7.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo7.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo7Triangle.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo7Triangle.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo8.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo8.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo8Triangle.scn
 delete mode 100644 examples/Tutorials/OldTutorials/demo8Triangle.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/demo9.scn
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial1.scn
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial1.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial2.scn
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial2.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial3.scn
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial3.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial4.scn
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial4.scn.view
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial4FEM.scn
 delete mode 100644 examples/Tutorials/OldTutorials/tutorial4FEM.scn.view

diff --git a/examples/Tutorials/OldTutorials/demo1.scn b/examples/Tutorials/OldTutorials/demo1.scn
deleted file mode 100644
index 6d7280901d5..00000000000
--- a/examples/Tutorials/OldTutorials/demo1.scn
+++ /dev/null
@@ -1,39 +0,0 @@
-<!-- Mechanical MassSpring Group Basic Example -->
-<Node name="root" dt="0.005">
-    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels showMappings" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
-        <MeshGmshLoader name="loader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../loader" showObject="1"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-        </Node>
-        <Node name="M2">
-            <MechanicalObject src="@../loader" dz="10.5" showObject="1" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../loader" dz="21" showObject="1" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        </Node>
-        <Node name="M4">
-            <MechanicalObject src="@../loader" dz="31.5" showObject="1" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../loader" dz="42" showObject="1" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4" object2="@M5" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo1.scn.view b/examples/Tutorials/OldTutorials/demo1.scn.view
deleted file mode 100644
index ef5f276aa54..00000000000
--- a/examples/Tutorials/OldTutorials/demo1.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--21.4245 17.4428 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo10.scn b/examples/Tutorials/OldTutorials/demo10.scn
deleted file mode 100644
index 6f33a7e6d6c..00000000000
--- a/examples/Tutorials/OldTutorials/demo10.scn
+++ /dev/null
@@ -1,125 +0,0 @@
-<Node name="root" dt="0.005">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <DiscreteIntersection />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject dx="0" dy="-10.5" dz="0" />
-        <UniformMass vertexMass="0.37" />
-        <RegularGridTopology nx="3" ny="3" nz="3" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="800" damping="8" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject dx="0" dy="0" dz="0" />
-        <UniformMass vertexMass="0.37" />
-        <RegularGridTopology nx="4" ny="4" nz="4" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="560" damping="5.6" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="#ff8000" dx="0" dy="0" dz="0" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject dx="0" dy="10.5" dz="-4" />
-        <UniformMass vertexMass="0.37" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position"/>
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject dx="0" dy="21" dz="0" />
-        <UniformMass vertexMass="0.37" />
-        <RegularGridTopology nx="6" ny="6" nz="6" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="280" damping="2.8" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="#801080"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position"/>
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <!--
-	<Node name="M5">
-		<EulerImplicitSolver />
-		<CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
-		<MechanicalObject dx="-4" dy="31.5" dz="-4"/>
-		<UniformMass mass="0.37"/>
-		<RegularGridTopology
-			nx="7" ny="7" nz="7"
-			xmin="-3.5" xmax="3.5"
-			ymin="-3.5" ymax="3.5"
-			zmin="-3.5" zmax="3.5"
-			/>
-		<RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
-		<Node name="Visu">
-			<OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-			<BarycentricMapping input="@.." output="@Visual" />
-		</Node>
-		<Node name="Surf">
-			<SphereLoader filename="mesh/smCube27b.sph" />
-			<MechanicalObject position="@[-1].position" />
-			<SphereCollisionModel listRadius="@[-2].position" />
-			<BarycentricMapping />
-		</Node>
-	</Node>
-	-->
-    <SphereLoader filename="mesh/floor.sph" />
-    <MechanicalObject position="@[-1].position" dy="-20" />
-    <SphereCollisionModel name="Floor" listRadius="@[-2].listRadius" simulated="0" moving="0" />
-    <Node>
-        <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo10Triangle.scn b/examples/Tutorials/OldTutorials/demo10Triangle.scn
deleted file mode 100644
index 5fd5d9cc010..00000000000
--- a/examples/Tutorials/OldTutorials/demo10Triangle.scn
+++ /dev/null
@@ -1,144 +0,0 @@
-<Node name="root" dt="0.005">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" draw="1" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.75" />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" threshold="0.000001" tolerance="1e-5"/>
-        <MechanicalObject dx="0" dy="-10.5" dz="0" />
-        <UniformMass vertexMass="0.05" />
-        <RegularGridTopology nx="3" ny="3" nz="3" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="800" damping="8" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" threshold="0.000001" tolerance="1e-5"/>
-        <MechanicalObject dx="2" dy="0" dz="0" />
-        <UniformMass vertexMass="0.05" />
-        <RegularGridTopology nx="4" ny="4" nz="4" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="560" damping="5.6" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="#ff8000"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" threshold="0.000001" tolerance="1e-5"/>
-        <MechanicalObject dx="0" dy="10.5" dz="-4" />
-        <UniformMass vertexMass="0.05" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="red"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" threshold="0.000001" tolerance="1e-5"/>
-        <MechanicalObject dx="0" dy="21" dz="0" />
-        <UniformMass vertexMass="0.05" />
-        <RegularGridTopology nx="6" ny="6" nz="6" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="#801080"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <!--
-	<Node name="M5">
-		<EulerImplicitSolver />
-		<CGLinearSolver iterations="100" threshold="0.000001" tolerance="1e-5"/>
-		<MechanicalObject dx="-4" dy="31.5" dz="-4"/>
-		<UniformMass mass="0.05"/>
-		<RegularGridTopology
-			nx="7" ny="7" nz="7"
-			xmin="-3.5" xmax="3.5"
-			ymin="-3.5" ymax="3.5"
-			zmin="-3.5" zmax="3.5"
-			/>
-		<RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
-		<Node name="Visu">
-			<OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-			<BarycentricMapping input="@.." output="@Visual" />
-		</Node>
-		<Node name="Surf">
-			<MeshOBJLoader filename="mesh/smCube27.obj"  name="loader"/>
-			<MeshTopology src="@loader" />
-			<MechanicalObject src="@loader" />
-			<TriangleCollisionModel />
-			<LineCollisionModel />
-			<PointCollisionModel />
-			<BarycentricMapping />
-		</Node>
-	</Node>
-	-->
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor3.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-20" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor3.obj" texturename="textures/floor.bmp" dy="-20" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo2.scn b/examples/Tutorials/OldTutorials/demo2.scn
deleted file mode 100644
index 322db51c3cf..00000000000
--- a/examples/Tutorials/OldTutorials/demo2.scn
+++ /dev/null
@@ -1,47 +0,0 @@
-<!-- Mechanical MassSpring+Rigid Basic Example -->
-<Node name="root" dt="0.01">
-    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels showMappings" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="10" tolerance="1e-5" threshold="1e-5"/>
-        <MeshGmshLoader name="loader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../loader" showObject="1"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="10.5" showObject="1"/>
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../loader" dz="21" showObject="1"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="31.5" showObject="1"/>
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../loader" dz="42" showObject="1"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <!--
-		-->
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo2.scn.view b/examples/Tutorials/OldTutorials/demo2.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo2.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo3.scn b/examples/Tutorials/OldTutorials/demo3.scn
deleted file mode 100644
index ea266f58de0..00000000000
--- a/examples/Tutorials/OldTutorials/demo3.scn
+++ /dev/null
@@ -1,89 +0,0 @@
-<!-- Mechanical+Visual Basic Example -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields showCollisionModels" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
-        <MeshGmshLoader name="loader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../loader" dz="-21.0" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../loader" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../loader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo3.scn.view b/examples/Tutorials/OldTutorials/demo3.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo3.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo4.scn b/examples/Tutorials/OldTutorials/demo4.scn
deleted file mode 100644
index 7e91f57e0c0..00000000000
--- a/examples/Tutorials/OldTutorials/demo4.scn
+++ /dev/null
@@ -1,126 +0,0 @@
-<!-- Mechanical+Visual+Collision Basic Example -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields showCollisionModels" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" threshold="1e-5" tolerance="1e-5"/>
-        <MeshGmshLoader name="loader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../loader" dz="-21.0" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-                <Node name="Surf">
-                    <MechanicalObject />
-                    <SphereLoader filename="mesh/smCube27b.sph" />
-                    <SphereCollisionModel listRadius="@[-1].listRadius" />
-                    <IdentityMapping />
-                </Node>
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../loader" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-                <Node name="Surf">
-                    <MechanicalObject />
-                    <SphereLoader filename="mesh/smCube27b.sph" />
-                    <SphereCollisionModel listRadius="@[-1].listRadius" />
-                    <IdentityMapping />
-                </Node>
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../loader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/dragon.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo4.scn.view b/examples/Tutorials/OldTutorials/demo4.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo4.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo5.scn b/examples/Tutorials/OldTutorials/demo5.scn
deleted file mode 100644
index 7c225a6884d..00000000000
--- a/examples/Tutorials/OldTutorials/demo5.scn
+++ /dev/null
@@ -1,133 +0,0 @@
-<!-- Mechanical+Visual+Collision+BarycentricMapping Example -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields showCollisionModels" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MeshGmshLoader name="loader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../loader" dz="-21.0" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject dz="-21.0" />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-           <MechanicalObject src="@../loader" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader" />
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M5">
-           <MechanicalObject src="@../loader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject dz="21" />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../loader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/dragon.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo5.scn.view b/examples/Tutorials/OldTutorials/demo5.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo5.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo6.scn b/examples/Tutorials/OldTutorials/demo6.scn
deleted file mode 100644
index e1b35d507e9..00000000000
--- a/examples/Tutorials/OldTutorials/demo6.scn
+++ /dev/null
@@ -1,143 +0,0 @@
-<!-- Hierarchical Group Basic Test -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <DiscreteIntersection />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="10" tolerance="1e-5" threshold="1e-5"/>
-        <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../meshLoader" dz="-21.0"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <MechanicalObject position="@[-1].position" translation="0 0 -21.0" />
-                <SphereCollisionModel listRadius="@[-2].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../meshLoader"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../meshLoader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject dz="21" />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/dragon.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-    <MechanicalObject dy="-20" />
-    <SphereLoader filename="mesh/floor.sph"/>
-    <SphereCollisionModel listRadius="@[-1].listRadius"  simulated="0" moving="0" />
-    <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo6.scn.view b/examples/Tutorials/OldTutorials/demo6.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo6.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo6Triangle.scn b/examples/Tutorials/OldTutorials/demo6Triangle.scn
deleted file mode 100644
index 8e8e4d7117c..00000000000
--- a/examples/Tutorials/OldTutorials/demo6Triangle.scn
+++ /dev/null
@@ -1,161 +0,0 @@
-<!-- Hierarchical Group Basic Test -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline depth="6" verbose="0" draw="1" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <!--<ProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.5" useTriangleTriangle="1" useLineTriangle="0"/>-->
-    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.5"  />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../meshLoader" dz="-21.0"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../meshLoader"/>
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../meshLoader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/dragon.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-20" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo6Triangle.scn.view b/examples/Tutorials/OldTutorials/demo6Triangle.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo6Triangle.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo7.scn b/examples/Tutorials/OldTutorials/demo7.scn
deleted file mode 100644
index e36feaf25c5..00000000000
--- a/examples/Tutorials/OldTutorials/demo7.scn
+++ /dev/null
@@ -1,145 +0,0 @@
-<!-- Collision Response Test -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <DiscreteIntersection />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="10" threshold="1e-5" tolerance="1e-5"/>
-        <Node name="M1">
-            <MechanicalObject src="@../../meshLoader" dz="-21.0" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <MechanicalObject dz="-21.0" />
-                <SphereCollisionModel listRadius="@[-2].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../../meshLoader" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../../meshLoader"/>
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../../meshLoader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-            <MeshTopology src="@loader" />
-            <Node name="Surf">
-                <MechanicalObject dz="21" />
-                <SphereLoader filename="mesh/smCube27b.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <BarycentricMapping />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MechanicalObject />
-                <SphereLoader filename="mesh/dragon.sph" />
-                <SphereCollisionModel listRadius="@[-1].listRadius" />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-    <MechanicalObject dy="-20" />
-    <SphereLoader filename="mesh/floor.sph"/>
-    <SphereCollisionModel listRadius="@[-1].listRadius"  simulated="0" moving="0" />
-    <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo7.scn.view b/examples/Tutorials/OldTutorials/demo7.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo7.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo7Triangle.scn b/examples/Tutorials/OldTutorials/demo7Triangle.scn
deleted file mode 100644
index 65b6f54b53d..00000000000
--- a/examples/Tutorials/OldTutorials/demo7Triangle.scn
+++ /dev/null
@@ -1,162 +0,0 @@
-<!-- Hierarchical Group Basic Test -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <Node name="Poutre1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="10" tolerance="1e-5" threshold="1e-5" />
-        <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-        <Node name="M1">
-            <MechanicalObject src="@../meshLoader" dz="-21.0" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <FixedProjectiveConstraint indices="0 3 6 9 12 15 18 21 24" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M2">
-            <MechanicalObject template="Rigid3" dz="-10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader" />
-                <RigidMapping />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="M3">
-            <MechanicalObject src="@../meshLoader" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M4">
-            <MechanicalObject template="Rigid3" dz="10.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader" />
-                <RigidMapping />
-                <Node name="Visu">
-                    <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                    <IdentityMapping input="@.." output="@Visual" />
-                </Node>
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <Node name="M5">
-            <MechanicalObject src="@../meshLoader" dz="21" />
-            <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-            <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <IdentityMapping />
-            </Node>
-        </Node>
-        <Node name="M6">
-            <MechanicalObject template="Rigid3" dz="31.5" />
-            <UniformMass filename="BehaviorModels/rigid.xs3" />
-            <Node name="Points">
-                <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-                <RigidMapping />
-            </Node>
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-                <RigidMapping input="@.." output="@Visual" />
-            </Node>
-            <Node name="Surf">
-                <MeshOBJLoader filename="mesh/dragon.obj" name="loader" />
-                <MeshTopology src="@loader" />
-                <MechanicalObject src="@loader" />
-                <TriangleCollisionModel />
-                <LineCollisionModel />
-                <PointCollisionModel />
-                <RigidMapping />
-            </Node>
-        </Node>
-        <SpringForceField name="ExternalSprings1" filename="BehaviorModels/linkSmCube27.xs3" object1="@M1" object2="@M2/Points" />
-        <SpringForceField name="ExternalSprings2" filename="BehaviorModels/linkSmCube27.xs3" object1="@M2/Points" object2="@M3" />
-        <SpringForceField name="ExternalSprings3" filename="BehaviorModels/linkSmCube27.xs3" object1="@M3" object2="@M4/Points" />
-        <SpringForceField name="ExternalSprings4" filename="BehaviorModels/linkSmCube27.xs3" object1="@M4/Points" object2="@M5" />
-        <SpringForceField name="ExternalSprings5" filename="BehaviorModels/linkSmCube27.xs3" object1="@M5" object2="@M6/Points" />
-    </Node>
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-20" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo7Triangle.scn.view b/examples/Tutorials/OldTutorials/demo7Triangle.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo7Triangle.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo8.scn b/examples/Tutorials/OldTutorials/demo8.scn
deleted file mode 100644
index c6eef70a25c..00000000000
--- a/examples/Tutorials/OldTutorials/demo8.scn
+++ /dev/null
@@ -1,146 +0,0 @@
-<!-- Collision Response Stress Test -->
-<Node name="root" dt="0.005">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <DiscreteIntersection />
-    <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" dz="-21.0" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-        <MeshTopology src="@loader" />
-        <Node name="Surf">
-            <MechanicalObject dz="-21.0" />
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <SphereCollisionModel listRadius="@[-1].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dz="-10.5" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader" />
-            <RigidMapping />
-        </Node>
-        <Node name="Surf">
-            <MechanicalObject />
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <SphereCollisionModel listRadius="@[-1].listRadius" />
-            <RigidMapping />
-        </Node>
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-        <MeshTopology src="@loader" />
-        <Node name="Surf">
-            <MechanicalObject />
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <SphereCollisionModel listRadius="@[-1].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dz="10.5" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader" />
-            <RigidMapping />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="Surf">
-            <MechanicalObject />
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <SphereCollisionModel listRadius="@[-1].listRadius" />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <Node name="M5">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" dz="21" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-        <MeshTopology src="@loader" />
-        <Node name="Surf">
-            <MechanicalObject dz="21" />
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <SphereCollisionModel listRadius="@[-1].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M6">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dz="31.5" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-            <RigidMapping />
-        </Node>
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MechanicalObject />
-            <SphereLoader filename="mesh/dragon.sph" />
-            <SphereCollisionModel listRadius="@[-1].listRadius" />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <MechanicalObject dy="-20" />
-    <SphereLoader filename="mesh/floor.sph"/>
-    <SphereCollisionModel listRadius="@[-1].listRadius"  simulated="0" moving="0" />
-    <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo8.scn.view b/examples/Tutorials/OldTutorials/demo8.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo8.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo8Triangle.scn b/examples/Tutorials/OldTutorials/demo8Triangle.scn
deleted file mode 100644
index ee2e7d1e25e..00000000000
--- a/examples/Tutorials/OldTutorials/demo8Triangle.scn
+++ /dev/null
@@ -1,163 +0,0 @@
-<!-- Hierarchical Group Basic Test -->
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" dz="-21.0" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <IdentityMapping />
-        </Node>
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dz="-10.5" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-            <RigidMapping />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <RigidMapping />
-        </Node>
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <IdentityMapping />
-        </Node>
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dz="10.5" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-            <RigidMapping />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <Node name="M5">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5" />
-        <MechanicalObject src="@../meshLoader" dz="21" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube27.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <IdentityMapping />
-        </Node>
-    </Node>
-    <Node name="M6">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dz="31.5" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-            <RigidMapping />
-        </Node>
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/dragon.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-20" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/demo8Triangle.scn.view b/examples/Tutorials/OldTutorials/demo8Triangle.scn.view
deleted file mode 100644
index 56f3449e944..00000000000
--- a/examples/Tutorials/OldTutorials/demo8Triangle.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--6.8634 15.7104 -75.5591
--0.00692736 -0.695133 0 0.718676
diff --git a/examples/Tutorials/OldTutorials/demo9.scn b/examples/Tutorials/OldTutorials/demo9.scn
deleted file mode 100644
index 2b7471e6f11..00000000000
--- a/examples/Tutorials/OldTutorials/demo9.scn
+++ /dev/null
@@ -1,148 +0,0 @@
-<!-- Collision Response Stress Test -->
-<Node name="root" dt="0.005">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader SphereLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showForceFields" />
-    <CollisionPipeline verbose="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <DiscreteIntersection />
-    <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" dx="0" dy="-10.5" dz="0" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-        <MeshTopology src="@loader" />
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position" dx="0" dy="-10.5" dz="0" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dx="4" dy="0" dz="0" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader" />
-            <RigidMapping />
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <RigidMapping />
-        </Node>
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" dx="0" dy="10.5" dz="-4" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-        <MeshTopology src="@loader" />
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position" dx="0" dy="10.5" dz="-4" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dx="0" dy="21" dz="0" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader"/>
-            <RigidMapping />
-            <Node name="Visu">
-                <OglModel name="Visual" filename="mesh/smCube27.obj" />
-                <IdentityMapping input="@.." output="@Visual" />
-            </Node>
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27.sph" />
-            <MechanicalObject position="@[-1].position" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <Node name="M5">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject src="@../meshLoader" dx="-4" dy="31.5" dz="-4" />
-        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
-        <SpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
-            <IdentityMapping input="@.." output="@Visual" />
-        </Node>
-        <MeshGmshLoader filename="mesh/smCube27.msh" name="loader" />
-        <MeshTopology src="@loader" />
-        <Node name="Surf">
-            <SphereLoader filename="mesh/smCube27b.sph" />
-            <MechanicalObject position="@[-1].position" dx="-4" dy="31.5" dz="-4" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M6">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
-        <MechanicalObject template="Rigid3" dx="0" dy="45" dz="0" />
-        <UniformMass filename="BehaviorModels/rigid.xs3" />
-        <Node name="Points">
-            <MechanicalObject template="Vec3" src="@../../meshLoader" />
-            <RigidMapping />
-        </Node>
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <SphereLoader filename="mesh/dragon.sph" />
-            <MechanicalObject position="@[-1].position" />
-            <SphereCollisionModel listRadius="@[-2].listRadius" />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <SphereLoader filename="mesh/floor.sph" />
-    <MechanicalObject position="@[-1].position" dy="-20" />
-    <SphereCollisionModel listRadius="@[-2].listRadius" simulated="0" moving="0" />
-    <Node>
-        <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/tutorial1.scn b/examples/Tutorials/OldTutorials/tutorial1.scn
deleted file mode 100644
index 819a1e27bd5..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial1.scn
+++ /dev/null
@@ -1,73 +0,0 @@
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="0" dy="0" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="100" damping="1" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="green" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <PlaneForceField normal="0 1 0" d="-10" />
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="-12" dy="0" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="150" poissonRatio="0.49" method="small" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="yellow" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <PlaneForceField normal="0 1 0" d="-10" />
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="-24" dy="0" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="150" poissonRatio="0.3" method="polar" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="cyan" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <PlaneForceField normal="0 1 0" d="-10" />
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.00001" threshold="0.000001" />
-        <MechanicalObject template="Rigid3" dx="-36" />
-        <UniformMass filename="BehaviorModels/smCube125.rigid" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="white" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube125.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <RigidMapping />
-            <PlaneForceField normal="0 1 0" d="-10" />
-        </Node>
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/tutorial1.scn.view b/examples/Tutorials/OldTutorials/tutorial1.scn.view
deleted file mode 100644
index a268647ca4c..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial1.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--17.4652 2.62751 -50.7728
-0.00248989 -0.986682 -0.162642 0.000857851
diff --git a/examples/Tutorials/OldTutorials/tutorial2.scn b/examples/Tutorials/OldTutorials/tutorial2.scn
deleted file mode 100644
index 0de1906dc30..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial2.scn
+++ /dev/null
@@ -1,84 +0,0 @@
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="0" dy="0" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="100" damping="1" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="green" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <PlaneForceField normal="0 1 -0.5" d="-10" />
-        <PlaneForceField normal="0 0 1" d="-50" />
-    </Node>
-    <Node name="M2">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="100" tolerance="0.0001" threshold="0.000000001" />
-        <MechanicalObject dx="-12" dy="0" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="150" poissonRatio="0.3" method="small" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="yellow" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <PlaneForceField normal="0 1 -0.5" d="-10" />
-        <PlaneForceField normal="0 0 1" d="-50" />
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="-24" dy="0" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="150" poissonRatio="0.3" method="polar" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="cyan" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <PlaneForceField normal="0 1 -0.5" d="-10" />
-        <PlaneForceField normal="0 0 1" d="-50" />
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.00001" threshold="0.000001" />
-        <!--
-		<RungeKutta4Solver />
-		<EulerExplicitSolver />
-		-->
-        <MechanicalObject template="Rigid3" dx="-36" />
-        <UniformMass filename="BehaviorModels/smCube125.rigid" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="white" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube125.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <RigidMapping />
-            <PlaneForceField normal="0 1 -0.5" d="-10" />
-            <PlaneForceField normal="0 0 1" d="-50" />
-        </Node>
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/tutorial2.scn.view b/examples/Tutorials/OldTutorials/tutorial2.scn.view
deleted file mode 100644
index 9e6925d2e1d..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial2.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--32.4575 24.5749 -80.9119
-0.0368403 -0.950489 -0.0483001 -0.304763
diff --git a/examples/Tutorials/OldTutorials/tutorial3.scn b/examples/Tutorials/OldTutorials/tutorial3.scn
deleted file mode 100644
index 3afc2a6612d..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial3.scn
+++ /dev/null
@@ -1,99 +0,0 @@
-<Node name="root" dt="0.01">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <CollisionPipeline verbose="0" draw="1" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.75" contactDistance="0.5" />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="18" dy="17" dz="29" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <RegularGridSpringForceField name="Springs" stiffness="200" damping="1" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="green"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube125.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M3">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="0" dy="17" dz="29" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="5" ny="5" nz="5" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="300" poissonRatio="0.3" method="polar" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="cyan"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube125.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M4">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.00001" threshold="0.000001" />
-        <!--
-		<RungeKutta4Solver />
-		<EulerExplicitSolver />
-		-->
-        <MechanicalObject template="Rigid3" dx="-17" dy="16" dz="29" />
-        <UniformMass filename="BehaviorModels/smCube125.rigid" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/smCube125.obj" color="white" />
-            <RigidMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/smCube125.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <RigidMapping />
-        </Node>
-    </Node>
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor2b.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-10.25" scale="0.5" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor2b.obj" scale="0.5" texturename="textures/floor.bmp" color="gray" dy="-10" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/tutorial3.scn.view b/examples/Tutorials/OldTutorials/tutorial3.scn.view
deleted file mode 100644
index ab36d579123..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial3.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--2.85936 -10.5873 -60.4127
-0.000252845 -0.985949 -0.166852 0.00812279
diff --git a/examples/Tutorials/OldTutorials/tutorial4.scn b/examples/Tutorials/OldTutorials/tutorial4.scn
deleted file mode 100644
index 04c345c03e2..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial4.scn
+++ /dev/null
@@ -1,105 +0,0 @@
-<Node name="root" dt="0.03333">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <CollisionPipeline verbose="0" depth="10" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.75" contactDistance="0.5" />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="10" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="0" dy="20" dz="29" />
-        <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" />
-        <RegularGridSpringForceField name="Springs" stiffness="350" damping="1" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/torus2_scale3.obj" color="blue"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/torus2_scale3.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M1">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="20" dy="20" dz="29" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="6" ny="5" nz="3" xmin="-11" xmax="11" ymin="-7" ymax="7" zmin="-4" zmax="4" />
-        <RegularGridSpringForceField name="Springs" stiffness="350" damping="1" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/dragon.obj" color="red"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/dragon.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M1">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="-20" dy="20" dz="29" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="6" ny="3" nz="5" xmin="-10" xmax="8" ymin="-3" ymax="2.5" zmin="-7" zmax="7" />
-        <RegularGridSpringForceField name="Springs" stiffness="350" damping="1" />
-        <Node name="Visu1">
-            <OglModel name="VisualBody" filename="mesh/frog_body.obj" normals="0" color="0.17 0.70 0.05"/>
-            <BarycentricMapping input="@.." output="@VisualBody" />
-        </Node>
-        <Node name="Visu2">
-            <OglModel name="VisualEyes" filename="mesh/frog_eyes.obj" normals="0" color="0.04 0.19 0.52"/>
-            <BarycentricMapping input="@.." output="@VisualEyes" />
-        </Node>
-        <Node name="Visu3">
-            <OglModel name="VisualEyebrows" filename="mesh/frog_eyebrows.obj" normals="0" color="0.44 0.43 0.00"/>
-            <BarycentricMapping input="@.." output="@VisualEyebrows" />
-        </Node>
-        <Node name="Visu4">
-            <OglModel name="VisualLips" filename="mesh/frog_lips.obj" normals="0" color="0.47 0.25 0.03"/>
-            <BarycentricMapping input="@.." output="@VisualLips" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/frog-push25.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor2b.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-10.25" scale="0.5" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor2b.obj" scale="0.5" notexturename="textures/floor.bmp" color="gray" dy="-10" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/tutorial4.scn.view b/examples/Tutorials/OldTutorials/tutorial4.scn.view
deleted file mode 100644
index ab36d579123..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial4.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--2.85936 -10.5873 -60.4127
-0.000252845 -0.985949 -0.166852 0.00812279
diff --git a/examples/Tutorials/OldTutorials/tutorial4FEM.scn b/examples/Tutorials/OldTutorials/tutorial4FEM.scn
deleted file mode 100644
index 42fec0ffbc8..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial4FEM.scn
+++ /dev/null
@@ -1,105 +0,0 @@
-<Node name="root" dt="0.03333">
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
-    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
-    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <CollisionPipeline verbose="0" depth="10" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.75" contactDistance="0.5" />
-    <CollisionResponse name="Response" response="PenalityContactForceField" />
-    <Node name="M1">
-        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="0" dy="20" dz="29" />
-        <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" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="500" poissonRatio="0.3" method="polar" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/torus2_scale3.obj" color="blue"/>
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/torus2_scale3.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M1">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="20" dy="20" dz="29" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="6" ny="5" nz="3" xmin="-11" xmax="11" ymin="-7" ymax="7" zmin="-4" zmax="4" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="500" poissonRatio="0.3" method="polar" />
-        <Node name="Visu">
-            <OglModel name="Visual" filename="mesh/dragon.obj" color="red" />
-            <BarycentricMapping input="@.." output="@Visual" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/dragon.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader"/>
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="M1">
-        <EulerImplicitSolver />
-        <CGLinearSolver iterations="25" tolerance="0.01" threshold="0.000001" />
-        <MechanicalObject dx="-20" dy="20" dz="29" />
-        <UniformMass totalMass="10" />
-        <RegularGridTopology nx="6" ny="3" nz="5" xmin="-10" xmax="8" ymin="-3" ymax="2.5" zmin="-7" zmax="7" />
-        <TetrahedronFEMForceField name="FEM" youngModulus="500" poissonRatio="0.3" method="polar" />
-        <Node name="Visu1">
-            <OglModel name="VisualBody" filename="mesh/frog_body.obj" normals="0" color="0.17 0.70 0.05" />
-            <BarycentricMapping input="@.." output="@VisualBody" />
-        </Node>
-        <Node name="Visu2">
-            <OglModel name="VisualEyes" filename="mesh/frog_eyes.obj" normals="0" color="0.04 0.19 0.52" />
-            <BarycentricMapping input="@.." output="@VisualEyes" />
-        </Node>
-        <Node name="Visu3">
-            <OglModel name="VisualEyebrows" filename="mesh/frog_eyebrows.obj" normals="0" color="0.44 0.43 0.00" />
-            <BarycentricMapping input="@.." output="@VisualEyebrows" />
-        </Node>
-        <Node name="Visu4">
-            <OglModel name="VisualLips" filename="mesh/frog_lips.obj" normals="0" color="0.47 0.25 0.03" />
-            <BarycentricMapping input="@.." output="@VisualLips" />
-        </Node>
-        <Node name="Surf">
-            <MeshOBJLoader filename="mesh/frog-push25.obj" name="loader" />
-            <MeshTopology src="@loader" />
-            <MechanicalObject src="@loader" />
-            <TriangleCollisionModel />
-            <LineCollisionModel />
-            <PointCollisionModel />
-            <BarycentricMapping />
-        </Node>
-    </Node>
-    <Node name="Floor">
-        <MeshOBJLoader filename="mesh/floor2b.obj" name="loader" />
-        <MeshTopology src="@loader" />
-        <MechanicalObject src="@loader" dy="-10.25" scale="0.5" />
-        <TriangleCollisionModel name="Floor" simulated="0" moving="0" />
-        <LineCollisionModel name="Floor" simulated="0" moving="0" />
-        <PointCollisionModel name="Floor" simulated="0" moving="0" />
-        <OglModel name="FloorV" filename="mesh/floor2b.obj" scale="0.5" texturename="textures/floor.bmp" color="gray" dy="-10" />
-    </Node>
-</Node>
diff --git a/examples/Tutorials/OldTutorials/tutorial4FEM.scn.view b/examples/Tutorials/OldTutorials/tutorial4FEM.scn.view
deleted file mode 100644
index ab36d579123..00000000000
--- a/examples/Tutorials/OldTutorials/tutorial4FEM.scn.view
+++ /dev/null
@@ -1,2 +0,0 @@
--2.85936 -10.5873 -60.4127
-0.000252845 -0.985949 -0.166852 0.00812279

From d36dcf8a620cda3e9b54a0dc5d48d3e9b4bab6cf Mon Sep 17 00:00:00 2001
From: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date: Mon, 7 Oct 2024 06:57:06 +0200
Subject: [PATCH 15/43] [DefaultAnimationLoop] Add timer for collision begin
 and collision end (#5043)

Add timer for collision begin and collision end

Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../Core/src/sofa/simulation/DefaultAnimationLoop.cpp           | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
index c20b0c0d80b..ad80661f338 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
@@ -240,6 +240,7 @@ void DefaultAnimationLoop::propagateOnlyPositionAndVelocity(const SReal nextTime
 
 void DefaultAnimationLoop::propagateCollisionBeginEvent(const core::ExecParams* params) const
 {
+    SCOPED_TIMER("CollisionBeginEvent");
     CollisionBeginEvent evBegin;
     PropagateEventVisitor eventPropagation( params, &evBegin);
     eventPropagation.execute(m_node);
@@ -247,6 +248,7 @@ void DefaultAnimationLoop::propagateCollisionBeginEvent(const core::ExecParams*
 
 void DefaultAnimationLoop::propagateCollisionEndEvent(const core::ExecParams* params) const
 {
+    SCOPED_TIMER("CollisionEndEvent");
     CollisionEndEvent evEnd;
     PropagateEventVisitor eventPropagation( params, &evEnd);
     eventPropagation.execute(m_node);

From 8e4619c8e8da1e032c7699fd93d87ec220b7d469 Mon Sep 17 00:00:00 2001
From: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date: Tue, 8 Oct 2024 02:05:53 +0200
Subject: [PATCH 16/43] [tools] Deactivate all plugin containing CUDA in its
 name (#5044)

Deactivate all plugin containing CUDA in its name
---
 tools/postinstall-fixup/common.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/postinstall-fixup/common.sh b/tools/postinstall-fixup/common.sh
index 07085a11805..6ffca518e09 100644
--- a/tools/postinstall-fixup/common.sh
+++ b/tools/postinstall-fixup/common.sh
@@ -25,7 +25,6 @@ function clean_default_plugins()
           ShapeMatchingPlugin       \
           SofaAssimp                \
           SofaCarving               \
-          SofaCUDA                  \
           SofaDistanceGrid          \
           SofaEulerianFluid         \
           SofaImplicitField         \
@@ -36,6 +35,7 @@ function clean_default_plugins()
           SofaValidation            \
           STLIB                     \
           VolumetricRendering       \
+          CUDA                      \
       ; do
       disabled_plugins=$disabled_plugins'\|'$plugin
   done

From ffdc263e9d616f3563bc48bedfcc28ac3e5495d6 Mon Sep 17 00:00:00 2001
From: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date: Tue, 8 Oct 2024 06:08:48 +0200
Subject: [PATCH 17/43] [GenericConstraintSolver] FIX Generic constraint solver
 timer (#5045)

FIX Generic constraint solver timer
---
 .../lagrangian/solver/GenericConstraintSolver.cpp           | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
index 93263884467..7a60a110c4e 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
@@ -531,8 +531,6 @@ void GenericConstraintSolver::applyMotionCorrection(
 
 void GenericConstraintSolver::computeAndApplyMotionCorrection(const core::ConstraintParams* cParams, MultiVecId res1, MultiVecId res2) const
 {
-    SCOPED_TIMER("Compute And Apply Motion Correction");
-
     static constexpr auto supportedCorrections = {
         sofa::core::ConstraintOrder::POS_AND_VEL,
         sofa::core::ConstraintOrder::POS,
@@ -544,11 +542,11 @@ void GenericConstraintSolver::computeAndApplyMotionCorrection(const core::Constr
         for (const auto& constraintCorrection : filteredConstraintCorrections())
         {
             {
-                SCOPED_TIMER("ComputeCorrection");
+                SCOPED_TIMER("doComputeCorrection");
                 constraintCorrection->computeMotionCorrectionFromLambda(cParams, this->getDx(), &current_cp->f);
             }
 
-            SCOPED_TIMER("ApplyCorrection");
+            SCOPED_TIMER("doApplyCorrection");
             applyMotionCorrection(cParams, res1, res2, constraintCorrection);
         }
     }

From ac296a34802c44001989f65094265cd65d7ec62e Mon Sep 17 00:00:00 2001
From: erik pernod <erik.pernod@gmail.com>
Date: Tue, 8 Oct 2024 08:18:38 +0200
Subject: [PATCH 18/43] [Engine.Select] Fix MeshSubsetEngine compilation
 (#5046)

[Engine] Fix MeshSubsetEngine compilation
---
 .../src/sofa/component/engine/select/MeshSubsetEngine.inl   | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.inl
index cbc1ece7f81..bed1fa6999b 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.inl
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.inl
@@ -104,9 +104,9 @@ void extractElements(
 template <class DataTypes>
 void MeshSubsetEngine<DataTypes>::doUpdate()
 {
-    helper::ReadAccessor<Data< SeqPositions > > pos(this->inputPosition);
-    const helper::ReadAccessor<Data< SetIndices > >  ind(this->indices);
-    helper::WriteOnlyAccessor<Data< SeqPositions > > opos(this->position);
+    helper::ReadAccessor<Data< SeqPositions > > pos(this->d_inputPosition);
+    const helper::ReadAccessor<Data< SetIndices > >  ind(this->d_indices);
+    helper::WriteOnlyAccessor<Data< SeqPositions > > opos(this->d_position);
 
     opos.resize(ind.size());
     std::map<PointID, PointID> FtoS;

From 95beb4ad5875bf6d146b5de8230853eecc161896 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Tue, 8 Oct 2024 17:26:21 +0900
Subject: [PATCH 19/43] [Core.Collision] NarrowPhaseDetection: disable lighting
 when displaying detection outputs (#5048)

remove lighting when displaying contacts
---
 .../Core/src/sofa/core/collision/NarrowPhaseDetection.cpp      | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Sofa/framework/Core/src/sofa/core/collision/NarrowPhaseDetection.cpp b/Sofa/framework/Core/src/sofa/core/collision/NarrowPhaseDetection.cpp
index afcd04e761e..af9c8208d9d 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/NarrowPhaseDetection.cpp
+++ b/Sofa/framework/Core/src/sofa/core/collision/NarrowPhaseDetection.cpp
@@ -54,6 +54,9 @@ void NarrowPhaseDetection::draw(const core::visual::VisualParams* vparams)
 {
     if(! vparams->displayFlags().getShowDetectionOutputs()) return;
 
+    [[maybe_unused]] auto state = vparams->drawTool()->makeStateLifeCycle();
+    vparams->drawTool()->disableLighting();
+
     std::vector<type::Vec3> points;
 
     for (auto mapIt = m_outputsMap.begin(); mapIt!=m_outputsMap.end() ; ++mapIt)

From 0a8be8e56625dfe6fa47a6fb7f67fbd200320911 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Thu, 10 Oct 2024 06:01:58 +0200
Subject: [PATCH 20/43] [all] Various changes relative to the constraint matrix
 (#5017)

* [all] Various changes relative to the constraint matrix

* rename

* cross-platform random generation
---
 .../LinearSolverConstraintCorrection.h        |  17 +-
 .../LinearSolverConstraintCorrection.inl      |  80 +++++----
 .../lagrangian/correction/config.h.in         |  11 +-
 .../iterative/MatrixLinearSolver.h            |  83 +++++----
 .../iterative/MatrixLinearSolver.inl          |  15 +-
 .../src/sofa/core/behavior/LinearSolver.h     |   6 +
 .../CompressedRowSparseMatrixConstraint.h     | 163 ++++++++++++------
 ...essedRowSparseMatrixConstraintEigenUtils.h |  40 ++++-
 .../CompressedRowSparseMatrixGeneric.h        |   3 +
 .../CompressedRowSparseMatrixMechanical.h     |   7 +-
 .../test/CompressedRowSparseMatrix_test.cpp   |  47 +++++
 Sofa/framework/Type/CMakeLists.txt            |   1 +
 .../sofa/type/trait/is_specialization_of.h    |  81 +++++++++
 13 files changed, 408 insertions(+), 146 deletions(-)
 create mode 100644 Sofa/framework/Type/src/sofa/type/trait/is_specialization_of.h

diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h
index 9c29139a60f..3704981a5e7 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h
@@ -62,7 +62,7 @@ class LinearSolverConstraintCorrection : public sofa::core::behavior::Constraint
 protected:
     LinearSolverConstraintCorrection(sofa::core::behavior::MechanicalState<DataTypes> *mm = nullptr);
 
-    virtual ~LinearSolverConstraintCorrection();
+    ~LinearSolverConstraintCorrection() override;
 public:
     void init() override;
 
@@ -110,13 +110,22 @@ class LinearSolverConstraintCorrection : public sofa::core::behavior::Constraint
     void getBlockDiagonalCompliance(linearalgebra::BaseMatrix* W, int begin, int end) override;
 
 protected:
-    linearalgebra::SparseMatrix<SReal> J; ///< constraint matrix
+    DeprecatedAndRemoved J; ///< use m_constraintMatrix instead
+
+    linearalgebra::SparseMatrix<Real> m_constraintJacobian;
+
+    SOFA_ATTRIBUTE_DEPRECATED__FORCES_IN_LINEARSOLVERCONSTRAINTCORRECTION()
     linearalgebra::FullVector<SReal> F; ///< forces computed from the constraints
 
     /**
-    * @brief Compute the compliance matrix
+    * @brief Convert the constraint matrix
     */
-    virtual void computeJ(sofa::linearalgebra::BaseMatrix* W, const MatrixDeriv& j);
+    void convertConstraintMatrix(sofa::SignedIndex numberOfConstraints, const MatrixDeriv& inputConstraintMatrix);
+
+    virtual void computeJ(sofa::linearalgebra::BaseMatrix* W, const MatrixDeriv& j)
+    {
+        convertConstraintMatrix(W->rowSize(), j);
+    }
 
 
     ////////////////////////// Inherited attributes ////////////////////////////
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
index 2e228d321a8..4abdd39f127 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
@@ -32,6 +32,8 @@
 #include <list>
 
 #include <sofa/component/linearsolver/iterative/GraphScatteredTypes.h>
+#include <sofa/helper/ScopedAdvancedTimer.h>
+
 
 namespace sofa::component::constraint::lagrangian::correction
 {
@@ -84,9 +86,9 @@ void LinearSolverConstraintCorrection<DataTypes>::init()
     }
     else
     {
-        if (l_linearSolver.get()->getTemplateName() == "GraphScattered")
+        if (l_linearSolver->getTemplateName() == "GraphScattered")
         {
-            msg_error() << "Can not use the solver " << l_linearSolver.get()->getName() << " because it is templated on GraphScatteredType";
+            msg_error() << "Can not use the solver " << l_linearSolver->getName() << " because it is templated on GraphScatteredType";
             sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
             return;
         }
@@ -130,21 +132,24 @@ void LinearSolverConstraintCorrection<DataTypes>::init()
 }
 
 template<class TDataTypes>
-void LinearSolverConstraintCorrection<TDataTypes>::computeJ(sofa::linearalgebra::BaseMatrix* W, const MatrixDeriv& c)
+void LinearSolverConstraintCorrection<TDataTypes>::convertConstraintMatrix(const sofa::SignedIndex numberOfConstraints, const MatrixDeriv& inputConstraintMatrix)
 {
-    if(d_componentState.getValue() != ComponentState::Valid)
+    if (d_componentState.getValue() != ComponentState::Valid)
+    {
         return ;
+    }
+
+    SCOPED_TIMER("convertConstraintMatrix");
 
     const unsigned int numDOFs = mstate->getSize();
-    const unsigned int N = Deriv::size();
-    const unsigned int numDOFReals = numDOFs*N;
-    const unsigned int totalNumConstraints = W->rowSize();
+    static constexpr unsigned int N = Deriv::size();
+    const unsigned int numDOFReals = numDOFs * N;
 
-    J.resize(totalNumConstraints, numDOFReals);
+    m_constraintJacobian.resize(numberOfConstraints, numDOFReals);
 
-    MatrixDerivRowConstIterator rowItEnd = c.end();
+    MatrixDerivRowConstIterator rowItEnd = inputConstraintMatrix.end();
 
-    for (MatrixDerivRowConstIterator rowIt = c.begin(); rowIt != rowItEnd; ++rowIt)
+    for (MatrixDerivRowConstIterator rowIt = inputConstraintMatrix.begin(); rowIt != rowItEnd; ++rowIt)
     {
         const int cid = rowIt.index();
 
@@ -153,11 +158,11 @@ void LinearSolverConstraintCorrection<TDataTypes>::computeJ(sofa::linearalgebra:
         for (MatrixDerivColConstIterator colIt = rowIt.begin(); colIt != colItEnd; ++colIt)
         {
             const unsigned int dof = colIt.index();
-            const Deriv n = colIt.val();
+            const Deriv& n = colIt.val();
 
             for (unsigned int r = 0; r < N; ++r)
             {
-                J.add(cid, dof * N + r, n[r]);
+                m_constraintJacobian.add(cid, dof * N + r, n[r]);
             }
         }
     }
@@ -188,19 +193,22 @@ void LinearSolverConstraintCorrection<DataTypes>::addComplianceInConstraintSpace
         break;
     }
 
-    // Compute J
-    this->computeJ(W, cparams->readJ(this->mstate)->getValue());
+    {
+        helper::ReadAccessor inputConstraintMatrix ( *cparams->readJ(this->mstate) );
+        const sofa::SignedIndex numberOfConstraints = W->rowSize();
+        convertConstraintMatrix(numberOfConstraints, inputConstraintMatrix.ref());
+    }
 
     // use the Linear solver to compute J*inv(M)*Jt, where M is the mechanical linear system matrix
-    l_linearSolver.get()->setSystemLHVector(sofa::core::MultiVecDerivId::null());
-    l_linearSolver.get()->addJMInvJt(W, &J, factor);
+    l_linearSolver->setSystemLHVector(sofa::core::MultiVecDerivId::null());
+    l_linearSolver->addJMInvJt(W, &m_constraintJacobian, factor);
 }
 
 
 template<class DataTypes>
 void LinearSolverConstraintCorrection<DataTypes>::rebuildSystem(SReal massFactor, SReal forceFactor)
 {
-    l_linearSolver.get()->rebuildSystem(massFactor, forceFactor);
+    l_linearSolver->rebuildSystem(massFactor, forceFactor);
 }
 
 template<class DataTypes>
@@ -225,7 +233,7 @@ void LinearSolverConstraintCorrection<DataTypes>::getComplianceMatrix(linearalge
     Minv->resize(numDOFReals,numDOFReals);
 
     // use the Linear solver to compute J*inv(M)*Jt, where M is the mechanical linear system matrix
-    l_linearSolver.get()->addJMInvJt(Minv, &J, factor);
+    l_linearSolver->addJMInvJt(Minv, &J, factor);
 }
 
 template< class DataTypes >
@@ -233,9 +241,9 @@ void LinearSolverConstraintCorrection< DataTypes >::computeMotionCorrection(cons
 {
     if (mstate && l_linearSolver.get())
     {
-        l_linearSolver.get()->setSystemRHVector(f);
-        l_linearSolver.get()->setSystemLHVector(dx);
-        l_linearSolver.get()->solveSystem();
+        l_linearSolver->setSystemRHVector(f);
+        l_linearSolver->setSystemLHVector(dx);
+        l_linearSolver->solveSystem();
     }
 }
 
@@ -359,9 +367,9 @@ void LinearSolverConstraintCorrection<DataTypes>::applyContactForce(const linear
             }
         }
     }
-    l_linearSolver.get()->setSystemRHVector(forceID);
-    l_linearSolver.get()->setSystemLHVector(dxID);
-    l_linearSolver.get()->solveSystem();
+    l_linearSolver->setSystemRHVector(forceID);
+    l_linearSolver->setSystemLHVector(dxID);
+    l_linearSolver->solveSystem();
 
     //TODO: tell the solver not to recompute the matrix
 
@@ -529,13 +537,13 @@ void LinearSolverConstraintCorrection<DataTypes>::resetForUnbuiltResolution(SRea
     core::VecDerivId forceID(core::VecDerivId::V_FIRST_DYNAMIC_INDEX);
     core::VecDerivId dxID = core::VecDerivId::dx();
 
-    l_linearSolver.get()->setSystemRHVector(forceID);
-    l_linearSolver.get()->setSystemLHVector(dxID);
+    l_linearSolver->setSystemRHVector(forceID);
+    l_linearSolver->setSystemLHVector(dxID);
 
 
-    systemMatrix_buf   = l_linearSolver.get()->getSystemBaseMatrix();
-    systemRHVector_buf = l_linearSolver.get()->getSystemRHBaseVector();
-    systemLHVector_buf = l_linearSolver.get()->getSystemLHBaseVector();
+    systemMatrix_buf   = l_linearSolver->getSystemBaseMatrix();
+    systemRHVector_buf = l_linearSolver->getSystemRHBaseVector();
+    systemLHVector_buf = l_linearSolver->getSystemLHBaseVector();
     systemLHVector_buf_fullvector = dynamic_cast<linearalgebra::FullVector<Real>*>(systemLHVector_buf); // Cast checking whether the LH vector is a FullVector to improve performances
 
     constexpr const auto derivDim = Deriv::total_size;
@@ -550,7 +558,7 @@ void LinearSolverConstraintCorrection<DataTypes>::resetForUnbuiltResolution(SRea
     }
 
     // Init the internal data of the solver for partial solving
-    l_linearSolver.get()->init_partial_solve();
+    l_linearSolver->init_partial_solve();
 
 
     ///////// new : precalcul des liste d'indice ///////
@@ -687,14 +695,14 @@ void LinearSolverConstraintCorrection<DataTypes>::getBlockDiagonalCompliance(lin
     const SReal factor = l_ODESolver.get()->getPositionIntegrationFactor(); //*m_ODESolver->getPositionIntegrationFactor(); // dt*dt
 
     const unsigned int numDOFs = mstate->getSize();
-    const unsigned int N = Deriv::size();
-    const unsigned int numDOFReals = numDOFs*N;
+    static constexpr unsigned int N = Deriv::size();
+    const unsigned int numDOFReals = numDOFs * N;
 
     // Compute J
     const MatrixDeriv& constraints = mstate->read(core::ConstMatrixDerivId::constraintJacobian())->getValue();
-    const unsigned int totalNumConstraints = W->rowSize();
+    const sofa::SignedIndex totalNumConstraints = W->rowSize();
 
-    J.resize(totalNumConstraints, numDOFReals);
+    m_constraintJacobian.resize(totalNumConstraints, numDOFReals);
 
     for (int i = begin; i <= end; i++)
     {
@@ -715,7 +723,7 @@ void LinearSolverConstraintCorrection<DataTypes>::getBlockDiagonalCompliance(lin
                 const Deriv n = colIt.val();
 
                 for (unsigned int r = 0; r < N; ++r)
-                    J.add(i, dof * N + r, n[r]);
+                    m_constraintJacobian.add(i, dof * N + r, n[r]);
 
                 if (debug!=0)
                 {
@@ -730,7 +738,7 @@ void LinearSolverConstraintCorrection<DataTypes>::getBlockDiagonalCompliance(lin
     }
 
     // use the Linear solver to compute J*inv(M)*Jt, where M is the mechanical linear system matrix
-    l_linearSolver.get()->addJMInvJt(W, &J, factor);
+    l_linearSolver->addJMInvJt(W, &m_constraintJacobian, factor);
 
     // construction of  Vec_I_list_dof : vector containing, for each constraint block, the list of dof concerned
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/config.h.in b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/config.h.in
index b1c84604f66..de54500fa95 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/config.h.in
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/config.h.in
@@ -44,4 +44,13 @@ namespace sofa::component::constraint::lagrangian::correction
     SOFA_ATTRIBUTE_DEPRECATED( \
         "v24.06", "v24.12", \
         "Data renamed according to the guidelines")
-#endif
\ No newline at end of file
+#endif
+
+#ifdef SOFA_BUILD_SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION
+#define SOFA_ATTRIBUTE_DEPRECATED__FORCES_IN_LINEARSOLVERCONSTRAINTCORRECTION()
+#else
+#define SOFA_ATTRIBUTE_DEPRECATED__FORCES_IN_LINEARSOLVERCONSTRAINTCORRECTION() \
+    SOFA_ATTRIBUTE_DEPRECATED( \
+        "v24.12", "v25.06", \
+        "Class member 'LinearSolverConstraintCorrection::F' is not used.")
+#endif
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h
index 79b7f86fa38..a70367e4e74 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h
@@ -36,6 +36,7 @@
 #include <sofa/linearalgebra/RotationMatrix.h>
 #include <sofa/component/linearsystem/TypedMatrixLinearSystem.h>
 #include <sofa/component/linearsolver/iterative/MatrixLinearSystem[GraphScattered].h>
+#include <sofa/type/trait/Rebind.h>
 
 #if SOFA_CORE_ENABLE_CRSMULTIMATRIXACCESSOR
 #include <sofa/core/behavior/CRSMultiMatrixAccessor.h>
@@ -86,25 +87,6 @@ class MatrixLinearSolverInternalData
     typedef sofa::linearalgebra::SparseMatrix<Real> JMatrixType;
     typedef linearalgebra::BaseMatrix ResMatrixType;
 
-    template<typename MReal>
-    JMatrixType * copyJmatrix(linearalgebra::SparseMatrix<MReal> * J)
-    {
-        J_local.clear();
-        J_local.resize(J->rowSize(),J->colSize());
-
-        for (auto jit1 = J->begin(); jit1 != J->end(); jit1++)
-        {
-            auto l = jit1->first;
-            for (auto i1 = jit1->second.begin(); i1 != jit1->second.end(); i1++)
-            {
-                auto c = i1->first;
-                MReal val = i1->second;
-                J_local.set(l,c,val);
-            }
-        }
-        return &J_local;
-    }
-
     void projectForceInConstraintSpace(linearalgebra::BaseVector* r,const linearalgebra::BaseVector* f) {
         for (typename linearalgebra::SparseMatrix<Real>::LineConstIterator jit = J_local.begin(), jitend = J_local.end(); jit != jitend; ++jit) {
             auto row = jit->first;
@@ -121,35 +103,43 @@ class MatrixLinearSolverInternalData
         return &J_local;
     }
 
+    /**
+     * Returns a JMatrixType as a pointer to the input matrix (if the input
+     * matrix type is a JMatrixType), or a copy of the input matrix as a pointer
+     * to the class member @J_local.
+     */
     JMatrixType * getLocalJ(linearalgebra::BaseMatrix * J)
     {
         if (JMatrixType * j = dynamic_cast<JMatrixType *>(J))
         {
             return j;
         }
-        else if (linearalgebra::SparseMatrix<double> * j = dynamic_cast<linearalgebra::SparseMatrix<double> *>(J))
-        {
-            return copyJmatrix(j);
-        }
-        else if (linearalgebra::SparseMatrix<float> * j = dynamic_cast<linearalgebra::SparseMatrix<float> *>(J))
+
+        using OtherReal = std::conditional_t<std::is_same_v<Real, double>, float, double>;
+
+        //in case the matrix J is not the same type as JMatrixType, it is
+        //copied in the local variable. There are 2 cases:
+
+        //Case 1: J can be rebound: the copy is optimized
+        if (auto * j_d = dynamic_cast<sofa::type::rebind_to<JMatrixType, OtherReal> *>(J))
         {
-            return copyJmatrix(j);
+            return convertMatrix(*j_d);
         }
-        else
-        {
-            J_local.clear();
-            J_local.resize(J->rowSize(),J->colSize());
 
-            for (typename JMatrixType::Index j=0; j<J->rowSize(); j++)
+        //Case 2: generic case: slow copy
+        J_local.clear();
+        J_local.resize(J->rowSize(),J->colSize());
+
+        using Index = typename JMatrixType::Index;
+        for (Index j = 0; j < J->rowSize(); ++j)
+        {
+            for (Index i = 0; i < J->colSize(); ++i)
             {
-                for (typename JMatrixType::Index i=0; i<J->colSize(); i++)
-                {
-                    J_local.set(j,i,J->element(j,i));
-                }
+                J_local.set(j, i, J->element(j, i));
             }
-
-            return &J_local;
         }
+
+        return &J_local;
     }
 
     ResMatrixType * getLocalRes(linearalgebra::BaseMatrix * R)
@@ -161,6 +151,27 @@ class MatrixLinearSolverInternalData
     void addLocalRes(linearalgebra::BaseMatrix * /*R*/)
     {}
 
+protected:
+
+    template<typename MReal>
+    JMatrixType * convertMatrix(const linearalgebra::SparseMatrix<MReal>& inputMatrix)
+    {
+        J_local.clear();
+        J_local.resize(inputMatrix.rowSize(), inputMatrix.colSize());
+
+        for (auto jit1 = inputMatrix.begin(); jit1 != inputMatrix.end(); ++jit1)
+        {
+            const auto l = jit1->first;
+            for (auto i1 = jit1->second.begin(); i1 != jit1->second.end(); ++i1)
+            {
+                const auto c = i1->first;
+                const MReal val = i1->second;
+                J_local.set(l, c, val);
+            }
+        }
+        return &J_local;
+    }
+
 private :
     JMatrixType J_local;
 };
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl
index 39297dbb067..c3429b4b1ae 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl
@@ -528,10 +528,10 @@ bool MatrixLinearSolver<Matrix, Vector>::singleThreadAddJMInvJtLocal(Matrix* M,
 template<class Matrix, class Vector>
 bool MatrixLinearSolver<Matrix,Vector>::addMInvJtLocal(Matrix * /*M*/,ResMatrixType * result,const JMatrixType * J, SReal fact)
 {
-    for (typename JMatrixType::Index row=0; row<J->rowSize(); row++)
+    for (typename JMatrixType::Index row = 0; row < J->rowSize(); ++row)
     {
         // STEP 1 : put each line of matrix Jt in the right hand term of the system
-        for (typename JMatrixType::Index i=0; i<J->colSize(); i++)
+        for (typename JMatrixType::Index i = 0; i < J->colSize(); ++i)
         {
             getSystemRHVector()->set(i, J->element(row, i)); // linearSystem.systemMatrix->rowSize()
         }
@@ -540,7 +540,7 @@ bool MatrixLinearSolver<Matrix,Vector>::addMInvJtLocal(Matrix * /*M*/,ResMatrixT
         solveSystem();
 
         // STEP 3 : project the result using matrix J
-        for (typename JMatrixType::Index i=0; i<J->colSize(); i++)
+        for (typename JMatrixType::Index i = 0; i < J->colSize(); ++i)
         {
             result->add(row, i, getSystemRHVector()->element(i) * fact);
         }
@@ -552,7 +552,10 @@ bool MatrixLinearSolver<Matrix,Vector>::addMInvJtLocal(Matrix * /*M*/,ResMatrixT
 template<class Matrix, class Vector>
 bool MatrixLinearSolver<Matrix,Vector>::addJMInvJt(linearalgebra::BaseMatrix* result, linearalgebra::BaseMatrix* J, SReal fact)
 {
-    if (J->rowSize()==0) return true;
+    if (J->rowSize() == 0)
+    {
+        return true;
+    }
 
     const JMatrixType * j_local = internalData.getLocalJ(J);
     ResMatrixType * res_local = internalData.getLocalRes(result);
@@ -585,9 +588,9 @@ bool MatrixLinearSolver<Matrix,Vector>::buildComplianceMatrix(const sofa::core::
         return true;
     }
 
-    executeVisitor(MechanicalGetConstraintJacobianVisitor(cparams,j_local));
+    executeVisitor(MechanicalGetConstraintJacobianVisitor(cparams, j_local));
 
-    return addJMInvJt(result,j_local,fact);
+    return addJMInvJt(result, j_local, fact);
 }
 
 template<class Matrix, class Vector>
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h b/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h
index 2ccd0c27dc0..b2403bfcf55 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h
@@ -130,6 +130,12 @@ class SOFA_CORE_API LinearSolver : public BaseLinearSolver
 
     /// Multiply the inverse of the system matrix by the transpose of the given matrix, and multiply the result with the given matrix J
     ///
+    /// This method can compute the Schur complement of the constrained system:
+    /// W = H A^{-1} H^T, where:
+    /// - A is the mechanical matrix
+    /// - H is the constraints matrix
+    /// - W is the compliance matrix projected in the constraints space
+    ///
     /// @param result the variable where the result will be added
     /// @param J the matrix J to use
     /// @param fact integrator parameter
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
index 9f5fd8643d4..e9083dcb108 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
@@ -25,6 +25,8 @@
 #include <sofa/linearalgebra/CompressedRowSparseMatrixGeneric.h>
 
 #include <numeric>
+#include <sofa/helper/StringUtils.h>
+
 
 namespace sofa::linearalgebra
 {
@@ -83,6 +85,12 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
     typedef typename CRSMatrix::Index KeyType;
     typedef typename CRSMatrix::IndexedBlock IndexedBlock;
 
+    static constexpr sofa::Index NL = CRSMatrix::NL;  ///< Number of rows of a block
+    static constexpr sofa::Index NC = CRSMatrix::NC;  ///< Number of columns of a block
+
+    template<class TBlock2>
+    using rebind_to = CompressedRowSparseMatrixConstraint< TBlock2, Policy >;
+
 public:
     CompressedRowSparseMatrixConstraint()
         : CRSMatrix()
@@ -167,54 +175,72 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
             return m_internal == CompressedRowSparseMatrixConstraint::s_invalidIndex;
         }
 
-        void operator++() // prefix
+        ColConstIterator& operator++() // prefix
         {
-            m_internal++;
+            ++m_internal;
+            return *this;
         }
 
-        void operator++(int) // postfix
+        ColConstIterator operator++(difference_type) // postfix
         {
-            m_internal++;
+            ColConstIterator tmp = *this;
+            ++(*this);
+            return tmp;
         }
 
-        void operator--() // prefix
+        ColConstIterator& operator--() // prefix
         {
-            m_internal--;
+            --m_internal;
+            return *this;
         }
 
-        void operator--(int) // postfix
+        ColConstIterator operator--(difference_type) // postfix
         {
-            m_internal--;
+            ColConstIterator tmp = *this;
+            --(*this);
+            return tmp;
         }
 
-        void operator+=(int i)
+        ColConstIterator& operator+=(difference_type i)
         {
             m_internal += i;
+            return *this;
         }
 
-        void operator-=(int i)
+        ColConstIterator& operator-=(difference_type i)
         {
             m_internal -= i;
+            return *this;
         }
 
-        bool operator==(const ColConstIterator& it2) const
+        bool operator==(const ColConstIterator& other) const
         {
-            return (m_internal == it2.m_internal);
+            return (m_internal == other.m_internal);
         }
 
-        bool operator!=(const ColConstIterator& it2) const
+        bool operator!=(const ColConstIterator& other) const
         {
-            return (m_internal != it2.m_internal);
+            return m_internal != other.m_internal;
         }
 
-        bool operator<(const ColConstIterator& it2) const
+        bool operator<(const ColConstIterator& other) const
         {
-            return m_internal < it2.m_internal;
+            return m_internal < other.m_internal;
         }
 
-        bool operator>(const ColConstIterator& it2) const
+        bool operator>(const ColConstIterator& other) const
         {
-            return m_internal > it2.m_internal;
+            return other < *this;
+        }
+
+        bool operator<=(const ColConstIterator& other) const
+        {
+            return !(other < *this);
+        }
+
+        bool operator>=(const ColConstIterator& other) const
+        {
+            return !(*this < other);
         }
 
     private :
@@ -249,10 +275,9 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
             , m_matrix(it2.m_matrix)
         {}
 
-        RowConstIterator()
-        {}
+        RowConstIterator() = default;
 
-        RowConstIterator&  operator=(const RowConstIterator& other)
+        RowConstIterator& operator=(const RowConstIterator& other)
         {
             if (this != &other)
             {
@@ -262,28 +287,28 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
             return *this;
         }
 
-        Index index() const
+        [[nodiscard]] Index index() const
         {
             return m_matrix->rowIndex[m_internal];
         }
 
-        Index getInternal() const
+        [[nodiscard]] Index getInternal() const
         {
             return m_internal;
         }
 
-        bool isInvalid() const
+        [[nodiscard]] bool isInvalid() const
         {
             return m_internal == CompressedRowSparseMatrixConstraint::s_invalidIndex;
         }
 
-        ColConstIterator begin() const
+        [[nodiscard]] ColConstIterator begin() const
         {
             if (isInvalid())
             {
                 return ColConstIterator(m_internal, s_invalidIndex, m_matrix);
             }
-            Range r = m_matrix->getRowRange(m_internal);
+            const Range r = m_matrix->getRowRange(m_internal);
             return ColConstIterator(m_internal, r.begin(), m_matrix);
         }
 
@@ -293,51 +318,59 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
             {
                 return ColConstIterator(m_internal, s_invalidIndex, m_matrix);
             }
-            Range r = m_matrix->getRowRange(m_internal);
+            const Range r = m_matrix->getRowRange(m_internal);
             return ColConstIterator(m_internal, r.end(), m_matrix);
         }
 
-        RowType row() const
+        [[nodiscard]] RowType row() const
         {
-            Range r = m_matrix->getRowRange(m_internal);
+            const Range r = m_matrix->getRowRange(m_internal);
             return RowType(ColConstIterator(m_internal, r.begin(), m_matrix),
                            ColConstIterator(m_internal, r.end(), m_matrix));
         }
 
-        bool empty() const
+        [[nodiscard]] bool empty() const
         {
-            Range r = m_matrix->getRowRange(m_internal);
+            const Range r = m_matrix->getRowRange(m_internal);
             return r.empty();
         }
 
-        void operator++() // prefix
+        RowConstIterator& operator++() // prefix
         {
-            m_internal++;
+            ++m_internal;
+            return *this;
         }
 
-        void operator++(int) // postfix
+        RowConstIterator operator++(difference_type) // postfix
         {
-            m_internal++;
+            RowConstIterator tmp = *this;
+            ++(*this);
+            return tmp;
         }
 
-        void operator--() // prefix
+        RowConstIterator& operator--() // prefix
         {
-            m_internal--;
+            --m_internal;
+            return *this;
         }
 
-        void operator--(int) // postfix
+        RowConstIterator operator--(difference_type) // postfix
         {
-            m_internal--;
+            RowConstIterator tmp = *this;
+            --(*this);
+            return tmp;
         }
 
-        void operator+=(int i)
+        RowConstIterator& operator+=(difference_type i)
         {
             m_internal += i;
+            return *this;
         }
 
-        void operator-=(int i)
+        RowConstIterator& operator-=(difference_type i)
         {
             m_internal -= i;
+            return *this;
         }
 
         int operator-(const RowConstIterator& it2) const
@@ -345,38 +378,48 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
             return m_internal - it2.m_internal;
         }
 
-        RowConstIterator operator+(int i) const
+        RowConstIterator operator+(difference_type i) const
         {
             RowConstIterator res = *this;
             res += i;
             return res;
         }
 
-        RowConstIterator operator-(int i) const
+        RowConstIterator operator-(difference_type i) const
         {
             RowConstIterator res = *this;
             res -= i;
             return res;
         }
 
-        bool operator==(const RowConstIterator& it2) const
+        bool operator==(const RowConstIterator& other) const
+        {
+            return m_internal == other.m_internal;
+        }
+
+        bool operator!=(const RowConstIterator& other) const
         {
-            return m_internal == it2.m_internal;
+            return !(m_internal == other.m_internal);
         }
 
-        bool operator!=(const RowConstIterator& it2) const
+        bool operator<(const RowConstIterator& other) const
         {
-            return !(m_internal == it2.m_internal);
+            return m_internal < other.m_internal;
         }
 
-        bool operator<(const RowConstIterator& it2) const
+        bool operator>(const RowConstIterator& other) const
         {
-            return m_internal < it2.m_internal;
+            return other < *this;
         }
 
-        bool operator>(const RowConstIterator& it2) const
+        bool operator<=(const RowConstIterator& other) const
         {
-            return m_internal > it2.m_internal;
+            return !(other < *this);
+        }
+
+        bool operator>=(const RowConstIterator& other) const
+        {
+            return !(*this < other);
         }
 
         template <class VecDeriv, typename Real>
@@ -581,10 +624,24 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
         {
             out << "Constraint ID : ";
             out << rowIt.index();
-            for (ColConstIterator colIt = rowIt.begin(); colIt !=  rowIt.end(); ++colIt)
+            const auto colToString = [](const ColConstIterator& colIt)
+            {
+                std::stringstream ss;
+                ss << "dof ID : " << colIt.index() << "  value : " << colIt.val();
+                return ss.str();
+            };
+
+            ColConstIterator colIt = rowIt.begin();
+            const ColConstIterator colItEnd = rowIt.end();
+            if (colIt != colItEnd)
             {
-                out << "  dof ID : " << colIt.index() << "  value : " << colIt.val() << "  ";
+                out << "  " << colToString(colIt++);
+                while(colIt != colItEnd)
+                {
+                    out << "  " << colToString(colIt++);
+                }
             }
+
             out << "\n";
         }
 
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h
index 88da4face8e..434d8758e37 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h
@@ -40,15 +40,19 @@ struct CompressedRowSparseMatrixToEigenSparse
 template <typename TVec>
 struct CompressedRowSparseMatrixToEigenSparseVec
 {
-    typedef typename TVec::Real Real;
     typedef CompressedRowSparseMatrixConstraint< TVec > TCompressedRowSparseMatrix;
+    typedef typename TCompressedRowSparseMatrix::Real Real;
     typedef Eigen::SparseMatrix<Real, Eigen::RowMajor> EigenSparseMatrix;
 
+    EigenSparseMatrix operator() (const TCompressedRowSparseMatrix& mat, std::size_t size) const
+    {
+        SOFA_UNUSED(size);
+        return operator()(mat);
+    }
 
-    EigenSparseMatrix operator() (const TCompressedRowSparseMatrix& mat, std::size_t size)
+    EigenSparseMatrix operator() (const TCompressedRowSparseMatrix& mat) const
     {
-        const std::size_t eigenMatSize = size * TVec::size();
-        EigenSparseMatrix eigenMat(eigenMatSize, eigenMatSize);
+        EigenSparseMatrix eigenMat(mat.nBlockRow * NL, mat.nBlockCol * NC);
 
         sofa::type::vector<Eigen::Triplet<Real> > triplets;
 
@@ -57,25 +61,45 @@ struct CompressedRowSparseMatrixToEigenSparseVec
             for (auto col = row.begin(), colend = row.end(); col !=colend; ++col)
             {
                 const TVec& vec = col.val();
-                const int   colIndex  = col.index() * TVec::size();
+                const int colIndex  = col.index() * NC;
 
                 for (std::size_t i = 0; i < TVec::size(); ++i)
                 {
-                    triplets.emplace_back(row.index(), colIndex + i, vec[i]);
+                    if (row.index() < eigenMat.rows())
+                    {
+                        const auto colInsertion = colIndex + i;
+                        if (colInsertion < eigenMat.cols())
+                        {
+                            triplets.emplace_back(row.index(), colInsertion, vec[i]);
+                        }
+                        else
+                        {
+                            msg_error("CompressedRowSparseMatrixToEigenSparseVec") << "Trying to insert in col " << colInsertion << " whereas matrix size is " << eigenMat.rows() << "x" << eigenMat.cols();
+                        }
+                    }
+                    else
+                    {
+                        msg_error("CompressedRowSparseMatrixToEigenSparseVec") << "Trying to insert in row " << row.index() << " whereas matrix size is " << eigenMat.rows() << "x" << eigenMat.cols();
+                    }
                 }
 
             }
         }
 
-        eigenMat.setFromTriplets(triplets.begin(), triplets.end());;
+        eigenMat.setFromTriplets(triplets.begin(), triplets.end());
 
         return eigenMat;
     }
 
+private:
+
+    static constexpr sofa::Index NL = TCompressedRowSparseMatrix::NL;  ///< Number of rows of a block
+    static constexpr sofa::Index NC = TCompressedRowSparseMatrix::NC;  ///< Number of columns of a block
+
 };
 
 template< int N, typename Real >
-class CompressedRowSparseMatrixToEigenSparse< sofa::type::Vec<N,Real> >
+struct CompressedRowSparseMatrixToEigenSparse< sofa::type::Vec<N,Real> >
     : public  CompressedRowSparseMatrixToEigenSparseVec< sofa::type::Vec<N, Real> >
 {
 
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixGeneric.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixGeneric.h
index 31fd33baf5c..c4ab41990e4 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixGeneric.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixGeneric.h
@@ -105,6 +105,9 @@ class CompressedRowSparseMatrixGeneric : public TPolicy
     typedef typename traits::BlockTranspose BlockTranspose;
     typedef typename traits::Real Real;
 
+    template<class TBlock2>
+    using rebind_to = CompressedRowSparseMatrixGeneric< TBlock2, Policy >;
+
     typedef Matrix Expr;
     enum { category = MATRIX_SPARSE };
     enum { operand = 1 };
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
index 2294d9cf5d2..4083f078909 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
@@ -71,13 +71,16 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     typedef typename CRSMatrix::IndexedBlock IndexedBlock;
     typedef typename CRSMatrix::VecIndexedBlock VecIndexedBlock;
 
+    template<class TBlock2>
+    using rebind_to = CompressedRowSparseMatrixMechanical< TBlock2, Policy >;
+
     typedef Matrix Expr;
     typedef CompressedRowSparseMatrixMechanical<double> matrix_type;
     enum { category = MATRIX_SPARSE };
     enum { operand = 1 };
 
-    enum { NL = CRSMatrix::NL };  ///< Number of rows of a block
-    enum { NC = CRSMatrix::NC };  ///< Number of columns of a block
+    static constexpr sofa::Index NL = traits::NL;  ///< Number of rows of a block
+    static constexpr sofa::Index NC = traits::NC;  ///< Number of columns of a block
 
     /// Size
     Index nRow,nCol;         ///< Mathematical size of the matrix, in scalars
diff --git a/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp b/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp
index 14afd273729..eafbe4ce636 100644
--- a/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp
+++ b/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp
@@ -89,6 +89,34 @@ void generateMatrix(sofa::linearalgebra::CompressedRowSparseMatrix<TBlock>& matr
     matrix.compress();
 }
 
+template<typename TBlock>
+void generateMatrix(sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>& matrix,
+    sofa::SignedIndex nbRows, sofa::SignedIndex nbCols,
+    typename sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>::Real sparsity,
+    long seed)
+{
+    using Matrix = sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>;
+    using Real = typename Matrix::Real;
+    const auto nbNonZero = static_cast<sofa::SignedIndex>(sparsity * static_cast<Real>(nbRows*nbCols));
+
+    sofa::testing::LinearCongruentialRandomGenerator lcg(seed);
+
+    matrix.resizeBlock(nbRows / Matrix::NL, nbCols / Matrix::NC);
+
+    for (sofa::SignedIndex i = 0; i < nbNonZero; ++i)
+    {
+        const auto value = lcg.generateInUnitRange<Real>();
+        const auto row = static_cast<sofa::Index>(lcg.generateInRange(0., nbRows));
+        const auto col = static_cast<sofa::Index>(lcg.generateInRange(0., nbCols));
+
+        auto line = matrix.writeLine(row);
+        TBlock block;
+        block[col % Matrix::NC] = value;
+        line.addCol(col, block);
+    }
+    matrix.compress();
+}
+
 /**
  * Two matrices A and B are generated randomly as CompressedRowSparseMatrix.
  * The test checks the consistency of the results of A^T * B, computed using 3 methods:
@@ -381,3 +409,22 @@ TEST(CompressedRowSparseMatrixConstraint, emptyMatrixGetRowRange)
     checkIterator(begin);
     checkIterator(end);
 }
+
+TEST(CompressedRowSparseMatrixConstraint, ostream)
+{
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::type::Vec3> A;
+
+    generateMatrix(A, 5, 15, 0.1, 7);
+
+    std::stringstream ss;
+    ss << A;
+
+    static const std::string expectedOutput =
+R"(Constraint ID : 0  dof ID : 1  value : 0 0.360985 0  dof ID : 12  value : 0.926981 0 0
+Constraint ID : 2  dof ID : 9  value : 0.451858 0 0
+Constraint ID : 3  dof ID : 6  value : 0.777417 0 0
+Constraint ID : 4  dof ID : 5  value : 0 0 0.474108  dof ID : 7  value : 0 0.983937 0  dof ID : 9  value : 0.238781 0 0
+)";
+
+    EXPECT_EQ(ss.str(), expectedOutput);
+}
diff --git a/Sofa/framework/Type/CMakeLists.txt b/Sofa/framework/Type/CMakeLists.txt
index 30764b338cb..0ac5894d541 100644
--- a/Sofa/framework/Type/CMakeLists.txt
+++ b/Sofa/framework/Type/CMakeLists.txt
@@ -36,6 +36,7 @@ set(HEADER_FILES
     ${SOFATYPESRC_ROOT}/stable_vector.h
     ${SOFATYPESRC_ROOT}/trait/Rebind.h
     ${SOFATYPESRC_ROOT}/trait/is_container.h
+    ${SOFATYPESRC_ROOT}/trait/is_specialization_of.h
     ${SOFATYPESRC_ROOT}/trait/is_vector.h
     ${SOFATYPESRC_ROOT}/vector.h
     ${SOFATYPESRC_ROOT}/vector_Integral.h
diff --git a/Sofa/framework/Type/src/sofa/type/trait/is_specialization_of.h b/Sofa/framework/Type/src/sofa/type/trait/is_specialization_of.h
new file mode 100644
index 00000000000..69a8a797b98
--- /dev/null
+++ b/Sofa/framework/Type/src/sofa/type/trait/is_specialization_of.h
@@ -0,0 +1,81 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <type_traits>
+
+namespace sofa::type::trait
+{
+/**
+ * @brief Trait to check if a type `T` is a specialization of a given template class `Template`.
+ *
+ * The `is_specialization_of` trait is a compile-time check to determine if a type `T`
+ * is a specialization of a particular template class `Template`. This trait works with
+ * template classes that accept any number of template parameters.
+ *
+ * Example usage:
+ * @code
+ * template <typename T1, typename T2>
+ * class Foo {};
+ *
+ * template <typename T>
+ * class Bar {};
+ *
+ * class Baz {};
+ *
+ * static_assert(is_specialization_of<Foo<int, double>, Foo>::value, "Foo<int, double> is a Foo!");
+ * static_assert(is_specialization_of<Bar<int>, Bar>::value, "Bar<int> is a Bar!");
+ * static_assert(!is_specialization_of<int, Foo>::value, "int is not a Foo specialization.");
+ * static_assert(!is_specialization_of<Baz, Bar>::value, "Baz is not a Bar specialization.");
+ * @endcode
+ *
+ * @tparam T The type to be checked. This is the type that you want to determine whether it is a specialization of `Template`.
+ * @tparam Template The template class to check against. This can be any template class that accepts one or more template parameters.
+ */
+template <typename T, template <typename...> class Template>
+struct is_specialization_of : std::false_type {};
+
+/**
+ * @brief Partial specialization for the case where `T` is an instance of `Template<Args...>`.
+ *
+ * This specialization checks if `T` matches the form `Template<Args...>`, meaning `T` is a specialization
+ * of the template class `Template` with specific template parameters `Args...`.
+ *
+ * @tparam Template The template class that `T` is expected to be an instance of.
+ * @tparam Args The actual template parameters used in the instantiation of `Template`.
+ */
+template <template <typename...> class Template, typename... Args>
+struct is_specialization_of<Template<Args...>, Template> : std::true_type {};
+
+/**
+ * @brief Helper variable template to simplify the syntax for checking if `T` is a specialization of `Template`.
+ *
+ * This variable template provides a cleaner and more concise way to use the `is_specialization_of` trait.
+ * Instead of writing `is_specialization_of<T, Template>::value`, you can use `is_specialization_of_v<T, Template>`.
+ *
+ * @tparam T The type to be checked.
+ * @tparam Template The template class to check against.
+ * @see is_specialization_of
+ */
+template <typename T, template <typename...> class Template>
+inline constexpr bool is_specialization_of_v = is_specialization_of<T, Template>::value;
+
+}

From 14820cb28e227a510755b4d6a35d39c09b7e6895 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Fri, 11 Oct 2024 17:18:50 +0900
Subject: [PATCH 21/43] [SolidMechanics] Apply new factory registration
 mechanism (#5027)

* apply new register mechanism to solidmechanics

* fix unit test

* adding nonuniform

* fix meta module mechanism for nonuniform
---
 .../fem/elastic/BeamFEMForceField.cpp         | 19 ++++---
 .../FastTetrahedralCorotationalForceField.cpp | 10 ++--
 .../fem/elastic/HexahedralFEMForceField.cpp   | 10 ++--
 .../HexahedralFEMForceFieldAndMass.cpp        | 11 ++--
 .../fem/elastic/HexahedronFEMForceField.cpp   | 11 ++--
 .../HexahedronFEMForceFieldAndMass.cpp        | 11 ++--
 .../fem/elastic/QuadBendingFEMForceField.cpp  |  8 +--
 .../TetrahedralCorotationalFEMForceField.cpp  | 11 ++--
 .../fem/elastic/TetrahedronFEMForceField.cpp  | 11 ++--
 .../fem/elastic/TriangleFEMForceField.cpp     | 10 ++--
 .../TriangularAnisotropicFEMForceField.cpp    | 10 ++--
 .../fem/elastic/TriangularFEMForceField.cpp   | 10 ++--
 .../elastic/TriangularFEMForceFieldOptim.cpp  | 10 ++--
 .../solidmechanics/fem/elastic/init.cpp       | 39 +++++++++++++-
 .../StandardTetrahedralFEMForceField.cpp      | 10 ++--
 ...etrahedronHyperelasticityFEMForceField.cpp | 12 ++---
 .../solidmechanics/fem/hyperelastic/init.cpp  | 18 ++++++-
 .../hyperelastic/material/PlasticMaterial.cpp | 18 +++++--
 ...exahedronCompositeFEMForceFieldAndMass.cpp | 12 ++---
 .../HexahedronCompositeFEMMapping.cpp         | 15 ++----
 ...nUniformHexahedralFEMForceFieldAndMass.cpp | 10 ++--
 ...nUniformHexahedronFEMForceFieldAndMass.cpp | 11 ++--
 .../solidmechanics/fem/nonuniform/init.cpp    | 33 +++++++++---
 .../component/solidmechanics/fem/init.cpp     | 16 ++++++
 .../spring/AngularSpringForceField.cpp        |  9 ++--
 .../spring/FastTriangularBendingSprings.cpp   | 12 ++---
 .../spring/FrameSpringForceField.cpp          | 13 ++---
 .../spring/GearSpringForceField.cpp           | 12 ++---
 .../spring/JointSpringForceField.cpp          | 13 ++---
 .../spring/MeshSpringForceField.cpp           | 10 ++--
 .../PolynomialRestShapeSpringsForceField.cpp  | 11 ++--
 .../spring/PolynomialSpringsForceField.cpp    | 10 ++--
 .../spring/QuadBendingSprings.cpp             | 12 ++---
 .../spring/QuadularBendingSprings.cpp         | 12 ++---
 .../spring/RegularGridSpringForceField.cpp    | 11 ++--
 .../spring/RepulsiveSpringForceField.cpp      |  9 ++--
 .../spring/RestShapeSpringsForceField.cpp     | 11 ++--
 .../spring/SpringForceField.cpp               | 10 ++--
 .../spring/TriangleBendingSprings.cpp         | 10 ++--
 .../spring/TriangularBendingSprings.cpp       | 12 ++---
 ...TriangularBiquadraticSpringsForceField.cpp | 10 ++--
 .../TriangularQuadraticSpringsForceField.cpp  | 13 ++---
 .../spring/VectorSpringForceField.cpp         | 11 ++--
 .../component/solidmechanics/spring/init.cpp  | 51 ++++++++++++++++++-
 .../TetrahedralTensorMassForceField.cpp       | 10 ++--
 .../TriangularTensorMassForceField.cpp        | 12 ++---
 .../solidmechanics/tensormass/init.cpp        | 17 ++++++-
 .../sofa/component/solidmechanics/init.cpp    | 18 ++++++-
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 .../ParallelImplementationsRegistry_test.cpp  |  4 +-
 50 files changed, 403 insertions(+), 257 deletions(-)

diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.cpp
index ef82818aa5b..cad84bcd07f 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.cpp
@@ -25,17 +25,22 @@
 #include <sofa/core/ObjectFactory.h>
 
 
-namespace sofa::component::solidmechanics::fem::elastic::_beamfemforcefield_
+namespace sofa::component::solidmechanics::fem::elastic
 {
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int BeamFEMForceFieldClass = core::RegisterObject("Beam finite elements")
-        .add< BeamFEMForceField<Rigid3Types> >()
-        ;
+void registerBeamFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Beam finite elements.")
+        .add< BeamFEMForceField<Rigid3Types> >());
+}
+
+namespace _beamfemforcefield_
+{
 
-template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API BeamFEMForceField<Rigid3Types>;
+    template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API BeamFEMForceField<Rigid3Types>;
 
+} // namespace _beamfemforcefield_
 
-} // namespace sofa::component::solidmechanics::fem::elastic::_beamfemforcefield_
\ No newline at end of file
+} // namespace sofa::component::solidmechanics::fem::elastic
\ No newline at end of file
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.cpp
index 3d039596916..b53d9746a7e 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.cpp
@@ -31,11 +31,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int FastTetrahedralCorotationalForceFieldClass = core::RegisterObject("Fast Corotational Tetrahedral Mesh")
-        .add< FastTetrahedralCorotationalForceField<Vec3Types> >()
-
-        ;
+void registerFastTetrahedralCorotationalForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Fast Corotational Tetrahedral Mesh.")
+        .add< FastTetrahedralCorotationalForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API FastTetrahedralCorotationalForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.cpp
index 918d7ffa755..8f1861c8d33 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.cpp
@@ -30,11 +30,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int HexahedralFEMForceFieldClass = core::RegisterObject("Hexahedral finite elements")
-        .add< HexahedralFEMForceField<Vec3Types> >()
-
-        ;
+void registerHexahedralFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements.")
+        .add< HexahedralFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedralFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.cpp
index e7e2606db6d..bb5d20549a4 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.cpp
@@ -30,12 +30,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int HexahedralFEMForceFieldAndMassClass = core::RegisterObject("Hexahedral finite elements with mass")
-        .add< HexahedralFEMForceFieldAndMass<Vec3Types> >()
-
-        ;
+void registerHexahedralFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements with mass")
+        .add< HexahedralFEMForceFieldAndMass<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedralFEMForceFieldAndMass<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.cpp
index 7e17d08bdd9..d0a796b234d 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.cpp
@@ -30,12 +30,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int HexahedronFEMForceFieldClass = core::RegisterObject("Hexahedral finite elements")
-        .add< HexahedronFEMForceField<Vec3Types> >()
-
-        ;
+void registerHexahedronFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements.")
+        .add< HexahedronFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedronFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.cpp
index 983b9b54257..79e828ac592 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.cpp
@@ -29,12 +29,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int HexahedronFEMForceFieldAndMassClass = core::RegisterObject("Hexahedral finite elements with mass")
-        .add< HexahedronFEMForceFieldAndMass<Vec3Types> >()
-
-        ;
+void registerHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements with mass.")
+        .add< HexahedronFEMForceFieldAndMass<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedronFEMForceFieldAndMass<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.cpp
index 6a4303787e1..e28740b453a 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.cpp
@@ -34,9 +34,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int QuadBendingFEMForceFieldClass = core::RegisterObject("Bending Quad finite elements")
-      .add< QuadBendingFEMForceField<Vec3Types> >();
+void registerQuadBendingFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Bending Quad finite elements")
+        .add< QuadBendingFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API QuadBendingFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.cpp
index 9c11046c345..3d88496861e 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.cpp
@@ -31,12 +31,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int TetrahedralCorotationalFEMForceFieldClass = core::RegisterObject("Corotational FEM Tetrahedral finite elements")
-        .add< TetrahedralCorotationalFEMForceField<Vec3Types> >()
-
-        ;
+void registerTetrahedralCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Corotational FEM Tetrahedral finite elements")
+        .add< TetrahedralCorotationalFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TetrahedralCorotationalFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.cpp
index c44b23cb750..853c16850f8 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.cpp
@@ -31,12 +31,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int TetrahedronFEMForceFieldClass = core::RegisterObject("Tetrahedral finite elements")
-        .add< TetrahedronFEMForceField<Vec3Types> >()
-
-        ;
+void registerTetrahedronFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Tetrahedral finite elements.")
+        .add< TetrahedronFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TetrahedronFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.cpp
index adb055b891b..6bb56243188 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.cpp
@@ -31,11 +31,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangleFEMForceFieldClass = core::RegisterObject("Triangular finite elements for static topology")
-        .add< TriangleFEMForceField<Vec3Types> >()
-
-        ;
+void registerTriangleFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Triangular finite elements for static topology.")
+        .add< TriangleFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangleFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.cpp
index 94c3bedb4b7..a0df8632e60 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.cpp
@@ -29,11 +29,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangularAnisotropicFEMForceFieldClass = core::RegisterObject("Triangular finite element model using anisotropic material")
-        .add< TriangularAnisotropicFEMForceField<Vec3Types> >()
-
-        ;
+void registerTriangularAnisotropicFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Triangular finite element model using anisotropic material.")
+        .add< TriangularAnisotropicFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangularAnisotropicFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.cpp
index 05407aa7d17..6224c5da527 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.cpp
@@ -32,11 +32,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangularFEMForceFieldClass = core::RegisterObject("Corotational Triangular finite elements for dynamic topology")
-    .add< TriangularFEMForceField<Vec3Types> >()
-
-    ;
+void registerTriangularFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Corotational Triangular finite elements for dynamic topology.")
+        .add< TriangularFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangularFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.cpp
index e0c76616e40..5b31f4ce4d5 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.cpp
@@ -30,11 +30,11 @@ namespace sofa::component::solidmechanics::fem::elastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangularFEMForceFieldOptimClass = core::RegisterObject("Corotational Triangular finite elements")
-        .add< TriangularFEMForceFieldOptim<Vec3Types> >()
-
-        ;
+void registerTriangularFEMForceFieldOptim(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Corotational Triangular finite elements.")
+        .add< TriangularFEMForceFieldOptim<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangularFEMForceFieldOptim<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/init.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/init.cpp
index 5cb273e843a..db73328f65e 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/init.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/init.cpp
@@ -21,13 +21,30 @@
 ******************************************************************************/
 #include <sofa/component/solidmechanics/fem/elastic/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::solidmechanics::fem::elastic
 {
-    
+
+extern void registerBeamFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerFastTetrahedralCorotationalForceField(sofa::core::ObjectFactory* factory);
+extern void registerHexahedralFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerHexahedralFEMForceFieldAndMass(sofa::core::ObjectFactory* factory);
+extern void registerHexahedronFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory);
+extern void registerQuadBendingFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerTetrahedralCorotationalFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerTetrahedronFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangleFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangularAnisotropicFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangularFEMForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangularFEMForceFieldOptim(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +62,31 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBeamFEMForceField(factory);
+    registerFastTetrahedralCorotationalForceField(factory);
+    registerHexahedralFEMForceField(factory);
+    registerHexahedralFEMForceFieldAndMass(factory);
+    registerHexahedronFEMForceField(factory);
+    registerHexahedronFEMForceFieldAndMass(factory);
+    registerQuadBendingFEMForceField(factory);
+    registerTetrahedralCorotationalFEMForceField(factory);
+    registerTetrahedronFEMForceField(factory);
+    registerTriangleFEMForceField(factory);
+    registerTriangularAnisotropicFEMForceField(factory);
+    registerTriangularFEMForceField(factory);
+    registerTriangularFEMForceFieldOptim(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.cpp
index e51180f60cc..24aa7522ae4 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.cpp
@@ -31,11 +31,11 @@ namespace sofa::component::solidmechanics::fem::hyperelastic
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int StandardTetrahedralFEMForceFieldClass = core::RegisterObject("Generic Tetrahedral finite elements")
-.add< StandardTetrahedralFEMForceField<Vec3Types> >()
-
-;
+void registerStandardTetrahedralFEMForceField(sofa::core::ObjectFactory* factory)
+{
+	factory->registerObjects(core::ObjectRegistrationData("Generic Tetrahedral finite elements.")
+		.add< StandardTetrahedralFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API StandardTetrahedralFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.cpp
index 804a8d681ff..77af2c6b2dd 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.cpp
@@ -31,13 +31,11 @@ namespace sofa::component::solidmechanics::fem::hyperelastic
 
 using namespace sofa::defaulttype;
 
-//////////****************To register in the factory******************
-
-// Register in the Factory
-int TetrahedronHyperelasticityFEMForceFieldClass = core::RegisterObject("Generic Tetrahedral finite elements")
-.add< TetrahedronHyperelasticityFEMForceField<Vec3Types> >()
-
-;
+void registerTetrahedronHyperelasticityFEMForceField(sofa::core::ObjectFactory* factory)
+{
+	factory->registerObjects(core::ObjectRegistrationData("Generic Hyperelastic Tetrahedral finite elements.")
+		.add< TetrahedronHyperelasticityFEMForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API TetrahedronHyperelasticityFEMForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/init.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/init.cpp
index c26f27ac8d9..10d9577fb07 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/init.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/init.cpp
@@ -21,13 +21,19 @@
 ******************************************************************************/
 #include <sofa/component/solidmechanics/fem/hyperelastic/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::solidmechanics::fem::hyperelastic
 {
-    
+    extern void registerPlasticMaterial(sofa::core::ObjectFactory* factory);
+    extern void registerStandardTetrahedralFEMForceField(sofa::core::ObjectFactory* factory);
+    extern void registerTetrahedronHyperelasticityFEMForceField(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +51,21 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerPlasticMaterial(factory);
+    registerStandardTetrahedralFEMForceField(factory);
+    registerTetrahedronHyperelasticityFEMForceField(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp
index 0668c960b85..58ab6a5e6c8 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp
@@ -24,7 +24,11 @@
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/core/ObjectFactory.h>
 #include <Eigen/SVD>
-namespace sofa::component::solidmechanics::fem::hyperelastic::material
+
+namespace sofa::component::solidmechanics::fem::hyperelastic
+{
+
+namespace material
 {
 
 PlasticMaterial::PlasticMaterial()
@@ -112,8 +116,12 @@ void PlasticMaterial::computeStressOnSection(Vec3& Stress, Vec3 Strain, int sect
 
 }
 
-int PlasticMaterialClass = core::RegisterObject("Plastic material")
-.add< PlasticMaterial >()
-;
+} // namespace material
+
+void registerPlasticMaterial(sofa::core::ObjectFactory* factory)
+{
+	factory->registerObjects(core::ObjectRegistrationData("Plastic material.")
+		.add< material::PlasticMaterial >());
+}
 
-} // namespace sofa::component::solidmechanics::fem::hyperelastic::material
+} // namespace sofa::component::solidmechanics::fem::hyperelastic
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.cpp b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.cpp
index f32eb7950ef..7cd06b2985e 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.cpp
@@ -33,14 +33,12 @@ using namespace sofa::core;
 namespace sofa::component::solidmechanics::fem::nonuniform
 {
 
-
-// Register in the Factory
-int HexahedronCompositeFEMForceFieldAndMassClass = RegisterObject("Non uniform Hexahedral finite elements")
-        .add< HexahedronCompositeFEMForceFieldAndMass<Vec3Types> >()
-
-        ;
+void registerHexahedronCompositeFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Non uniform Hexahedral finite elements.")
+        .add< HexahedronCompositeFEMForceFieldAndMass<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_NONUNIFORM_API HexahedronCompositeFEMForceFieldAndMass<Vec3Types>;
 
-
 } // namespace sofa::component::solidmechanics::fem::nonuniform
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.cpp b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.cpp
index 932f6af7ad6..9e90d561539 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.cpp
@@ -32,17 +32,12 @@ using namespace defaulttype;
 using namespace core;
 using namespace core::behavior;
 
-
-// Register in the Factory
-int HexahedronCompositeFEMMappingClass = core::RegisterObject("Set the point to the center of mass of the DOFs it is attached to")
-        .add< HexahedronCompositeFEMMapping< Mapping< Vec3Types, Vec3Types > > >()
-
-//
-
-        ;
+void registerHexahedronCompositeFEMMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the point to the center of mass of the DOFs it is attached to.")
+        .add< HexahedronCompositeFEMMapping< Mapping< Vec3Types, Vec3Types > > >());
+}
 
 template class HexahedronCompositeFEMMapping< Mapping< Vec3Types, Vec3Types > >;
 
-
-
 } // namespace sofa::component::solidmechanics::fem::nonuniform
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.cpp b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.cpp
index 6e6e7cd55d5..82c184871e0 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.cpp
@@ -31,11 +31,11 @@ using namespace sofa::core;
 namespace sofa::component::solidmechanics::fem::nonuniform
 {
 
-// Register in the Factory
-int NonUniformHexahedralFEMForceFieldAndMassClass = RegisterObject("Non uniform Hexahedral finite elements")
-        .add< NonUniformHexahedralFEMForceFieldAndMass<Vec3Types> >()
-
-        ;
+void registerNonUniformHexahedralFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Non uniform Hexahedral finite elements.")
+        .add< NonUniformHexahedralFEMForceFieldAndMass<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_NONUNIFORM_API NonUniformHexahedralFEMForceFieldAndMass<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.cpp b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.cpp
index 14b87a58b5c..f318909f1a6 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.cpp
@@ -31,12 +31,11 @@ using namespace sofa::core;
 namespace sofa::component::solidmechanics::fem::nonuniform
 {
 
-
-// Register in the Factory
-int NonUniformHexahedronFEMForceFieldAndMassClass = RegisterObject("Non uniform Hexahedral finite elements")
-        .add< NonUniformHexahedronFEMForceFieldAndMass<Vec3Types> >()
-
-        ;
+void registerNonUniformHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Non uniform Hexahedral finite elements.")
+        .add< NonUniformHexahedronFEMForceFieldAndMass<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_NONUNIFORM_API NonUniformHexahedronFEMForceFieldAndMass<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/init.cpp b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/init.cpp
index efa2f9139ed..422d91d1d43 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/init.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/init.cpp
@@ -21,22 +21,26 @@
 ******************************************************************************/
 #include <sofa/component/solidmechanics/fem/nonuniform/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::solidmechanics::fem::nonuniform
 {
-    
+  
+extern void registerHexahedronCompositeFEMForceFieldAndMass(sofa::core::ObjectFactory* factory);
+extern void registerHexahedronCompositeFEMMapping(sofa::core::ObjectFactory* factory);
+extern void registerNonUniformHexahedralFEMForceFieldAndMass(sofa::core::ObjectFactory* factory);
+extern void registerNonUniformHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
 {
-    static bool first = true;
-    if (first)
-    {
-        first = false;
-    }
+    init();
 }
 
 const char* getModuleName()
@@ -49,9 +53,24 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerHexahedronCompositeFEMForceFieldAndMass(factory);
+    registerHexahedronCompositeFEMMapping(factory);
+    registerNonUniformHexahedralFEMForceFieldAndMass(factory);
+    registerNonUniformHexahedronFEMForceFieldAndMass(factory);
+}
+
 void init()
 {
-    initExternalModule();
+    static bool first = true;
+    if (first)
+    {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
+        first = false;
+    }
 }
 
 } // namespace sofa::component::solidmechanics::fem::nonuniform
diff --git a/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp b/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp
index 0508bb21f8e..06c8c86b4fd 100644
--- a/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp
@@ -23,6 +23,10 @@
 
 #include <sofa/component/solidmechanics/fem/elastic/init.h>
 #include <sofa/component/solidmechanics/fem/hyperelastic/init.h>
+#include <sofa/component/solidmechanics/fem/nonuniform/init.h>
+
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
 
 namespace sofa::component::solidmechanics::fem
 {
@@ -31,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -48,6 +53,13 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM.Elastic");
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM.HyperElastic");
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM.NonUniform");
+}
+
 void init()
 {
     static bool first = true;
@@ -56,6 +68,10 @@ void init()
         // force dependencies at compile-time
         sofa::component::solidmechanics::fem::elastic::init();
         sofa::component::solidmechanics::fem::hyperelastic::init();
+        sofa::component::solidmechanics::fem::nonuniform::init();
+
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
 
         first = false;
     }
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.cpp
index 6fd8b527bef..4839c4e5d56 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.cpp
@@ -29,10 +29,11 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-int AngularSpringForceFieldClass = core::RegisterObject("Angular springs applied to rotational degrees of freedom of a rigid body or frame")
-        .add< AngularSpringForceField<Rigid3Types> >()
-        ;
+void registerAngularSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Angular springs applied to rotational degrees of freedom of a rigid body or frame.")
+        .add< AngularSpringForceField<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API AngularSpringForceField<Rigid3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.cpp
index e1f29e7b01d..e449b4c6334 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.cpp
@@ -29,15 +29,13 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int FastTriangularBendingSpringsClass = core::RegisterObject("Springs added to a triangular mesh to prevent bending")
-        .add< FastTriangularBendingSprings<Vec3Types> >()
-
-        ;
+void registerFastTriangularBendingSprings(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs added to a triangular mesh to prevent bending.")
+        .add< FastTriangularBendingSprings<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FastTriangularBendingSprings<Vec3Types>;
 
-
-
 } // namespace sofa::component::solidmechanics::spring
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.cpp
index 7f37374074f..ecca0b2fbcc 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.cpp
@@ -31,15 +31,12 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-
-int FrameSpringForceFieldClass = core::RegisterObject ( "Springs for Flexibles" )
-        .add< FrameSpringForceField<Rigid3Types> >()
-
-        ;
+void registerFrameSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs for Flexibles.")
+        .add< FrameSpringForceField<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FrameSpringForceField<Rigid3Types>;
 
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.cpp
index 5a0acaf73e9..92440e1d25e 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.cpp
@@ -33,16 +33,14 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int GearSpringForceFieldClass = core::RegisterObject("Gear springs for Rigids")
-        .add< GearSpringForceField<Rigid3Types> >()
-
-        ;
+void registerGearSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Gear springs for Rigids.")
+        .add< GearSpringForceField<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API GearSpring<defaulttype::Rigid3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API GearSpringForceField<defaulttype::Rigid3Types>;
 
-
 } // namespace sofa::component::solidmechanics::spring
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.cpp
index 99009ac5a19..ae80042b898 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.cpp
@@ -31,14 +31,11 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int JointSpringForceFieldClass = core::RegisterObject("Springs for Rigids")
-        .add< JointSpringForceField<Rigid3Types> >()
-
-        ;
-
+void registerNonUniformHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs for Rigids.")
+        .add< JointSpringForceField<Rigid3Types> >());
+}
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API JointSpringForceField<defaulttype::Rigid3Types>;
 
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.cpp
index 26b526f8e7b..fb7853c51cd 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.cpp
@@ -30,13 +30,13 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-int MeshSpringForceFieldClass = core::RegisterObject("Spring force field acting along the edges of a mesh")
+void registerMeshSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Spring force field acting along the edges of a mesh.")
         .add< MeshSpringForceField<Vec3Types> >()
         .add< MeshSpringForceField<Vec2Types> >()
-        .add< MeshSpringForceField<Vec1Types> >()
-
-        ;
+        .add< MeshSpringForceField<Vec1Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API MeshSpringForceField<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API MeshSpringForceField<Vec2Types>;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.cpp
index d3bda42d41c..d5e74109f6c 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.cpp
@@ -33,12 +33,11 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-SOFA_DECL_CLASS(PolynomialRestShapeSpringsForceField)
-
-
-int PolynomialRestShapeSpringsForceFieldClass = core::RegisterObject("Simple elastic springs applied to given degrees of freedom between their current and rest shape position")
-        .add< PolynomialRestShapeSpringsForceField<Vec3Types> >()
-        ;
+void registerPolynomialRestShapeSpringsForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Simple elastic springs applied to given degrees of freedom between their current and rest shape position.")
+        .add< PolynomialRestShapeSpringsForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API PolynomialRestShapeSpringsForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.cpp
index cd9c19afd33..0ae896cec12 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.cpp
@@ -33,11 +33,11 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-SOFA_DECL_CLASS(PolynomialSpringsForceField)
-
-int PolynomialSpringsForceFieldClass = core::RegisterObject("Simple elastic springs applied to given degrees of freedom between their current and rest shape position")
-        .add< PolynomialSpringsForceField<Vec3Types> >()
-        ;
+void registerPolynomialSpringsForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Simple elastic springs applied to given degrees of freedom between their current and rest shape position.")
+        .add< PolynomialSpringsForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API PolynomialSpringsForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.cpp
index 1f9608facba..4799af2c572 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.cpp
@@ -32,14 +32,12 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int QuadBendingSpringsClass = core::RegisterObject("Springs added to a quad mesh to prevent bending")
+void registerQuadBendingSprings(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs added to a quad mesh to prevent bending.")
         .add< QuadBendingSprings<Vec3Types> >()
-        .add< QuadBendingSprings<Vec2Types> >()
-
-        ;
-
+        .add< QuadBendingSprings<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API QuadBendingSprings<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API QuadBendingSprings<Vec2Types>;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.cpp
index c92abac60df..15497310bd3 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.cpp
@@ -30,14 +30,12 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int QuadularBendingSpringsClass = core::RegisterObject("Springs added to a quad mesh to prevent bending")
-        .add< QuadularBendingSprings<Vec3Types> >()
-
-        ;
+void registerQuadularBendingSprings(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs added to a quad mesh to prevent bending.")
+        .add< QuadularBendingSprings<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API QuadularBendingSprings<Vec3Types>;
 
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RegularGridSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RegularGridSpringForceField.cpp
index c6a34b8d4de..04d744cd4da 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RegularGridSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RegularGridSpringForceField.cpp
@@ -30,19 +30,18 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int RegularGridSpringForceFieldClass = core::RegisterObject("Spring acting on the edges and faces of a regular grid")
+void registerRegularGridSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Spring acting on the edges and faces of a regular grid.")
         .add< RegularGridSpringForceField<Vec3Types> >(true) // default template
         .add< RegularGridSpringForceField<Vec2Types> >()
         .add< RegularGridSpringForceField<Vec1Types> >()
-        .add< RegularGridSpringForceField<Vec6Types> >()
+        .add< RegularGridSpringForceField<Vec6Types> >());
+}
 
-        ;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RegularGridSpringForceField<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RegularGridSpringForceField<Vec2Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RegularGridSpringForceField<Vec1Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RegularGridSpringForceField<Vec6Types>;
 
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.cpp
index 1e7fc7344ae..7b4c3867393 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.cpp
@@ -29,13 +29,14 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int RepulsiveSpringForceFieldClass = core::RegisterObject("Springs which only repell")
+void registerRepulsiveSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs which only repel.")
         .add< RepulsiveSpringForceField<Vec3Types> >()
         .add< RepulsiveSpringForceField<Vec2Types> >()
-        .add< RepulsiveSpringForceField<Vec1Types> >()
+        .add< RepulsiveSpringForceField<Vec1Types> >());
+}
 
-        ;
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RepulsiveSpringForceField<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RepulsiveSpringForceField<Vec2Types>;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.cpp
index 3ba3ea58fe6..3962e7ab93b 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.cpp
@@ -31,19 +31,18 @@
 namespace sofa::component::solidmechanics::spring
 {
 
-using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int RestShapeSpringsForceFieldClass = core::RegisterObject("Elastic springs generating forces on degrees of freedom between their current and rest shape position")
+void registerRestShapeSpringsForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Elastic springs generating forces on degrees of freedom between their current and rest shape position.")
         .add< RestShapeSpringsForceField<Vec3Types> >()
         .add< RestShapeSpringsForceField<Vec1Types> >()
-        .add< RestShapeSpringsForceField<Rigid3Types> >()
-
-        ;
+        .add< RestShapeSpringsForceField<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RestShapeSpringsForceField<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RestShapeSpringsForceField<Vec1Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API RestShapeSpringsForceField<Rigid3Types>;
 
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.cpp
index 58796021534..960f5aee3ea 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.cpp
@@ -30,15 +30,15 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-
-//Register in the Factory
-int SpringForceFieldClass = core::RegisterObject("Springs")
+void registerSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs.")
         .add< SpringForceField<Vec3Types> >()
         .add< SpringForceField<Vec2Types> >()
         .add< SpringForceField<Vec1Types> >()
         .add< SpringForceField<Vec6Types> >()
-        .add< SpringForceField<Rigid3Types> >()
-        ;
+        .add< SpringForceField<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API SpringForceField<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API SpringForceField<Vec2Types>;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.cpp
index e304d600fe9..0df42ff0b20 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.cpp
@@ -31,12 +31,12 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangleBendingSpringsClass = core::RegisterObject("Springs added to a traingular mesh to prevent bending")
+void registerTriangleBendingSprings(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs added to a triangular mesh to prevent bending.")
         .add< TriangleBendingSprings<Vec3Types> >()
-        .add< TriangleBendingSprings<Vec2Types> >()
-
-        ;
+        .add< TriangleBendingSprings<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API TriangleBendingSprings<Vec3Types>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API TriangleBendingSprings<Vec2Types>;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.cpp
index 19824999759..e80a2b16e9d 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.cpp
@@ -29,15 +29,13 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangularBendingSpringsClass = core::RegisterObject("Springs added to a triangular mesh to prevent bending")
-        .add< TriangularBendingSprings<Vec3Types> >()
-
-        ;
+void registerTriangularBendingSprings(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Springs added to a triangular mesh to prevent bending")
+        .add< TriangularBendingSprings<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API TriangularBendingSprings<Vec3Types>;
 
-
-
 } // namespace sofa::component::solidmechanics::spring
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.cpp
index cea767ff2cc..58a1f312a5e 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.cpp
@@ -30,11 +30,11 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangularBiquadraticSpringsForceFieldClass = core::RegisterObject("Biquadratic Springs on a Triangular Mesh")
-        .add< TriangularBiquadraticSpringsForceField<Vec3Types> >()
-
-        ;
+void registerTriangularBiquadraticSpringsForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Biquadratic Springs on a Triangular Mesh.")
+        .add< TriangularBiquadraticSpringsForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API TriangularBiquadraticSpringsForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.cpp
index 1bde55078b9..6c344534728 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.cpp
@@ -31,15 +31,12 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TriangularQuadraticSpringsForceFieldClass = core::RegisterObject("Quadratic Springs on a Triangular Mesh")
-        .add< TriangularQuadraticSpringsForceField<Vec3Types> >()
-
-        ;
+void registerTriangularQuadraticSpringsForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Quadratic Springs on a Triangular Mesh.")
+        .add< TriangularQuadraticSpringsForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API TriangularQuadraticSpringsForceField<Vec3Types>;
 
-
-
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.cpp
index 7178a771b4e..51c3fac9bf9 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.cpp
@@ -30,13 +30,12 @@ namespace sofa::component::solidmechanics::spring
 
 using namespace sofa::defaulttype;
 
-int VectorSpringForceFieldClass = core::RegisterObject("Spring force field acting along the edges of a mesh")
-        .add< VectorSpringForceField<Vec3Types> >()
-
-        ;
+void registerVectorSpringForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Spring force field acting along the edges of a mesh.")
+        .add< VectorSpringForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API VectorSpringForceField<Vec3Types>;
 
-
-
 } // namespace sofa::component::solidmechanics::spring
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp
index eb0545819d8..329e648e6b7 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp
@@ -21,13 +21,36 @@
 ******************************************************************************/
 #include <sofa/component/solidmechanics//spring/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::solidmechanics::spring
 {
-    
+
+extern void registerAngularSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerFastTriangularBendingSprings(sofa::core::ObjectFactory* factory);
+extern void registerFrameSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerGearSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerNonUniformHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory);
+extern void registerMeshSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerPolynomialRestShapeSpringsForceField(sofa::core::ObjectFactory* factory);
+extern void registerPolynomialSpringsForceField(sofa::core::ObjectFactory* factory);
+extern void registerQuadBendingSprings(sofa::core::ObjectFactory* factory);
+extern void registerQuadularBendingSprings(sofa::core::ObjectFactory* factory);
+extern void registerRegularGridSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerRepulsiveSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerRestShapeSpringsForceField(sofa::core::ObjectFactory* factory);
+extern void registerSpringForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangleBendingSprings(sofa::core::ObjectFactory* factory);
+extern void registerTriangularBendingSprings(sofa::core::ObjectFactory* factory);
+extern void registerTriangularBiquadraticSpringsForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangularQuadraticSpringsForceField(sofa::core::ObjectFactory* factory);
+extern void registerVectorSpringForceField(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +68,37 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAngularSpringForceField(factory);
+    registerFastTriangularBendingSprings(factory);
+    registerFrameSpringForceField(factory);
+    registerGearSpringForceField(factory);
+    registerNonUniformHexahedronFEMForceFieldAndMass(factory);
+    registerMeshSpringForceField(factory);
+    registerPolynomialRestShapeSpringsForceField(factory);
+    registerPolynomialSpringsForceField(factory);
+    registerQuadBendingSprings(factory);
+    registerQuadularBendingSprings(factory);
+    registerRegularGridSpringForceField(factory);
+    registerRepulsiveSpringForceField(factory);
+    registerRestShapeSpringsForceField(factory);
+    registerSpringForceField(factory);
+    registerTriangleBendingSprings(factory);
+    registerTriangularBendingSprings(factory);
+    registerTriangularBiquadraticSpringsForceField(factory);
+    registerTriangularQuadraticSpringsForceField(factory);
+    registerVectorSpringForceField(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.cpp b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.cpp
index e674ea9b7c1..6c4126f24a1 100644
--- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.cpp
+++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.cpp
@@ -31,11 +31,11 @@ namespace sofa::component::solidmechanics::tensormass
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int TetrahedralTensorMassForceFieldClass = core::RegisterObject("Linear Elastic Tetrahedral Mesh")
-        .add< TetrahedralTensorMassForceField<Vec3Types> >()
-
-        ;
+void registerTetrahedralTensorMassForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear Elastic Tetrahedral Mesh")
+        .add< TetrahedralTensorMassForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_TENSORMASS_API TetrahedralTensorMassForceField<Vec3Types>;
 
diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.cpp b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.cpp
index cdc9c87d6e3..40e34e44c0c 100644
--- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.cpp
+++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.cpp
@@ -31,14 +31,12 @@ namespace sofa::component::solidmechanics::tensormass
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int TriangularTensorMassForceFieldClass = core::RegisterObject("Linear Elastic Membrane on a Triangular Mesh")
-        .add< TriangularTensorMassForceField<Vec3Types> >()
-
-        ;
+void registerTriangularTensorMassForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Linear Elastic Membrane on a Triangular Mesh")
+        .add< TriangularTensorMassForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_TENSORMASS_API TriangularTensorMassForceField<Vec3Types>;
 
-
 } // namespace sofa::component::solidmechanics::tensormass
diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/init.cpp b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/init.cpp
index 616a70834c0..6caab3e3d3b 100644
--- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/init.cpp
+++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/init.cpp
@@ -21,13 +21,19 @@
 ******************************************************************************/
 #include <sofa/component/solidmechanics//tensormass/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::solidmechanics::tensormass
 {
-    
+
+extern void registerTetrahedralTensorMassForceField(sofa::core::ObjectFactory* factory);
+extern void registerTriangularTensorMassForceField(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +51,20 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerTetrahedralTensorMassForceField(factory);
+    registerTriangularTensorMassForceField(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp b/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp
index 24240906999..a35ec25d9d9 100644
--- a/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp
+++ b/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp
@@ -21,10 +21,13 @@
 ******************************************************************************/
 #include <sofa/component/solidmechanics/init.h>
 
-#include <sofa/component/solidmechanics/spring/init.h>
 #include <sofa/component/solidmechanics/fem/init.h>
+#include <sofa/component/solidmechanics/spring/init.h>
 #include <sofa/component/solidmechanics/tensormass/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::solidmechanics
 {
     
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,16 +53,26 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM");
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.Spring");
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.TensorMass");
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
         // force dependencies at compile-time
-        sofa::component::solidmechanics::spring::init();
         sofa::component::solidmechanics::fem::init();
+        sofa::component::solidmechanics::spring::init();
         sofa::component::solidmechanics::tensormass::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index c9626de10c1..0031dc4c206 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -89,6 +89,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Topology");
     factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
+    factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics");
 }
 
 void init()
diff --git a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
index 6b8d46adccc..1fdfbca5ab7 100644
--- a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
+++ b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
@@ -31,7 +31,9 @@ namespace multithreading
 
 TEST(ParallelImplementationsRegistry, existInObjectFactory)
 {
-    sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); // sequential version will be added to the ObjectFactory
+     // sequential versions will be added to the ObjectFactory
+    sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");
+    sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic");
 
     const auto implementations = ParallelImplementationsRegistry::getImplementations();
 

From a0ab5c1774d4c1c960f87b5235fac8f4e0acd7e3 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Fri, 11 Oct 2024 21:50:41 +0900
Subject: [PATCH 22/43] [Collision] Apply new factory registration mechanism
 (#5033)

* apply new register mechanism to collision

* fix unit tests

* revert caduceus

---------

Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../detection/algorithm/BVHNarrowPhase.cpp    |  8 +++--
 .../algorithm/BruteForceBroadPhase.cpp        |  8 +++--
 .../algorithm/BruteForceDetection.cpp         |  8 +++--
 .../detection/algorithm/CollisionPipeline.cpp |  9 ++---
 .../detection/algorithm/DirectSAP.cpp         |  7 ++--
 .../algorithm/DirectSAPNarrowPhase.cpp        | 11 +++----
 .../collision/detection/algorithm/IncrSAP.cpp | 14 +++-----
 .../detection/algorithm/RayTraceDetection.cpp |  8 +++--
 .../algorithm/RayTraceNarrowPhase.cpp         |  8 +++--
 .../collision/detection/algorithm/init.cpp    | 33 +++++++++++++++++--
 .../intersection/DiscreteIntersection.cpp     |  8 +++--
 .../intersection/LocalMinDistance.cpp         |  9 ++---
 .../intersection/MinProximityIntersection.cpp |  8 +++--
 .../intersection/NewProximityIntersection.cpp |  8 +++--
 .../collision/detection/intersection/init.cpp | 19 +++++++++++
 .../tests/LocalMinDistance_test.cpp           |  1 +
 .../component/collision/detection/init.cpp    | 13 ++++++++
 .../collision/geometry/CubeModel.cpp          |  8 +++--
 .../collision/geometry/CylinderModel.cpp      |  8 +++--
 .../collision/geometry/LineModel.cpp          |  8 +++--
 .../collision/geometry/PointModel.cpp         |  8 +++--
 .../component/collision/geometry/RayModel.cpp |  8 +++--
 .../collision/geometry/SphereModel.cpp        |  9 ++---
 .../collision/geometry/TetrahedronModel.cpp   |  8 +++--
 .../collision/geometry/TriangleModel.cpp      |  8 +++--
 .../geometry/TriangleModelInRegularGrid.cpp   |  8 +++--
 .../geometry/TriangleOctreeModel.cpp          |  6 +++-
 .../component/collision/geometry/init.cpp     | 32 +++++++++++++++++-
 .../Collision/Geometry/tests/Sphere_test.cpp  |  1 +
 .../response/contact/CollisionResponse.cpp    |  9 ++---
 .../response/contact/ContactListener.cpp      |  6 +++-
 .../contact/PenalityContactForceField.cpp     | 10 +++---
 .../contact/RuleBasedContactManager.cpp       |  9 ++---
 .../collision/response/contact/init.cpp       | 21 +++++++++++-
 .../collision/response/mapper/init.cpp        | 11 +++++++
 .../component/collision/response/init.cpp     | 13 ++++++++
 .../src/sofa/component/collision/init.cpp     | 14 ++++++++
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 .../src/sofa/helper/ComponentChange.cpp       |  7 +++-
 .../ParallelImplementationsRegistry_test.cpp  |  6 ++--
 40 files changed, 300 insertions(+), 99 deletions(-)

diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BVHNarrowPhase.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BVHNarrowPhase.cpp
index 577b23bc536..d0d337c08d7 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BVHNarrowPhase.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BVHNarrowPhase.cpp
@@ -29,9 +29,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int BVHNarrowPhaseClass = core::RegisterObject("Narrow phase collision detection based on boundary volume hierarchy")
-        .add< BVHNarrowPhase >()
-;
+void registerBVHNarrowPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Narrow phase collision detection based on boundary volume hierarchy.")
+        .add< BVHNarrowPhase >());
+}
 
 BVHNarrowPhase::BVHNarrowPhase() : core::collision::NarrowPhaseDetection()
 {}
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.cpp
index 4796f97bdf7..56d134f35f0 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.cpp
@@ -28,9 +28,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int BruteForceBroadPhaseClass = core::RegisterObject("Broad phase collision detection using extensive pair-wise tests")
-        .add< BruteForceBroadPhase >()
-;
+void registerBruteForceBroadPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Broad phase collision detection using extensive pair-wise tests.")
+        .add< BruteForceBroadPhase >());
+}
 
 BruteForceBroadPhase::BruteForceBroadPhase()
         : d_box(initData(&d_box, "box", "if not empty, objects that do not intersect this bounding-box will be ignored"))
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceDetection.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceDetection.cpp
index b52be478212..3989d4a7982 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceDetection.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceDetection.cpp
@@ -27,9 +27,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int BruteForceDetectionClass = core::RegisterObject(
-        "Combination of brute force broad phase and BVH narrow phase collision detection")
-        .add<BruteForceDetection>();
+void registerBruteForceDetection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Combination of brute force broad phase and BVH narrow phase collision detection.")
+        .add<BruteForceDetection>());
+}
 
 void BruteForceDetection::init()
 {
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp
index 24209c2362d..309eafe5ea2 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp
@@ -48,10 +48,11 @@ using namespace core::objectmodel;
 using namespace core::collision;
 using namespace sofa::defaulttype;
 
-int CollisionPipelineClass = core::RegisterObject("The default collision detection and modeling pipeline")
-        .add< CollisionPipeline >()
-        .addAlias("DefaultPipeline")
-        ;
+void registerCollisionPipeline(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("The default collision detection and modeling pipeline.")
+        .add< CollisionPipeline >());
+}
 
 const int CollisionPipeline::defaultDepthValue = 6;
 
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAP.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAP.cpp
index 24b48c91392..4b4e2fd9116 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAP.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAP.cpp
@@ -25,9 +25,12 @@
 
 namespace sofa::component::collision::detection::algorithm
 {
-    int DirectSAPClass = core::RegisterObject("Collision detection using sweep and prune")
-        .add< DirectSAP >();
 
+void registerDirectSAP(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision detection using sweep and prune.")
+        .add< DirectSAP >());
+}
 
 void DirectSAP::init()
 {
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp
index 11cfeb99975..dd1ebc83b78 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp
@@ -449,11 +449,10 @@ inline void DSAPBox::show()const
                         <<"MAX "<<cube.maxVect() ;
 }
 
-using namespace sofa::defaulttype;
-using namespace collision;
-
-int DirectSAPNarrowPhaseClass = core::RegisterObject("Collision detection using sweep and prune")
-        .add< DirectSAPNarrowPhase >()
-;
+void registerDirectSAPNarrowPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Narrow phase of the collision detection using sweep and prune.")
+        .add< DirectSAPNarrowPhase >());
+}
 
 }
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
index 9e920e11095..b1fa60cc423 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
@@ -783,14 +783,10 @@ bool ISAPBox::overlaps(const ISAPBox & other,double alarmDist) const{
     return true;
 }
 
-
-using namespace sofa::defaulttype;
-using namespace collision;
-
-int IncrSAPClassSofaVector = core::RegisterObject("Collision detection using incremental sweep and prune")
-        .addAlias( "IncrementalSAP" )
-        .addAlias( "IncrementalSweepAndPrune" )
-        .add< IncrSAP >( true )
-        ;
+void registerIncrSAP(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision detection using incremental sweep and prune.")
+        .add< IncrSAP >());
+}
 
 } // namespace sofa::component::collision::detection::algorithm
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.cpp
index 07f59afd292..95fa8f5d95a 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.cpp
@@ -28,9 +28,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int RayTraceDetectionClass = core::RegisterObject(
-        "Collision detection using TriangleOctreeModel").add<RayTraceDetection>();
-
+void registerRayTraceDetection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision detection using TriangleOctreeModel.")
+        .add<RayTraceDetection>());
+}
 
 void RayTraceDetection::init()
 {
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp
index 14c2ca2b6d5..30dadd9682a 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp
@@ -34,9 +34,11 @@ using namespace sofa::component::collision::geometry;
 using sofa::core::collision::TDetectionOutputVector;
 using sofa::helper::TriangleOctree;
 
-
-int RayTraceNarrowPhaseClass = core::RegisterObject("Collision detection using TriangleOctreeModel").add < RayTraceNarrowPhase > ();
-
+void registerRayTraceNarrowPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Narrow phase of the collision detection using TriangleOctreeModel")
+        .add < RayTraceNarrowPhase >());
+}
 
 void RayTraceNarrowPhase::findPairsVolume (CubeCollisionModel * cm1, CubeCollisionModel * cm2)
 {
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/init.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/init.cpp
index b17a99201ce..d6e879397e0 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/init.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/init.cpp
@@ -21,13 +21,26 @@
 ******************************************************************************/
 #include <sofa/component/collision/detection/algorithm/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::collision::detection::algorithm
 {
-    
+
+extern void registerBruteForceBroadPhase(sofa::core::ObjectFactory* factory);
+extern void registerBruteForceDetection(sofa::core::ObjectFactory* factory);
+extern void registerBVHNarrowPhase(sofa::core::ObjectFactory* factory);
+extern void registerCollisionPipeline(sofa::core::ObjectFactory* factory);
+extern void registerDirectSAP(sofa::core::ObjectFactory* factory);
+extern void registerDirectSAPNarrowPhase(sofa::core::ObjectFactory* factory);
+extern void registerIncrSAP(sofa::core::ObjectFactory* factory);
+extern void registerRayTraceDetection(sofa::core::ObjectFactory* factory);
+extern void registerRayTraceNarrowPhase(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -46,12 +59,28 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBruteForceBroadPhase(factory);
+    registerBruteForceDetection(factory);
+    registerBVHNarrowPhase(factory);
+    registerCollisionPipeline(factory);
+    registerDirectSAP(factory);
+    registerDirectSAPNarrowPhase(factory);
+    registerIncrSAP(factory);
+    registerRayTraceDetection(factory);
+    registerRayTraceNarrowPhase(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
-     first = false;
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
+        first = false;
     }
 }
 
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.cpp
index 5b70557ae20..85e1d719d19 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.cpp
@@ -37,9 +37,11 @@ using namespace sofa::defaulttype;
 using namespace sofa::core::collision;
 using namespace sofa::component::collision::geometry;
 
-int DiscreteIntersectionClass = core::RegisterObject("TODO-DiscreteIntersectionClass")
-        .add< DiscreteIntersection >()
-        ;
+void registerDiscreteIntersection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Detect intersection using discrete methods.")
+        .add< DiscreteIntersection >());
+}
 
 DiscreteIntersection::DiscreteIntersection()
 {
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
index 737fbf887f8..8c552575f9e 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
@@ -45,10 +45,11 @@ using namespace sofa::defaulttype;
 using namespace sofa::component::collision::geometry;
 using core::topology::BaseMeshTopology;
 
-
-int LocalMinDistanceClass = core::RegisterObject("A set of methods to compute (for constraint methods) if two primitives are close enough to consider they collide")
-        .add< LocalMinDistance >()
-        ;
+void registerLocalMinDistance(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A set of methods to compute (for constraint methods) if two primitives are close enough to consider they collide")
+        .add< LocalMinDistance >());
+}
 
 LocalMinDistance::LocalMinDistance()
     : BaseProximityIntersection()
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.cpp
index 09a9ace1950..3c44a14833c 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.cpp
@@ -39,9 +39,11 @@ using namespace sofa::core::collision;
 using namespace sofa::component::collision::geometry;
 using namespace helper;
 
-int MinProximityIntersectionClass = core::RegisterObject("A set of methods to compute if two primitives are close enough to consider they collide")
-        .add< MinProximityIntersection >()
-        ;
+void registerMinProximityIntersection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A set of methods to compute if two primitives are close enough to consider they collide.")
+        .add< MinProximityIntersection >());
+}
 
 MinProximityIntersection::MinProximityIntersection()
     : BaseProximityIntersection()
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.cpp
index 9af1e3a2ea7..b03e5b25c8e 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.cpp
@@ -38,9 +38,11 @@ using namespace sofa::core::collision;
 using namespace sofa::component::collision::geometry;
 using namespace helper;
 
-int NewProximityIntersectionClass = core::RegisterObject("Optimized Proximity Intersection based on Triangle-Triangle tests, ignoring Edge-Edge cases")
-        .add< NewProximityIntersection >()
-        ;
+void registerNewProximityIntersection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Optimized Proximity Intersection based on Triangle-Triangle tests, ignoring Edge-Edge cases")
+        .add< NewProximityIntersection >());
+}
 
 NewProximityIntersection::NewProximityIntersection()
     : BaseProximityIntersection()
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/init.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/init.cpp
index 10f8fbda707..11f5d4a4a64 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/init.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/init.cpp
@@ -21,13 +21,21 @@
 ******************************************************************************/
 #include <sofa/component/collision/detection/intersection/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::collision::detection::intersection
 {
 
+extern void registerDiscreteIntersection(sofa::core::ObjectFactory* factory);
+extern void registerLocalMinDistance(sofa::core::ObjectFactory* factory);
+extern void registerMinProximityIntersection(sofa::core::ObjectFactory* factory);
+extern void registerNewProximityIntersection(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +53,22 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerDiscreteIntersection(factory);
+    registerLocalMinDistance(factory);
+    registerMinProximityIntersection(factory);
+    registerNewProximityIntersection(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp b/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp
index 6fa28c03c62..c432f420552 100644
--- a/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp
@@ -57,6 +57,7 @@ struct TestLocalMinDistance : public BaseSimulationTest {
     void SetUp() override
     {
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
+        sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Intersection");
     }
     void TearDown() override
     {
diff --git a/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp b/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp
index 19406c7b204..387d165aa7f 100644
--- a/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp
+++ b/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp
@@ -24,6 +24,9 @@
 #include <sofa/component/collision/detection/algorithm/init.h>
 #include <sofa/component/collision/detection/intersection/init.h>
 
+#include <sofa/helper/system/PluginManager.h>
+#include <sofa/core/ObjectFactory.h>
+
 namespace sofa::component::collision::detection
 {
 
@@ -31,6 +34,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -48,6 +52,12 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection.Algorithm");
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection.Intersection");
+}
+
 void init()
 {
     static bool first = true;
@@ -57,6 +67,9 @@ void init()
         sofa::component::collision::detection::algorithm::init();
         sofa::component::collision::detection::intersection::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp
index a5995965158..4e8cef183b3 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp
@@ -32,9 +32,11 @@ namespace sofa::component::collision::geometry
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int CubeCollisionModelClass = core::RegisterObject("Collision model representing a cube")
-        .add< CubeCollisionModel >()
-        ;
+void registerCubeCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model representing a cube.")
+        .add< CubeCollisionModel >());
+}
 
 CubeCollisionModel::CubeCollisionModel()
 {
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.cpp
index 859441e73e8..fecaf9f5ecb 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.cpp
@@ -29,9 +29,11 @@ using namespace sofa::defaulttype;
 using namespace sofa::core::collision;
 using namespace helper;
 
-int RigidCylinderCollisionModelClass = core::RegisterObject("Collision model which represents a set of rigid cylinders")
-        .add<  CylinderCollisionModel<defaulttype::Rigid3Types> >()
-        ;
+void registerCylinderCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model which represents a set of rigid cylinders.")
+        .add<  CylinderCollisionModel<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API TCylinder<defaulttype::Rigid3Types>;
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API CylinderCollisionModel<defaulttype::Rigid3Types>;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.cpp
index 95b41c76635..729e6da5eb2 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.cpp
@@ -26,9 +26,11 @@
 namespace sofa::component::collision::geometry
 {
 
-int LineCollisionModelClass = core::RegisterObject("collision model using a linear mesh, as described in MeshTopology")
-        .add< LineCollisionModel<sofa::defaulttype::Vec3Types> >()
-        ;
+void registerLineCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model using a linear mesh, as described in MeshTopology.")
+        .add< LineCollisionModel<sofa::defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API TLine<sofa::defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API LineCollisionModel<defaulttype::Vec3Types>;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.cpp
index 9ecfa14ea3a..b85fdac218e 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.cpp
@@ -26,9 +26,11 @@
 namespace sofa::component::collision::geometry
 {
 
-int PointCollisionModelClass = core::RegisterObject("Collision model which represents a set of points")
-        .add< PointCollisionModel<defaulttype::Vec3Types> >()
-        ;
+void registerPointCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model which represents a set of points.")
+        .add< PointCollisionModel<defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API PointCollisionModel<defaulttype::Vec3Types>;
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp
index 1e374957160..fa89aa4dc6d 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp
@@ -29,9 +29,11 @@
 namespace sofa::component::collision::geometry
 {
 
-int RayCollisionModelClass = core::RegisterObject("Collision model representing a ray in space, e.g. a mouse click")
-        .add< RayCollisionModel >()
-        ;
+void registerRayCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model representing a ray in space, e.g. a mouse click")
+        .add< RayCollisionModel >());
+}
 
 using namespace sofa::type;
 using namespace sofa::defaulttype;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.cpp
index df08359ca56..24f4f61a173 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.cpp
@@ -44,13 +44,14 @@ Vec3 TSphere<defaulttype::Vec3Types >::getContactPointWithSurfacePoint( const Ve
     return center();
 }
 
-int SphereModelClass = core::RegisterObject("Collision model which represents a set of Spheres")
+void registerSphereCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model which represents a set of Spheres.")
         .add<SphereCollisionModel<Vec3Types> >()
-        .add<SphereCollisionModel<Rigid3Types> >()
-        ;
+        .add<SphereCollisionModel<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API TSphere<defaulttype::Vec3Types>;
-//template class SOFA_COMPONENT_COLLISION_GEOMETRY_API TSphere<defaulttype::Rigid3Types>; // Can't compile due to type mismatches in pFree() method.
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API SphereCollisionModel<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API SphereCollisionModel<defaulttype::Rigid3Types>;
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp
index 74c7c264154..ee967216ff7 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp
@@ -34,9 +34,11 @@ namespace sofa::component::collision::geometry
 using namespace sofa::type;
 using namespace sofa::defaulttype;
 
-int TetrahedronCollisionModelClass = core::RegisterObject("collision model using a tetrahedral mesh, as described in BaseMeshTopology")
-        .add< TetrahedronCollisionModel >()
-        ;
+void registerTetrahedronCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model using a tetrahedral mesh, as described in BaseMeshTopology.")
+        .add< TetrahedronCollisionModel >());
+}
 
 TetrahedronCollisionModel::TetrahedronCollisionModel()
     : tetra(nullptr)
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.cpp
index 8daab38b704..8a5731c9fb1 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.cpp
@@ -26,9 +26,11 @@
 namespace sofa::component::collision::geometry
 {
 
-int TriangleCollisionModelClass = core::RegisterObject("collision model using a triangular mesh, as described in BaseMeshTopology")
-        .add< TriangleCollisionModel<defaulttype::Vec3Types> >()
-        ;
+void registerTriangleCollisionModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model using a triangular mesh, as described in BaseMeshTopology.")
+        .add< TriangleCollisionModel<defaulttype::Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API TTriangle<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_COLLISION_GEOMETRY_API TriangleCollisionModel<defaulttype::Vec3Types>;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
index 8ea907fdd5c..288100b0603 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
@@ -38,9 +38,11 @@ using namespace sofa::type;
 using namespace sofa::core::topology;
 using namespace sofa::defaulttype;
 
-int TriangleModelInRegularGridClass = core::RegisterObject ( "collision model using a triangular mesh in a regular grid, as described in BaseMeshTopology" )
-        .add< TriangleModelInRegularGrid >()
-        ;
+void registerTriangleModelInRegularGrid(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model using a triangular mesh in a regular grid, as described in BaseMeshTopology.")
+        .add< TriangleModelInRegularGrid >());
+}
 
 TriangleModelInRegularGrid::TriangleModelInRegularGrid() : TriangleCollisionModel<sofa::defaulttype::Vec3Types>()
 {
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp
index bedad7b2cbf..0e86ca75743 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp
@@ -34,7 +34,11 @@ typedef core::topology::BaseMeshTopology::Triangle	Triangle;
 namespace sofa::component::collision::geometry
 {
 
-int TriangleOctreeModelClass =	core::RegisterObject ("collision model using a triangular mesh mapped to an Octree").add <	TriangleOctreeModel > ().addAlias ("TriangleOctree");
+void registerTriangleOctreeModel(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision model using a triangular mesh mapped to an Octree.")
+        .add <	TriangleOctreeModel >());
+}
 
 TriangleOctreeModel::TriangleOctreeModel ()
 {
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/init.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/init.cpp
index 3f6df460a90..c5f15490448 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/init.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/init.cpp
@@ -21,14 +21,27 @@
 ******************************************************************************/
 #include <sofa/component/collision/geometry/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::collision::geometry
 {
     
+extern void registerCubeCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerCylinderCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerLineCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerPointCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerRayCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerSphereCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerTetrahedronCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerTriangleCollisionModel(sofa::core::ObjectFactory* factory);
+extern void registerTriangleModelInRegularGrid(sofa::core::ObjectFactory* factory);
+extern void registerTriangleOctreeModel(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
-    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -46,11 +59,28 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerCubeCollisionModel(factory);
+    registerCylinderCollisionModel(factory);
+    registerLineCollisionModel(factory);
+    registerPointCollisionModel(factory);
+    registerRayCollisionModel(factory);
+    registerSphereCollisionModel(factory);
+    registerTetrahedronCollisionModel(factory);
+    registerTriangleCollisionModel(factory);
+    registerTriangleModelInRegularGrid(factory);
+    registerTriangleOctreeModel(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp
index aaac76ae5bb..35f2199ebe8 100644
--- a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp
+++ b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp
@@ -73,6 +73,7 @@ struct TestSphere : public BaseSimulationTest
     void SetUp() override
     {
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
+        sofa::simpleapi::importPlugin("Sofa.Component.Collision.Geometry");
 
         m_proxIntersection = sofa::core::objectmodel::New<MinProximityIntersection>();
         m_proxIntersection->setAlarmDistance(1.0);
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
index 16a4efe6ea5..605773cd741 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
@@ -30,10 +30,11 @@
 namespace sofa::component::collision::response::contact
 {
 
-int CollisionResponseClass = core::RegisterObject("Default class to create reactions to the collisions")
-        .add< CollisionResponse >()
-        .addAlias("DefaultContactManager")
-        ;
+void registerCollisionResponse(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Default class to create reactions to the collisions.")
+        .add< CollisionResponse >());
+}
 
 CollisionResponse::CollisionResponse()
     : d_response(initData(&d_response, "response", "contact response class"))
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/ContactListener.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/ContactListener.cpp
index ae8fc26f121..8b7b9703dab 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/ContactListener.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/ContactListener.cpp
@@ -36,7 +36,11 @@ namespace sofa::component::collision::response::contact
 using namespace sofa::core;
 using namespace sofa::core::collision;
 
-int ContactListenerClass = core::RegisterObject("ContactListener .. ").add< ContactListener >();
+void registerContactListener(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Utility component to retrieve information about contacts.")
+        .add< ContactListener >());
+}
 
 ContactListener::ContactListener(  CollisionModel* collModel1 , CollisionModel* collModel2 )
     :  m_NarrowPhase(nullptr)
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.cpp
index 6acd879063d..052e92ae161 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.cpp
@@ -30,12 +30,12 @@ namespace sofa::component::collision::response::contact
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int PenalityContactForceFieldClass = core::RegisterObject("Contact using repulsive springs")
-        .add< PenalityContactForceField<Vec3Types> >()
-        ;
+void registerPenalityContactForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Contact using repulsive springs.")
+        .add< PenalityContactForceField<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API PenalityContactForceField<Vec3Types>;
 
-
 } // namespace sofa::component::collision::response::contact
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp
index 9bbccf7c588..444c275cee4 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp
@@ -27,10 +27,11 @@
 namespace sofa::component::collision::response::contact
 {
 
-int RuleBasedContactManagerClass = core::RegisterObject("Create different response to the collisions based on a set of rules")
-        .add< RuleBasedContactManager >()
-        .addAlias("RuleBasedCollisionResponse")
-        ;
+void registerRuleBasedContactManager(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Create different response to the collisions based on a set of rules.")
+        .add< RuleBasedContactManager >());
+}
 
 RuleBasedContactManager::RuleBasedContactManager()
     : d_variables(initData(&d_variables, "variables", "Define a list of variables to be used inside the rules"))
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/init.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/init.cpp
index 2a19dcfbfb5..e7920852937 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/init.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/init.cpp
@@ -21,13 +21,21 @@
 ******************************************************************************/
 #include <sofa/component/collision/response/contact/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::collision::response::contact
 {
-    
+
+extern void registerCollisionResponse(sofa::core::ObjectFactory* factory);
+extern void registerContactListener(sofa::core::ObjectFactory* factory);
+extern void registerPenalityContactForceField(sofa::core::ObjectFactory* factory);
+extern void registerRuleBasedContactManager(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +53,22 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerCollisionResponse(factory);
+    registerContactListener(factory);
+    registerPenalityContactForceField(factory);
+    registerRuleBasedContactManager(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp b/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp
index 80deff9364b..562f561e99c 100644
--- a/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp
+++ b/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp
@@ -21,6 +21,8 @@
 ******************************************************************************/
 #include <sofa/component/collision/response/mapper/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::collision::response::mapper
 {
     
@@ -28,6 +30,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +48,19 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    // this library does not register any component in the Factory
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp b/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp
index 1b76cf70e88..1f530ac7e92 100644
--- a/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp
+++ b/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp
@@ -24,6 +24,9 @@
 #include <sofa/component/collision/response/mapper/init.h>
 #include <sofa/component/collision/response/contact/init.h>
 
+#include <sofa/helper/system/PluginManager.h>
+#include <sofa/core/ObjectFactory.h>
+
 namespace sofa::component::collision::response
 {
 
@@ -31,6 +34,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -48,6 +52,12 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response.Mapper");
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response.Contact");
+}
+
 void init()
 {
     static bool first = true;
@@ -57,6 +67,9 @@ void init()
         sofa::component::collision::response::mapper::init();
         sofa::component::collision::response::contact::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Collision/src/sofa/component/collision/init.cpp b/Sofa/Component/Collision/src/sofa/component/collision/init.cpp
index e71677bc526..7fa133efb29 100644
--- a/Sofa/Component/Collision/src/sofa/component/collision/init.cpp
+++ b/Sofa/Component/Collision/src/sofa/component/collision/init.cpp
@@ -25,6 +25,9 @@
 #include <sofa/component/collision/detection/init.h>
 #include <sofa/component/collision/response/init.h>
 
+#include <sofa/helper/system/PluginManager.h>
+#include <sofa/core/ObjectFactory.h>
+
 namespace sofa::component::collision
 {
 
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,6 +53,13 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Geometry");
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection");
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response");
+}
+
 void init()
 {
     static bool first = true;
@@ -59,6 +70,9 @@ void init()
         sofa::component::collision::detection::init();
         sofa::component::collision::response::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 0031dc4c206..9f34dcdd8a3 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -89,6 +89,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Topology");
     factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision");
     factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics");
 }
 
diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
index b2d0cd8f36d..bf0fb6d569f 100644
--- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -805,7 +805,12 @@ const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = {
     {"SSORLinearSolver", Dealiased("v24.12","SSORPreconditioner")},
     {"SSORSolver", Dealiased("v24.12","SSORPreconditioner")},
     {"RigidEngine", Dealiased("v24.12","RigidToQuatEngine")},
-  
+    {"DefaultPipeline", Dealiased("v24.12","CollisionPipeline")},
+    {"IncrementalSAP", Dealiased("v24.12","IncrSAP")},
+    {"IncrementalSweepAndPrune", Dealiased("v24.12","IncrSAP")},
+    {"TriangleOctree", Dealiased("v24.12","TriangleOctreeModel")},
+    {"DefaultContactManager", Dealiased("v24.12","CollisionResponse")},
+    {"RuleBasedCollisionResponse", Dealiased("v24.12","RuleBasedContactManager")},
 };
 
 } // namespace sofa::helper::lifecycle
diff --git a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
index 1fdfbca5ab7..b438d193b40 100644
--- a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
+++ b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
@@ -31,9 +31,10 @@ namespace multithreading
 
 TEST(ParallelImplementationsRegistry, existInObjectFactory)
 {
-     // sequential versions will be added to the ObjectFactory
+    // sequential versions will be added to the ObjectFactory
     sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");
-    sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic");
+    sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Algorithm");
+    sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic");    
 
     const auto implementations = ParallelImplementationsRegistry::getImplementations();
 
@@ -46,4 +47,5 @@ TEST(ParallelImplementationsRegistry, existInObjectFactory)
         EXPECT_TRUE(sofa::core::ObjectFactory::getInstance()->hasCreator(par)) << par;
     }
 }
+
 }

From 68a289d3f67f45aacc8b31e94115219af3bc91a5 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Fri, 11 Oct 2024 23:11:32 +0900
Subject: [PATCH 23/43] [Core] ForceField: print only once about missing
 kfactor usage (#5050)

Only display once the message about non-usage of kfactor (in debug)
---
 .../Core/src/sofa/core/behavior/ForceField.inl        | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ForceField.inl b/Sofa/framework/Core/src/sofa/core/behavior/ForceField.inl
index d84e1e33b8b..810e97c336b 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/ForceField.inl
+++ b/Sofa/framework/Core/src/sofa/core/behavior/ForceField.inl
@@ -57,14 +57,21 @@ void ForceField<DataTypes>::addDForce(const MechanicalParams* mparams, MultiVecD
     {
 
 #ifndef NDEBUG
-            mparams->setKFactorUsed(false);
+        mparams->setKFactorUsed(false);
 #endif
 
         addDForce(mparams, *dfId[this->mstate.get()].write(), *mparams->readDx(this->mstate.get()));
 
 #ifndef NDEBUG
         if (!mparams->getKFactorUsed())
-            msg_warning()  << getClassName() << " (in ForceField<DataTypes>::addDForce): please use mparams->kFactor() in addDForce";
+        {
+            static bool displayOnce = false;
+            if (!displayOnce)
+            {
+                msg_warning() << getClassName() << " (in ForceField<DataTypes>::addDForce): please use mparams->kFactor() in addDForce";
+                displayOnce = true;
+            }
+        }
 #endif
     }
 }

From 78b931244c73bd4aa7140ee4baebe35b0e29938d Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Mon, 14 Oct 2024 05:26:21 +0200
Subject: [PATCH 24/43] [SofaCUDA,SofaDistanceGrid] Move DistanceGrid CUDA
 files in a SofaDistanceGrid extension (#4878)

* Move DistanceGrid CUDA

* Fix SofaImplicitField deps

* build the plugin on the CI

* wrap namespace

* use modern-cmake mechanism for cuda

* remove definition of variable

* Remove SofaDistanceGrid.CUDA from the default plugins list

---------

Co-authored-by: Frederick Roy <froy@lnrobo.com>
---
 applications/plugins/CMakeLists.txt           |   5 +-
 applications/plugins/SofaCUDA/CMakeLists.txt  |  38 +---
 .../sofa/gpu/cuda/CudaContactMapper.cpp       |  32 +++
 .../sofa/gpu/cuda/CudaContactMapper.cu        |  24 ---
 .../sofa/gpu/cuda/CudaContactMapper.h         |  81 +-------
 .../sofa/gpu/cuda/GPUDetectionOutputVector.h  | 182 ++++++++++++++++++
 .../collision/geometry/CudaPointModel.h       |   4 +-
 .../contact/CudaPenalityContactForceField.h   |   4 +-
 .../contact/CudaPenalityContactForceField.inl |   2 +-
 .../mapping/linear/CudaSubsetMapping.h        |   8 +-
 .../plugins/SofaDistanceGrid/CMakeLists.txt   |   3 +
 .../extensions/CUDA/CMakeLists.txt            |  41 ++++
 .../CUDA/SofaDistanceGrid.CUDAConfig.cmake.in |   9 +
 .../CUDA}/CudaCollisionDetection.cpp          |   0
 .../CUDA}/CudaCollisionDetection.cu           |   2 +-
 .../CUDA}/CudaCollisionDetection.h            | 159 +--------------
 .../CUDA}/CudaCollisionDistanceGrid.cpp       |   7 +-
 .../CUDA}/CudaDistanceGridCollisionModel.cpp  |   0
 .../CUDA}/CudaDistanceGridCollisionModel.h    |   0
 .../CUDA/CudaDistanceGridContactMapper.cu     |  86 +++++++++
 .../CUDA/CudaDistanceGridContactMapper.h      | 102 ++++++++++
 .../src/SofaDistanceGrid/CUDA/config.h.in     |  37 ++++
 .../CUDA/src/SofaDistanceGrid/CUDA/init.cpp   |  62 ++++++
 .../CUDA/src/SofaDistanceGrid/CUDA/init.h     |  29 +++
 .../src/SofaDistanceGrid/config.h.in          |   8 +-
 .../SofaDistanceGrid/initSofaDistanceGrid.cpp |  27 +--
 .../SofaDistanceGrid/initSofaDistanceGrid.h   |  15 +-
 tools/postinstall-fixup/common.sh             |   1 +
 28 files changed, 634 insertions(+), 334 deletions(-)
 create mode 100644 applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp
 create mode 100644 applications/plugins/SofaCUDA/sofa/gpu/cuda/GPUDetectionOutputVector.h
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/SofaDistanceGrid.CUDAConfig.cmake.in
 rename applications/plugins/{SofaCUDA/sofa/gpu/cuda => SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA}/CudaCollisionDetection.cpp (100%)
 rename applications/plugins/{SofaCUDA/sofa/gpu/cuda => SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA}/CudaCollisionDetection.cu (99%)
 rename applications/plugins/{SofaCUDA/sofa/gpu/cuda => SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA}/CudaCollisionDetection.h (67%)
 rename applications/plugins/{SofaCUDA/sofa/gpu/cuda => SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA}/CudaCollisionDistanceGrid.cpp (97%)
 rename applications/plugins/{SofaCUDA/sofa/gpu/cuda => SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA}/CudaDistanceGridCollisionModel.cpp (100%)
 rename applications/plugins/{SofaCUDA/sofa/gpu/cuda => SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA}/CudaDistanceGridCollisionModel.h (100%)
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.cu
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/config.h.in
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp
 create mode 100644 applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.h

diff --git a/applications/plugins/CMakeLists.txt b/applications/plugins/CMakeLists.txt
index 5b0ef1c4bbb..cfd74c7f771 100644
--- a/applications/plugins/CMakeLists.txt
+++ b/applications/plugins/CMakeLists.txt
@@ -16,8 +16,6 @@ sofa_add_subdirectory(plugin CImgPlugin CImgPlugin) # ON by default and first as
 sofa_add_subdirectory(plugin ArticulatedSystemPlugin ArticulatedSystemPlugin ON)
 sofa_add_subdirectory(plugin SofaEulerianFluid SofaEulerianFluid)
 sofa_add_subdirectory(plugin SofaSphFluid SofaSphFluid EXTERNAL GIT_REF master)
-sofa_add_subdirectory(plugin SofaDistanceGrid SofaDistanceGrid) # Depends on SofaMiscCollision
-sofa_add_subdirectory(plugin SofaImplicitField SofaImplicitField)
 sofa_add_subdirectory(plugin MultiThreading MultiThreading ON)
 sofa_add_subdirectory(plugin DiffusionSolver DiffusionSolver) # Depends on CImgPlugin
 sofa_add_subdirectory(plugin image image) # Depends on CImgPlugin, DiffusionSolver, MultiThreading (soft)
@@ -73,3 +71,6 @@ if(Sofa.GL_FOUND)
 else()
     message("Sofa.GL not found; disabling SofaSimpleGUI and VolumetricRendering plugins")
 endif()
+
+sofa_add_subdirectory(plugin SofaDistanceGrid SofaDistanceGrid) # Also defines SofaDistanceGrid.CUDA
+sofa_add_subdirectory(plugin SofaImplicitField SofaImplicitField) # Depends on SofaDistanceGrid
diff --git a/applications/plugins/SofaCUDA/CMakeLists.txt b/applications/plugins/SofaCUDA/CMakeLists.txt
index b752d64562b..343aa18e187 100644
--- a/applications/plugins/SofaCUDA/CMakeLists.txt
+++ b/applications/plugins/SofaCUDA/CMakeLists.txt
@@ -19,6 +19,7 @@ set(HEADER_FILES
     ### Common
     sofa/gpu/cuda/CudaBaseVector.h
     sofa/gpu/cuda/CudaCommon.h
+    sofa/gpu/cuda/CudaContactMapper.h
     sofa/gpu/cuda/CudaMath.h
     sofa/gpu/cuda/CudaMath.inl
     sofa/gpu/cuda/CudaMathRigid.h
@@ -105,6 +106,7 @@ set(SOURCE_FILES
     ### Common
     init.cpp
     sofa/gpu/cuda/CudaBaseVector.cpp
+    sofa/gpu/cuda/CudaContactMapper.cpp
     sofa/gpu/cuda/mycuda.cpp
 
     ### Mechanical
@@ -182,6 +184,7 @@ set(CUDA_SOURCES
     ### Common
     sofa/gpu/cuda/mycuda.cu
     sofa/gpu/cuda/CudaBaseVector.cu
+    sofa/gpu/cuda/CudaContactMapper.cu
     sofa/gpu/cuda/CudaScan.cu
     sofa/gpu/cuda/CudaSort.cu
 
@@ -269,33 +272,6 @@ if(Sofa.GUI.Qt_FOUND)
     list(APPEND SOURCE_FILES sofa/gpu/gui/CudaDataWidget.cpp)
 endif()
 
-
-find_package(SofaDistanceGrid QUIET)
-if(SofaDistanceGrid_FOUND)
-    sofa_find_package(MiniFlowVR QUIET)
-    if(MiniFlowVR_FOUND)
-        message(STATUS "SofaCUDA: MiniFlowVR enabled.")
-    else()
-        message(STATUS "SofaCUDA: MiniFlowVR was not enabled, therefore some feature of CudaDistanceGridCollisionModel will not be compiled.")
-    endif()
-
-    list(APPEND HEADER_FILES
-        sofa/gpu/cuda/CudaDistanceGridCollisionModel.h
-        sofa/gpu/cuda/CudaContactMapper.h
-        sofa/gpu/cuda/CudaCollisionDetection.h)
-
-    list(APPEND SOURCE_FILES
-        sofa/gpu/cuda/CudaDistanceGridCollisionModel.cpp
-        sofa/gpu/cuda/CudaCollisionDistanceGrid.cpp
-        sofa/gpu/cuda/CudaCollisionDetection.cpp)
-
-    list(APPEND CUDA_SOURCES
-        sofa/gpu/cuda/CudaContactMapper.cu
-        sofa/gpu/cuda/CudaCollisionDetection.cu)
-else()
-    message(STATUS "SofaCUDA: SofaDistanceGrid was not enabled, therefore CudaDistanceGridCollisionModel will not be compiled.")
-endif()
-
 find_package(SofaSphFluid QUIET)
 if(SofaSphFluid_FOUND)
     list(APPEND HEADER_FILES
@@ -426,14 +402,6 @@ if(Sofa.GL_FOUND)
     target_link_libraries(${PROJECT_NAME} Sofa.GL)
 endif()
 
-if(SofaDistanceGrid_FOUND)
-    target_link_libraries(${PROJECT_NAME} SofaDistanceGrid)
-    if(MiniFlowVR_FOUND)
-        target_link_libraries(${PROJECT_NAME} miniFlowVR)
-    endif()
-endif()
-
-
 if(Sofa.GUI_FOUND)
     target_link_libraries(${PROJECT_NAME} Sofa.GUI)
 endif()
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp
new file mode 100644
index 00000000000..d5cfa67d104
--- /dev/null
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp
@@ -0,0 +1,32 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#define SOFACUDA_CUDACONTACTMAPPER_CPP
+
+#include <SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h>
+
+namespace sofa::component::collision
+{
+
+template class SOFA_GPU_CUDA_API response::mapper::ContactMapper<sofa::gpu::cuda::CudaPointCollisionModel, CudaVec3fTypes>;
+template class SOFA_GPU_CUDA_API response::mapper::ContactMapper<sofa::gpu::cuda::CudaSphereCollisionModel, CudaVec3fTypes>;
+
+}
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cu
index a8e6be42025..c7651fd5bd8 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cu
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cu
@@ -34,7 +34,6 @@ namespace cuda
 
 extern "C"
 {
-    void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map);
     void SubsetContactMapperCuda3f_setPoints1(unsigned int size, unsigned int nbTests, unsigned int maxPoints, unsigned int nbPointsPerElem, const void* tests, const void* contacts, void* map);
 }
 
@@ -61,20 +60,6 @@ struct /*__align__(8)*/ GPUTestEntry
 
 __shared__ GPUTestEntry curTestEntry;
 
-__global__ void RigidContactMapperCuda3f_setPoints2_kernel(const GPUTestEntry* tests, const GPUContact* contacts, float3* map)
-{
-    if (threadIdx.x == 0)
-        curTestEntry = tests[blockIdx.x];
-
-    __syncthreads();
-
-    GPUContact c = contacts[curTestEntry.firstIndex + threadIdx.x];
-    if (threadIdx.x < curTestEntry.curSize)
-    {
-        map[curTestEntry.newIndex + threadIdx.x] = c.p2;
-    }
-}
-
 __global__ void SubsetContactMapperCuda3f_setPoints1_kernel(unsigned int nbPointsPerElem, const GPUTestEntry* tests, const GPUContact* contacts, int* map)
 {
     if (threadIdx.x == 0)
@@ -94,15 +79,6 @@ __global__ void SubsetContactMapperCuda3f_setPoints1_kernel(unsigned int nbPoint
 // CPU-side methods //
 //////////////////////
 
-void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map)
-{
-    // round up to 16
-    //maxPoints = (maxPoints+15)&-16;
-    dim3 threads(maxPoints,1);
-    dim3 grid(nbTests,1);
-    {RigidContactMapperCuda3f_setPoints2_kernel<<< grid, threads >>>((const GPUTestEntry*)tests, (GPUContact*)contacts, (float3*)map); mycudaDebugError("RigidContactMapperCuda3f_setPoints2_kernel");}
-}
-
 void SubsetContactMapperCuda3f_setPoints1(unsigned int size, unsigned int nbTests, unsigned int maxPoints, unsigned int nbPointsPerElem, const void* tests, const void* contacts, void* map)
 {
     // round up to 16
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h
index 9f4ffedf604..33196df2843 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h
@@ -24,13 +24,12 @@
 #include <sofa/component/collision/response/mapper/BarycentricContactMapper.h>
 #include <sofa/component/collision/response/mapper/RigidContactMapper.inl>
 #include <sofa/component/collision/response/mapper/SubsetContactMapper.inl>
-#include <sofa/gpu/cuda/CudaDistanceGridCollisionModel.h>
 #include <SofaCUDA/component/collision/geometry/CudaSphereModel.h>
 #include <SofaCUDA/component/collision/geometry/CudaPointModel.h>
-#include <sofa/gpu/cuda/CudaCollisionDetection.h>
+#include <sofa/gpu/cuda/GPUDetectionOutputVector.h>
 #include <SofaCUDA/component/mapping/nonlinear/CudaRigidMapping.h>
 #include <SofaCUDA/component/mapping/linear/CudaSubsetMapping.h>
-
+#include <sofa/gpu/cuda/CudaTypes.h>
 
 
 namespace sofa::gpu::cuda
@@ -38,7 +37,6 @@ namespace sofa::gpu::cuda
 
 extern "C"
 {
-    void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map);
     void SubsetContactMapperCuda3f_setPoints1(unsigned int size, unsigned int nbTests, unsigned int maxPoints, unsigned int nbPointsPerElem, const void* tests, const void* contacts, void* map);
 }
 
@@ -52,76 +50,6 @@ using namespace sofa::defaulttype;
 using namespace sofa::gpu::cuda;
 using sofa::core::collision::GPUDetectionOutputVector;
 
-
-/// Mapper for CudaRigidDistanceGridCollisionModel
-template <class DataTypes>
-class response::mapper::ContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes> : public response::mapper::RigidContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes>
-{
-public:
-    typedef typename DataTypes::Real Real;
-    typedef typename DataTypes::Coord Coord;
-    typedef typename DataTypes::VecCoord VecCoord;
-    typedef typename DataTypes::VecDeriv VecDeriv;
-    typedef RigidContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes> Inherit;
-    typedef typename Inherit::MMechanicalState MMechanicalState;
-    typedef typename Inherit::MCollisionModel MCollisionModel;
-
-    int addPoint(const Coord& P, int index, Real& r)
-    {
-        int i = this->Inherit::addPoint(P, index, r);
-        if (!this->mapping)
-        {
-            MCollisionModel* model = this->model;
-            MMechanicalState* outmodel = this->outmodel.get();
-            Data<VecCoord>* d_x = outmodel->write(core::VecCoordId::position());
-            VecDeriv& vx = *d_x->beginEdit();
-            Data<VecDeriv>* d_v = outmodel->write(core::VecDerivId::velocity());
-            VecCoord& vv = *d_v->beginEdit();
-
-            typename DataTypes::Coord& x = vx[i];
-            typename DataTypes::Deriv& v = vv[i];
-            if (model->isTransformed(index))
-            {
-                x = model->getTranslation(index) + model->getRotation(index) * P;
-            }
-            else
-            {
-                x = P;
-            }
-            v = typename DataTypes::Deriv();
-
-            d_x->endEdit();
-            d_v->endEdit();
-        }
-        return i;
-    }
-
-    void setPoints2(GPUDetectionOutputVector* outputs)
-    {
-        int n = outputs->size();
-        int nt = outputs->nbTests();
-        int maxp = 0;
-        for (int i=0; i<nt; i++)
-            if (outputs->rtest(i).curSize > maxp) maxp = outputs->rtest(i).curSize;
-        if (this->outmodel)
-            this->outmodel->resize(n);
-        if (this->mapping)
-        {
-            this->mapping->d_points.beginEdit()->fastResize(n);
-            this->mapping->m_rotatedPoints.fastResize(n);
-            gpu::cuda::RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), this->mapping->d_points.beginEdit()->deviceWrite());
-        }
-        else
-        {
-            Data<VecCoord>* d_x = this->outmodel->write(core::VecCoordId::position());
-            VecCoord& vx = *d_x->beginEdit();
-            gpu::cuda::RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), vx.deviceWrite());
-            d_x->endEdit();
-        }
-    }
-};
-
-
 /// Mapper for CudaPointDistanceGridCollisionModel
 template <class DataTypes>
 class response::mapper::ContactMapper<sofa::gpu::cuda::CudaPointCollisionModel,DataTypes> : public response::mapper::SubsetContactMapper<sofa::gpu::cuda::CudaPointCollisionModel,DataTypes>
@@ -186,4 +114,9 @@ class response::mapper::ContactMapper<CudaSphereCollisionModel, DataTypes> : pub
     }
 };
 
+#if !defined(SOFACUDA_CUDACONTACTMAPPER_CPP)
+extern template class SOFA_GPU_CUDA_API response::mapper::ContactMapper<sofa::gpu::cuda::CudaPointCollisionModel, sofa::gpu::cuda::CudaVec3fTypes>;
+extern template class SOFA_GPU_CUDA_API response::mapper::ContactMapper<sofa::gpu::cuda::CudaSphereCollisionModel, sofa::gpu::cuda::CudaVec3fTypes>;
+#endif
+
 } // namespace sofa::component::collision
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/GPUDetectionOutputVector.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/GPUDetectionOutputVector.h
new file mode 100644
index 00000000000..2a32d83bbb5
--- /dev/null
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/GPUDetectionOutputVector.h
@@ -0,0 +1,182 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/core/collision/DetectionOutput.h>
+#include <sofa/gpu/cuda/CudaTypes.h>
+
+
+namespace sofacuda
+{
+
+using sofa::type::Vec3f;
+
+/**
+ *  \brief Generic description of a contact point using GPU.
+ *
+ *  Each contact point is described by :
+ *
+ *  \item p1: index of the collision element
+ *  \item P2: position of the contact point
+ *  \item distance: estimated penetration distance
+ *  \item normal: contact normal in global space
+ */
+struct GPUContactPoint
+{
+    Vec3f p;
+    int elem;
+};
+
+/**
+ *  \brief Generic description of a contact using GPU.
+ *
+ *  Each contact is described by :
+ *
+ *  \item distance: estimated penetration distance
+ *  \item normal: contact normal in global space
+ */
+struct GPUContact
+{
+    Vec3f normal;
+    float distance;
+};
+
+
+/**
+ *  \brief Abstract description of a set of contact point using GPU.
+ */
+class GPUDetectionOutputVector : public sofa::core::collision::DetectionOutputVector
+{
+public:
+    ~GPUDetectionOutputVector() override
+    {
+    }
+
+    sofa::gpu::cuda::CudaVector<GPUContactPoint> results1, results2;
+    sofa::gpu::cuda::CudaVector<GPUContact> results;
+    struct TestEntry
+    {
+        int firstIndex; ///< Index of the first result in the results array
+        int maxSize; ///< Maximum number of contacts resulting from this test
+        int curSize; ///< Current number of detected contacts
+        int newIndex; ///< Index of the first result in a new compacted array
+        std::pair<int,int> elems; ///< Elements
+        TestEntry() : firstIndex(0), maxSize(0), curSize(0), newIndex(0), elems(std::make_pair(0,0)) {}
+    };
+    sofa::gpu::cuda::CudaVector< TestEntry > tests;
+
+    unsigned int size() const
+    {
+        if (results.empty()) return 0;
+        int s = 0;
+        for (unsigned int i=0; i<tests.size(); i++)
+            s += tests[i].curSize;
+        return s;
+    }
+
+    void clear()
+    {
+        results1.clear();
+        results2.clear();
+        results.clear();
+        tests.clear();
+    }
+
+    void release()
+    {
+        // GPU vectors are stored in other data structures, they should not be deleted by the pipeline
+    }
+
+    unsigned int nbTests() { return tests.size(); }
+
+    const TestEntry& rtest(int i) { return tests[i]; }
+    TestEntry& wtest(int i) { return tests[i]; }
+
+    int addTest(std::pair<int,int> elems, int maxSize)
+    {
+        int t = tests.size();
+        TestEntry e;
+        e.elems = elems;
+        e.firstIndex = results.size();
+        e.maxSize = maxSize;
+        e.curSize = 0;
+        e.newIndex = 0;
+        results.fastResize(e.firstIndex+maxSize);
+        results1.fastResize(e.firstIndex+maxSize);
+        results2.fastResize(e.firstIndex+maxSize);
+        tests.push_back(e);
+        return t;
+    }
+
+    const GPUContact* get(int i)
+    {
+        unsigned int t=0;
+        while(t<nbTests() && rtest(t).newIndex > i) ++t;
+        if (t<nbTests())
+            return &(results[rtest(t).firstIndex + (i-rtest(t).newIndex)]);
+        else
+            return NULL;
+    }
+
+    const GPUContactPoint* getP1(int i)
+    {
+        unsigned int t=0;
+        while(t<nbTests() && rtest(t).newIndex > i) ++t;
+        if (t<nbTests())
+            return &(results1[rtest(t).firstIndex + (i-rtest(t).newIndex)]);
+        else
+            return NULL;
+    }
+
+    const GPUContactPoint* getP2(int i)
+    {
+        unsigned int t=0;
+        while(t<nbTests() && rtest(t).newIndex > i) ++t;
+        if (t<nbTests())
+            return &(results2[rtest(t).firstIndex + (i-rtest(t).newIndex)]);
+        else
+            return nullptr;
+    }
+
+    /// Const iterator to iterate the detection pairs
+    virtual sofa::type::Vec3 getFirstPosition(unsigned idx) override
+    {
+        return sofa::type::Vec3(getP1(idx)->p[0],getP1(idx)->p[1],getP1(idx)->p[2]);
+    }
+
+    /// Const iterator end to iterate the detection pairs
+    virtual sofa::type::Vec3 getSecondPosition(unsigned idx) override
+    {
+        return sofa::type::Vec3(getP2(idx)->p[0],getP2(idx)->p[1],getP2(idx)->p[2]);
+    }
+
+};
+
+}
+
+namespace sofa::core::collision
+{
+
+using GPUContactPoint = sofacuda::GPUContactPoint;
+using GPUContact = sofacuda::GPUContact;
+using GPUDetectionOutputVector = sofacuda::GPUDetectionOutputVector;
+
+}
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h
index 1be2ccbcbbc..eb9327ac8d6 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h
@@ -36,7 +36,7 @@ using namespace sofa::defaulttype;
 
 class CudaPointCollisionModel;
 
-class CudaPoint : public core::TCollisionElementIterator<CudaPointCollisionModel>
+class SOFA_GPU_CUDA_API CudaPoint : public core::TCollisionElementIterator<CudaPointCollisionModel>
 {
 public:
     CudaPoint(CudaPointCollisionModel* model, Index index);
@@ -47,7 +47,7 @@ class CudaPoint : public core::TCollisionElementIterator<CudaPointCollisionModel
     explicit CudaPoint(const core::CollisionElementIterator& i);
 };
 
-class CudaPointCollisionModel : public core::CollisionModel
+class SOFA_GPU_CUDA_API CudaPointCollisionModel : public core::CollisionModel
 {
 public:
     SOFA_CLASS(CudaPointCollisionModel,core::CollisionModel);
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.h
index ec0a4fe4ee1..17385757d47 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.h
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.h
@@ -23,7 +23,7 @@
 
 #include <sofa/gpu/cuda/CudaTypes.h>
 #include <sofa/component/collision/response/contact/PenalityContactForceField.h>
-#include <sofa/gpu/cuda/CudaCollisionDetection.h>
+#include <sofa/gpu/cuda/GPUDetectionOutputVector.h>
 
 namespace sofa::component::collision::response::contact
 {
@@ -81,7 +81,7 @@ class PenalityContactForceField<CudaVec3fTypes> : public core::behavior::PairInt
 
     void addContact(int m1, int m2, const Deriv& norm, Real dist, Real ks, Real mu_s = 0.0f, Real mu_v = 0.0f, int oldIndex = 0);
 
-    void setContacts(Real distance, Real ks, sofa::core::collision::GPUDetectionOutputVector* outputs, bool useDistance, type::Mat3x3f* normXForm = NULL);
+    void setContacts(Real distance, Real ks, sofacuda::GPUDetectionOutputVector* outputs, bool useDistance, type::Mat3x3f* normXForm = nullptr);
 
     virtual void addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f1, DataVecDeriv& d_f2, const DataVecCoord& d_x1, const DataVecCoord& d_x2, const DataVecDeriv& d_v1, const DataVecDeriv& d_v2) override;
 
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl
index 5c68526fb1d..6042beabb6e 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl
@@ -86,7 +86,7 @@ void PenalityContactForceField<CudaVec3fTypes>::addContact(int /*m1*/, int /*m2*
     pen.push_back(0);
 }
 
-void PenalityContactForceField<CudaVec3fTypes>::setContacts(Real d0, Real stiffness, sofa::core::collision::GPUDetectionOutputVector* outputs, bool useDistance, type::Mat3x3f* normXForm)
+void PenalityContactForceField<CudaVec3fTypes>::setContacts(Real d0, Real stiffness, sofacuda::GPUDetectionOutputVector* outputs, bool useDistance, type::Mat3x3f* normXForm)
 {
 #if 1
     int n = outputs->size();
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaSubsetMapping.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaSubsetMapping.h
index 0ecf1f53bbe..3c17ecbc25a 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaSubsetMapping.h
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaSubsetMapping.h
@@ -146,10 +146,10 @@ void SubsetMapping<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3f1Types>::apply
 
 
 #ifndef SOFA_GPU_CUDA_CUDASUBSETMAPPING_CPP
-extern template class SOFA_GPU_CUDA_API SubsetMapping< CudaVec3fTypes, CudaVec3fTypes >;
-extern template class SOFA_GPU_CUDA_API SubsetMapping< CudaVec3f1Types, CudaVec3f1Types >;
-extern template class SOFA_GPU_CUDA_API SubsetMapping< CudaVec3f1Types, CudaVec3fTypes >;
-extern template class SOFA_GPU_CUDA_API SubsetMapping< CudaVec3fTypes, CudaVec3f1Types >;
+extern template class SOFA_GPU_CUDA_API SubsetMapping< sofa::gpu::cuda::CudaVec3fTypes, sofa::gpu::cuda::CudaVec3fTypes >;
+extern template class SOFA_GPU_CUDA_API SubsetMapping< sofa::gpu::cuda::CudaVec3f1Types, sofa::gpu::cuda::CudaVec3f1Types >;
+extern template class SOFA_GPU_CUDA_API SubsetMapping< sofa::gpu::cuda::CudaVec3f1Types, sofa::gpu::cuda::CudaVec3fTypes >;
+extern template class SOFA_GPU_CUDA_API SubsetMapping< sofa::gpu::cuda::CudaVec3fTypes, sofa::gpu::cuda::CudaVec3f1Types >;
 #endif
 
 } // namespace sofa::component::mapping::linear
diff --git a/applications/plugins/SofaDistanceGrid/CMakeLists.txt b/applications/plugins/SofaDistanceGrid/CMakeLists.txt
index d6bc2b621ed..0214e38159a 100644
--- a/applications/plugins/SofaDistanceGrid/CMakeLists.txt
+++ b/applications/plugins/SofaDistanceGrid/CMakeLists.txt
@@ -22,6 +22,7 @@ set(SOFADISTANCEGRID_SRC "src/${PROJECT_NAME}")
 
 set(HEADER_FILES
     ${SOFADISTANCEGRID_SRC}/config.h.in
+    ${SOFADISTANCEGRID_SRC}/initSofaDistanceGrid.h
     ${SOFADISTANCEGRID_SRC}/DistanceGrid.h
     ${SOFADISTANCEGRID_SRC}/components/collision/FFDDistanceGridDiscreteIntersection.h
     ${SOFADISTANCEGRID_SRC}/components/collision/FFDDistanceGridDiscreteIntersection.inl
@@ -86,3 +87,5 @@ sofa_create_package_with_targets(
     INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
     RELOCATABLE "plugins"
     )
+
+sofa_add_subdirectory(plugin extensions/CUDA SofaDistanceGrid.CUDA)
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt b/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt
new file mode 100644
index 00000000000..b5f9f033313
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.22)
+project(SofaDistanceGrid.CUDA CUDA CXX)
+
+set(HEADER_FILES
+    src/SofaDistanceGrid/CUDA/init.h
+    src/SofaDistanceGrid/CUDA/config.h.in
+
+    src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h
+    src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h
+    src/SofaDistanceGrid/CUDA/CudaCollisionDetection.h
+)
+
+set(SOURCE_FILES
+    src/SofaDistanceGrid/CUDA/init.cpp
+
+    src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp
+    src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
+    src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp
+)
+
+set(CUDA_SOURCES
+    src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cu
+    src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.cu
+)
+
+sofa_find_package(SofaDistanceGrid REQUIRED)
+sofa_find_package(SofaCUDA REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${CUDA_SOURCES})
+
+target_link_libraries(${PROJECT_NAME} SofaDistanceGrid)
+target_link_libraries(${PROJECT_NAME} SofaCUDA)
+
+sofa_create_package_with_targets(
+    PACKAGE_NAME ${PROJECT_NAME}
+    PACKAGE_VERSION ${Sofa_VERSION}
+    TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
+    INCLUDE_SOURCE_DIR "src"
+    INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
+    RELOCATABLE "plugins"
+)
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/SofaDistanceGrid.CUDAConfig.cmake.in b/applications/plugins/SofaDistanceGrid/extensions/CUDA/SofaDistanceGrid.CUDAConfig.cmake.in
new file mode 100644
index 00000000000..62faad7f3c6
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/SofaDistanceGrid.CUDAConfig.cmake.in
@@ -0,0 +1,9 @@
+# CMake package configuration file for the VolumetricRendering.CUDA library
+
+@PACKAGE_GUARD@
+@PACKAGE_INIT@
+
+find_package(SofaDistanceGrid QUIET REQUIRED)
+find_package(SofaCUDA QUIET REQUIRED)
+
+check_required_components(SofaDistanceGrid.CUDA)
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp
similarity index 100%
rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.cpp
rename to applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.cu b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cu
similarity index 99%
rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.cu
rename to applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cu
index ce2c2fcb108..06aa701ed14 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.cu
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cu
@@ -21,7 +21,7 @@
 ******************************************************************************/
 #include <sofa/gpu/cuda/CudaCommon.h>
 #include <sofa/gpu/cuda/CudaMath.h>
-#include "mycuda.h"
+#include <sofa/gpu/cuda/mycuda.h>
 #include "cuda.h"
 
 #if defined(__cplusplus) && CUDA_VERSION < 2000
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.h
similarity index 67%
rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.h
rename to applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.h
index 856286391c5..14a0c9753d9 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.h
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.h
@@ -23,11 +23,12 @@
 #define SOFA_GPU_CUDA_CUDACOLLISIONDETECTION_H
 
 #include <sofa/core/collision/DetectionOutput.h>
-#include <sofa/gpu/cuda/CudaDistanceGridCollisionModel.h>
+#include <SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h>
 #include <SofaCUDA/component/collision/geometry/CudaSphereModel.h>
 #include <SofaCUDA/component/collision/geometry/CudaPointModel.h>
 #include <sofa/component/collision/detection/algorithm/BruteForceBroadPhase.h>
 #include <sofa/core/collision/NarrowPhaseDetection.h>
+#include <sofa/gpu/cuda/GPUDetectionOutputVector.h>
 
 
 namespace sofa
@@ -41,161 +42,7 @@ namespace collision
 
 using type::Vec3f;
 using type::Mat3x3f;
-
-/**
- *  \brief Generic description of a contact point using GPU.
- *
- *  Each contact point is described by :
- *
- *  \item p1: index of the collision element
- *  \item P2: position of the contact point
- *  \item distance: estimated penetration distance
- *  \item normal: contact normal in global space
- */
-
-struct GPUContactPoint
-{
-    Vec3f p;
-    int elem;
-};
-
-
-/**
- *  \brief Generic description of a contact using GPU.
- *
- *  Each contact is described by :
- *
- *  \item distance: estimated penetration distance
- *  \item normal: contact normal in global space
- */
-struct GPUContact
-{
-    Vec3f normal;
-    float distance;
-};
-
-/*
-struct GPUDetectionOutput
-{
-    int p1;
-    Vec3f p2;
-    //union {
-        float distance;
-    //    int i2;
-    //};
-    Vec3f normal;
-};
-*/
-
-/**
- *  \brief Abstract description of a set of contact point using GPU.
- */
-class GPUDetectionOutputVector : public DetectionOutputVector
-{
-public:
-    ~GPUDetectionOutputVector()
-    {
-    }
-
-    sofa::gpu::cuda::CudaVector<GPUContactPoint> results1, results2;
-    sofa::gpu::cuda::CudaVector<GPUContact> results;
-    struct TestEntry
-    {
-        int firstIndex; ///< Index of the first result in the results array
-        int maxSize; ///< Maximum number of contacts resulting from this test
-        int curSize; ///< Current number of detected contacts
-        int newIndex; ///< Index of the first result in a new compacted array
-        std::pair<int,int> elems; ///< Elements
-        TestEntry() : firstIndex(0), maxSize(0), curSize(0), newIndex(0), elems(std::make_pair(0,0)) {}
-    };
-    sofa::gpu::cuda::CudaVector< TestEntry > tests;
-
-    unsigned int size() const
-    {
-        if (results.empty()) return 0;
-        int s = 0;
-        for (unsigned int i=0; i<tests.size(); i++)
-            s += tests[i].curSize;
-        return s;
-    }
-
-    void clear()
-    {
-        results1.clear();
-        results2.clear();
-        results.clear();
-        tests.clear();
-    }
-
-    void release()
-    {
-        // GPU vectors are stored in other data structures, they should not be deleted by the pipeline
-    }
-
-    unsigned int nbTests() { return tests.size(); }
-
-    const TestEntry& rtest(int i) { return tests[i]; }
-    TestEntry& wtest(int i) { return tests[i]; }
-
-    int addTest(std::pair<int,int> elems, int maxSize)
-    {
-        int t = tests.size();
-        TestEntry e;
-        e.elems = elems;
-        e.firstIndex = results.size();
-        e.maxSize = maxSize;
-        e.curSize = 0;
-        e.newIndex = 0;
-        results.fastResize(e.firstIndex+maxSize);
-        results1.fastResize(e.firstIndex+maxSize);
-        results2.fastResize(e.firstIndex+maxSize);
-        tests.push_back(e);
-        return t;
-    }
-
-    const GPUContact* get(int i)
-    {
-        unsigned int t=0;
-        while(t<nbTests() && rtest(t).newIndex > i) ++t;
-        if (t<nbTests())
-            return &(results[rtest(t).firstIndex + (i-rtest(t).newIndex)]);
-        else
-            return NULL;
-    }
-
-    const GPUContactPoint* getP1(int i)
-    {
-        unsigned int t=0;
-        while(t<nbTests() && rtest(t).newIndex > i) ++t;
-        if (t<nbTests())
-            return &(results1[rtest(t).firstIndex + (i-rtest(t).newIndex)]);
-        else
-            return NULL;
-    }
-
-    const GPUContactPoint* getP2(int i)
-    {
-        unsigned int t=0;
-        while(t<nbTests() && rtest(t).newIndex > i) ++t;
-        if (t<nbTests())
-            return &(results2[rtest(t).firstIndex + (i-rtest(t).newIndex)]);
-        else
-            return NULL;
-    }
-
-    /// Const iterator to iterate the detection pairs
-    virtual type::Vec3 getFirstPosition(unsigned idx) override
-    {
-        return type::Vec3(getP1(idx)->p[0],getP1(idx)->p[1],getP1(idx)->p[2]);
-    }
-
-    /// Const iterator end to iterate the detection pairs
-    virtual type::Vec3 getSecondPosition(unsigned idx) override
-    {
-        return type::Vec3(getP2(idx)->p[0],getP2(idx)->p[1],getP2(idx)->p[2]);
-    }
-
-};
+using sofacuda::GPUDetectionOutputVector;
 
 template<>
 class TDetectionOutputVector<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel> : public GPUDetectionOutputVector
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDistanceGrid.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
similarity index 97%
rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDistanceGrid.cpp
rename to applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
index fe0f57ea6fa..566d72c8305 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDistanceGrid.cpp
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
@@ -23,7 +23,8 @@
 #include <SofaCUDA/component/solidmechanics/spring/CudaSpringForceField.inl>
 #include <SofaCUDA/component/statecontainer/CudaMechanicalObject.inl>
 #include <SofaCUDA/component/mapping/linear/CudaIdentityMapping.inl>
-#include "CudaContactMapper.h"
+#include <SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h>
+#include <SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h>
 #include <SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.h>
 #include "CudaDistanceGridCollisionModel.h"
 #include <SofaCUDA/component/collision/geometry/CudaSphereModel.h>
@@ -56,7 +57,7 @@ using namespace sofa::gpu::cuda;
 template <>
 void BarycentricPenalityContact<CudaPointCollisionModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::setDetectionOutputs(OutputVector* o)
 {
-    TOutputVector& outputs = *static_cast<TOutputVector*>(o);
+    GPUDetectionOutputVector& outputs = *dynamic_cast<GPUDetectionOutputVector*>(o);
     //const bool printLog = this->f_printLog.getValue();
     if (ff==NULL)
     {
@@ -109,7 +110,7 @@ template <>
 void BarycentricPenalityContact<CudaSphereCollisionModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::setDetectionOutputs(OutputVector* o)
 {
 
-    TOutputVector& outputs = *static_cast<TOutputVector*>(o);
+    GPUDetectionOutputVector& outputs = *dynamic_cast<GPUDetectionOutputVector*>(o);
     //const bool printLog = this->f_printLog.getValue();
     if (ff==NULL)
     {
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaDistanceGridCollisionModel.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp
similarity index 100%
rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaDistanceGridCollisionModel.cpp
rename to applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaDistanceGridCollisionModel.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h
similarity index 100%
rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaDistanceGridCollisionModel.h
rename to applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.cu b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.cu
new file mode 100644
index 00000000000..f72bf5d03c7
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.cu
@@ -0,0 +1,86 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <vector_types.h>
+#include <sofa/gpu/cuda/mycuda.h>
+#include "cuda.h"
+
+#if defined(__cplusplus) && CUDA_VERSION < 2000
+namespace sofa
+{
+namespace gpu
+{
+namespace cuda
+{
+#endif
+
+extern "C"
+{
+    void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map);
+}
+
+struct /*__align__(16)*/ GPUContact
+{
+    int p1;
+    float3 p2;
+    float distance;
+    float3 normal;
+};
+
+struct /*__align__(8)*/ GPUTestEntry
+{
+    int firstIndex;
+    int curSize;
+    int maxSize;
+    int newIndex;
+    int elem1,elem2;
+};
+
+__shared__ GPUTestEntry curTestEntry;
+
+__global__ void RigidContactMapperCuda3f_setPoints2_kernel(const GPUTestEntry* tests, const GPUContact* contacts, float3* map)
+{
+    if (threadIdx.x == 0)
+        curTestEntry = tests[blockIdx.x];
+
+    __syncthreads();
+
+    GPUContact c = contacts[curTestEntry.firstIndex + threadIdx.x];
+    if (threadIdx.x < curTestEntry.curSize)
+    {
+        map[curTestEntry.newIndex + threadIdx.x] = c.p2;
+    }
+}
+
+void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map)
+{
+    // round up to 16
+    //maxPoints = (maxPoints+15)&-16;
+    dim3 threads(maxPoints,1);
+    dim3 grid(nbTests,1);
+    {RigidContactMapperCuda3f_setPoints2_kernel<<< grid, threads >>>((const GPUTestEntry*)tests, (GPUContact*)contacts, (float3*)map); mycudaDebugError("RigidContactMapperCuda3f_setPoints2_kernel");}
+}
+
+#if defined(__cplusplus) && CUDA_VERSION < 2000
+}
+}
+}
+#endif
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h
new file mode 100644
index 00000000000..c14d6e47f61
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h
@@ -0,0 +1,102 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/collision/response/mapper/RigidContactMapper.h>
+#include <sofa/gpu/cuda/GPUDetectionOutputVector.h>
+#include <SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h>
+
+namespace sofa::gpu::cuda
+{
+extern "C"
+{
+    void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map);
+}
+}
+
+/// Mapper for CudaRigidDistanceGridCollisionModel
+template <class DataTypes>
+class sofa::component::collision::response::mapper::ContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes> :
+    public sofa::component::collision::response::mapper::RigidContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes>
+{
+public:
+    typedef typename DataTypes::Real Real;
+    typedef typename DataTypes::Coord Coord;
+    typedef typename DataTypes::VecCoord VecCoord;
+    typedef typename DataTypes::VecDeriv VecDeriv;
+    typedef RigidContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes> Inherit;
+    typedef typename Inherit::MMechanicalState MMechanicalState;
+    typedef typename Inherit::MCollisionModel MCollisionModel;
+
+    int addPoint(const Coord& P, int index, Real& r)
+    {
+        int i = this->Inherit::addPoint(P, index, r);
+        if (!this->mapping)
+        {
+            MCollisionModel* model = this->model;
+            MMechanicalState* outmodel = this->outmodel.get();
+            Data<VecCoord>* d_x = outmodel->write(core::VecCoordId::position());
+            VecDeriv& vx = *d_x->beginEdit();
+            Data<VecDeriv>* d_v = outmodel->write(core::VecDerivId::velocity());
+            VecCoord& vv = *d_v->beginEdit();
+
+            typename DataTypes::Coord& x = vx[i];
+            typename DataTypes::Deriv& v = vv[i];
+            if (model->isTransformed(index))
+            {
+                x = model->getTranslation(index) + model->getRotation(index) * P;
+            }
+            else
+            {
+                x = P;
+            }
+            v = typename DataTypes::Deriv();
+
+            d_x->endEdit();
+            d_v->endEdit();
+        }
+        return i;
+    }
+
+    void setPoints2(sofacuda::GPUDetectionOutputVector* outputs)
+    {
+        int n = outputs->size();
+        int nt = outputs->nbTests();
+        int maxp = 0;
+        for (int i=0; i<nt; i++)
+            if (outputs->rtest(i).curSize > maxp) maxp = outputs->rtest(i).curSize;
+        if (this->outmodel)
+            this->outmodel->resize(n);
+        if (this->mapping)
+        {
+            this->mapping->d_points.beginEdit()->fastResize(n);
+            this->mapping->m_rotatedPoints.fastResize(n);
+            gpu::cuda::RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), this->mapping->d_points.beginEdit()->deviceWrite());
+        }
+        else
+        {
+            Data<VecCoord>* d_x = this->outmodel->write(core::VecCoordId::position());
+            VecCoord& vx = *d_x->beginEdit();
+            gpu::cuda::RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), vx.deviceWrite());
+            d_x->endEdit();
+        }
+    }
+};
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/config.h.in b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/config.h.in
new file mode 100644
index 00000000000..ed81edd83ac
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/config.h.in
@@ -0,0 +1,37 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/config.h>
+
+#ifdef SOFA_BUILD_SOFADISTANCEGRID_CUDA
+#  define SOFA_TARGET @PROJECT_NAME@
+#  define SOFA_SOFADISTANCEGRID_CUDA_API SOFA_EXPORT_DYNAMIC_LIBRARY
+#else
+#  define SOFA_SOFADISTANCEGRID_CUDA_API SOFA_IMPORT_DYNAMIC_LIBRARY
+#endif
+
+namespace sofadistancegrid::cuda
+{
+    constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+    constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+} // namespace sofadistancegrid::cuda
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp
new file mode 100644
index 00000000000..4d6783616c7
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp
@@ -0,0 +1,62 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <SofaDistanceGrid/CUDA/init.h>
+#include <SofaDistanceGrid/initSofaDistanceGrid.h>
+#include <SofaCUDA/init.h>
+
+namespace sofadistancegrid::cuda
+{
+
+extern "C" {
+    SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList();
+}
+
+void initExternalModule()
+{
+    init();
+}
+
+const char* getModuleName()
+{
+    return MODULE_NAME;
+}
+
+const char* getModuleVersion()
+{
+    return MODULE_VERSION;
+}
+
+void init()
+{
+    static bool first = true;
+    if (first)
+    {
+        sofadistancegrid::initSofaDistanceGrid();
+        sofa::gpu::cuda::init();
+        first = false;
+    }
+}
+
+} // namespace volumetricrendering::cuda
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.h
new file mode 100644
index 00000000000..df76bdbe8e5
--- /dev/null
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.h
@@ -0,0 +1,29 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <SofaDistanceGrid/CUDA/config.h>
+
+namespace sofadistancegrid::cuda
+{
+SOFA_SOFADISTANCEGRID_CUDA_API void init();
+} // namespace sofadistancegrid::cuda
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/config.h.in b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/config.h.in
index 5f0cc3c2d77..512419c34c3 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/config.h.in
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/config.h.in
@@ -28,10 +28,16 @@
 #cmakedefine01 SOFADISTANCEGRID_HAVE_SOFA_GL
 
 #ifdef SOFA_BUILD_SOFADISTANCEGRID
-#  define SOFA_TARGET SofaDistanceGrid
+#  define SOFA_TARGET @PROJECT_NAME@
 #  define SOFA_SOFADISTANCEGRID_API SOFA_EXPORT_DYNAMIC_LIBRARY
 #else
 #  define SOFA_SOFADISTANCEGRID_API SOFA_IMPORT_DYNAMIC_LIBRARY
 #endif
 
+namespace sofadistancegrid
+{
+    constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+    constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+}
+
 #endif
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp
index 80ff252f960..473b0ccdec0 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp
@@ -19,15 +19,12 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#include "initSofaDistanceGrid.h"
+#include <SofaDistanceGrid/initSofaDistanceGrid.h>
 #include "components/collision/DistanceGridCollisionModel.h"
 #include "components/forcefield/DistanceGridForceField.h"
 #include "RegisterModelToCollisionFactory.h"
 
-namespace sofa
-{
-
-namespace component
+namespace sofadistancegrid
 {
 extern "C" {
 SOFA_SOFADISTANCEGRID_API void initExternalModule();
@@ -39,6 +36,11 @@ SOFA_SOFADISTANCEGRID_API const char* getModuleComponentList();
 }
 
 void initExternalModule()
+{
+    initSofaDistanceGrid();
+}
+
+void initSofaDistanceGrid()
 {
     static bool first = true;
     if (first)
@@ -50,12 +52,12 @@ void initExternalModule()
 
 const char* getModuleName()
 {
-    return "SofaDistanceGrid";
+    return sofadistancegrid::MODULE_NAME;
 }
 
 const char* getModuleVersion()
 {
-    return "1.0";
+    return sofadistancegrid::MODULE_VERSION;
 }
 
 const char* getModuleLicense()
@@ -70,13 +72,4 @@ const char* getModuleDescription()
            "point in space. This is why it is often used to implement collisions.     ";
 }
 
-const char* getModuleComponentList()
-{
-    return "DistanceGridCollisionModel FFDDistanceGridDiscreteIntersection RayDistanceGridContact "
-           "RigidDistanceGridDiscreteIntersection DistanceGridForceField";
-}
-
-} /// component
-
-} /// sofa
-
+} /// namespace sofadistancegrid
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.h
index 1c6c362ca61..7d3fcf19084 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.h
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.h
@@ -19,22 +19,13 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#ifndef SOFA_INIT_SOFADISTANCEGRID_H
-#define SOFA_INIT_SOFADISTANCEGRID_H
+#pragma once
 #include <SofaDistanceGrid/config.h>
 
-namespace sofa
+namespace sofadistancegrid
 {
 
-namespace component
-{
-
-
 void SOFA_SOFADISTANCEGRID_API initSofaDistanceGrid();
 
-} // namespace component
-
-} // namespace sofa
-
-#endif
+} // namespace sofadistancegrid
 
diff --git a/tools/postinstall-fixup/common.sh b/tools/postinstall-fixup/common.sh
index 6ffca518e09..cc2e09e5886 100644
--- a/tools/postinstall-fixup/common.sh
+++ b/tools/postinstall-fixup/common.sh
@@ -26,6 +26,7 @@ function clean_default_plugins()
           SofaAssimp                \
           SofaCarving               \
           SofaDistanceGrid          \
+          SofaDistanceGrid.CUDA     \
           SofaEulerianFluid         \
           SofaImplicitField         \
           SofaMatrix                \

From 20eb43e8770bee7ba5448db5091067c4ca4a303b Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Mon, 14 Oct 2024 15:54:00 +0200
Subject: [PATCH 25/43] [GitHub] Fix python dependencies in Actions (#5061)

---
 .github/workflows/post-github-activity-star.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/post-github-activity-star.yml b/.github/workflows/post-github-activity-star.yml
index 46af5e65bfc..3dd9104c833 100644
--- a/.github/workflows/post-github-activity-star.yml
+++ b/.github/workflows/post-github-activity-star.yml
@@ -15,9 +15,10 @@ jobs:
 
       - name: Install dependencies
         run: |
-          pip install python-graphql-client
-          pip install python-dateutil
-          pip install requests
+          apt install pipx
+          pipx install python-graphql-client
+          pipx install python-dateutil
+          pipx install requests
         working-directory: ${{ github.workspace }}
 
       # Star/watch related event

From 4de128b56695b6628830587028e27351fe8bcdec Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Thu, 17 Oct 2024 00:55:53 +0200
Subject: [PATCH 26/43] [GitHub] Use python venv in Actions  (#5066)

* [GitHub] Use python venv in Actions

* apply to all GHA

* use the actions/setup-python
---
 .github/workflows/post-agenda-sofa-dev-meeting.yml |  7 ++++++-
 .github/workflows/post-announcements.yml           |  9 ++++++++-
 .github/workflows/post-github-activity-issues.yml  |  7 ++++++-
 .github/workflows/post-github-activity-pr.yml      |  7 ++++++-
 .github/workflows/post-github-activity-star.yml    | 14 +++++++++-----
 .github/workflows/post-pending-discussions.yml     |  8 ++++----
 .github/workflows/post-release.yml                 |  7 ++++++-
 .github/workflows/stale_github_discussions.yml     |  8 ++++----
 8 files changed, 49 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/post-agenda-sofa-dev-meeting.yml b/.github/workflows/post-agenda-sofa-dev-meeting.yml
index 06cea2bf2f0..3f3dc11572c 100644
--- a/.github/workflows/post-agenda-sofa-dev-meeting.yml
+++ b/.github/workflows/post-agenda-sofa-dev-meeting.yml
@@ -18,7 +18,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil
diff --git a/.github/workflows/post-announcements.yml b/.github/workflows/post-announcements.yml
index 8235d321f01..90e011a74fe 100644
--- a/.github/workflows/post-announcements.yml
+++ b/.github/workflows/post-announcements.yml
@@ -13,8 +13,15 @@ jobs:
     steps:
       - name: Check out code
         uses: actions/checkout@v2
+        if: ( github.event.discussion.category.name == 'Announcement' ) || ( github.event.discussion.category.name == 'Share your achievements' )
+
+      - name: Set up python
+        uses: actions/setup-python@v5
+        if: ( github.event.discussion.category.name == 'Announcement' ) || ( github.event.discussion.category.name == 'Share your achievements' )
+        with:
+          python-version: '3.12'
 
-      - name: Install dependencies
+      - name: Install pip packages
         if: ( github.event.discussion.category.name == 'Announcement' ) || ( github.event.discussion.category.name == 'Share your achievements' )
         run: |
           pip install python-graphql-client
diff --git a/.github/workflows/post-github-activity-issues.yml b/.github/workflows/post-github-activity-issues.yml
index 97a0e702b72..89328f65378 100644
--- a/.github/workflows/post-github-activity-issues.yml
+++ b/.github/workflows/post-github-activity-issues.yml
@@ -14,7 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil
diff --git a/.github/workflows/post-github-activity-pr.yml b/.github/workflows/post-github-activity-pr.yml
index 6b52876f7c2..890e0d66e3f 100644
--- a/.github/workflows/post-github-activity-pr.yml
+++ b/.github/workflows/post-github-activity-pr.yml
@@ -18,7 +18,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil
diff --git a/.github/workflows/post-github-activity-star.yml b/.github/workflows/post-github-activity-star.yml
index 3dd9104c833..b580c29e7e0 100644
--- a/.github/workflows/post-github-activity-star.yml
+++ b/.github/workflows/post-github-activity-star.yml
@@ -13,12 +13,16 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
-          apt install pipx
-          pipx install python-graphql-client
-          pipx install python-dateutil
-          pipx install requests
+          pip install python-graphql-client
+          pip install python-dateutil
+          pip install requests
         working-directory: ${{ github.workspace }}
 
       # Star/watch related event
diff --git a/.github/workflows/post-pending-discussions.yml b/.github/workflows/post-pending-discussions.yml
index 7f7b5135184..ba66e276b13 100644
--- a/.github/workflows/post-pending-discussions.yml
+++ b/.github/workflows/post-pending-discussions.yml
@@ -14,12 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Set up Python
-        uses: actions/setup-python@v2
+      - name: Set up python
+        uses: actions/setup-python@v5
         with:
-          python-version: '3.10' # Use the desired Python version
+          python-version: '3.12'
 
-      - name: Install dependencies
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil
diff --git a/.github/workflows/post-release.yml b/.github/workflows/post-release.yml
index abac2b36b95..0d60e7fe7a8 100644
--- a/.github/workflows/post-release.yml
+++ b/.github/workflows/post-release.yml
@@ -14,7 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil
diff --git a/.github/workflows/stale_github_discussions.yml b/.github/workflows/stale_github_discussions.yml
index de85881ba6c..d94f6718bf6 100644
--- a/.github/workflows/stale_github_discussions.yml
+++ b/.github/workflows/stale_github_discussions.yml
@@ -14,12 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Set up Python
-        uses: actions/setup-python@v2
+      - name: Set up python
+        uses: actions/setup-python@v5
         with:
-          python-version: '3.10' # Use the desired Python version
+          python-version: '3.12'
 
-      - name: Install dependencies
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

From fe3ddcae6b0e370ccea3f831fa2edc16d55fcb15 Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Thu, 17 Oct 2024 05:37:28 +0200
Subject: [PATCH 27/43] [Mass] Replace doUpdateInternal by callback:
 UniformMass (#3927)

* [Mass] Replace doUpdateInternal by callback: UniformMass

* fix initial view in example scene using InteractiveCamera

* add call to componentState in accFromF and buildMassMatrix

* Apply suggestions from code review

* Use function isComponentStateValid

* remove empty override

* Fix typo in comment

* remove useless comment

* take reviews into account: separate callbacks, add boolean switch

* minor clean

* additional changes in UniformMass

* update associated test

* Work on init and callback to get a clean state after init, fix test

* Fix tests attempt 1

* fix createRegularGridScene using UniformMass

* fix scene without specifying a mass

* Remove uses of mass data replaced with vertexMass

* Update Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl

* minor change on ConstantFF comment and config.h.in

* remove reinit, add comments and fix typo in UM

* simplify code regarding SingleStateAccessor

* Remove call to component state to prevent triggering callbacks

* Fix test

* fix test InvalidFile to use it with a valid template

* Make the use of rigid file with Vec template or an error in file return an error and not a warning

---------

Co-authored-by: Alex Bilger <alexbilger0@gmail.com>
Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
---
 .../FixedPlaneProjectiveConstraint_test.cpp   |   4 +-
 .../tests/FixedProjectiveConstraint_test.cpp  |   4 +-
 .../PartialFixedProjectiveConstraint_test.cpp |   4 +-
 .../Direct/tests/SparseLDLSolver_test.cpp     |   2 +-
 .../src/sofa/component/mass/UniformMass.cpp   |   2 +-
 .../src/sofa/component/mass/UniformMass.h     |  11 +-
 .../src/sofa/component/mass/UniformMass.inl   | 260 ++++++++---------
 .../Component/Mass/tests/UniformMass_test.cpp | 164 +++++++----
 .../mechanicalload/ConstantForceField.h       |   2 +-
 .../mechanicalload/ConstantForceField.inl     |   5 +-
 .../sofa/component/mechanicalload/config.h.in |   2 +-
 .../tests/ConstantForceField_test.cpp         |   2 +-
 .../tests/PlaneForceField_test.cpp            |   2 +-
 .../testing/RegularGridNodeCreation.h         |   3 +-
 .../Simulation/Graph/test/Simulation_test.cpp |   5 +
 .../examples/BulletConvexHullDemo.scn         |   4 +-
 .../examples/BulletLMDragon.scn               |   6 +-
 .../examples/BulletSphere.scn                 |   4 +-
 .../CollisionOBBCapsule/examples/OBBCap.scn   |   4 +-
 .../CollisionOBBCapsule/examples/OBBCap1.scn  |   4 +-
 .../examples/OBBCapEdgeEdge.scn               |   4 +-
 .../examples/OBBCapEdgeVertex.scn             |   4 +-
 .../examples/OBBCapVertexEdge.scn             |   4 +-
 .../examples/OBBCapVertexVertex.scn           |   4 +-
 .../CollisionOBBCapsule/examples/OBBOBB.scn   |   4 +-
 .../CollisionOBBCapsule/examples/OBBOBB2.scn  |   4 +-
 .../examples/OBBOBBAlea.scn                   |   4 +-
 .../examples/OBBOBBCollision.scn              |   4 +-
 .../examples/OBBOBBEdgeEdge.scn               |   4 +-
 .../examples/OBBOBBEdgeVertex.scn             |   4 +-
 .../examples/OBBOBBFaceEdge.scn               |   4 +-
 .../examples/OBBOBBVertexVertex.scn           |   4 +-
 .../examples/OBBSphere.scn                    |   4 +-
 .../examples/OBBSphere2.scn                   |   4 +-
 .../examples/OBBSphereEdge.scn                |   4 +-
 .../examples/OBBSphereVertex.scn              |   4 +-
 .../CollisionOBBCapsule/examples/OBBTri.scn   |   6 +-
 .../examples/OBBTriEdgeEdge.scn               |   6 +-
 .../examples/OBBTriEdgeEdge2.scn              |   6 +-
 .../examples/OBBTriEdgeVerex.scn              |   6 +-
 .../examples/OBBTriFaceVertex.scn             |   6 +-
 .../examples/OBBTriVertexEdge.scn             |   6 +-
 .../examples/OBBTriVertexFace.scn             |   6 +-
 .../examples/OBBTriVertexVertex.scn           |   2 +-
 .../plugins/Haption/exemple/haption1.scn      |   4 +-
 .../plugins/Haption/exemple/temp1.scn         |   4 +-
 .../SofaCUDA/examples/SPHFluid2CUDA.scn       |   2 +-
 .../examples/SPHFluidForceFieldCUDA.scn       |   2 +-
 .../examples/PCISPHFluidForceFieldCPU.scn     |   2 +-
 .../plugins/SofaSimpleGUI/examples/oneTet.scn |   2 +-
 .../Xitact/examples/XitactGrasping.scn        |   6 +-
 .../XitactGraspingWithForceFeedBack.scn       |   6 +-
 .../examples/XitactGrasping_coupledModel.scn  |  10 +-
 .../XitactGrasping_coupledModel_withITP.scn   |  14 +-
 .../plugins/Xitact/examples/xitactTest.scn    |   4 +-
 .../image/examples/ImageToRigidMass.scn       |   4 +-
 .../plugins/image/examples/sampler_Frames.scn |   2 +-
 .../Benchmark/Analysis/constantMomentum.scn   |   4 +-
 .../AnimationLoop/MultiStepAnimationLoop.scn  |   8 +-
 .../AttachProjectiveConstraintMatrix.scn      |   4 +-
 .../FixedRotationProjectiveConstraint.scn     |   8 +-
 .../OscillatorProjectiveConstraint_rigid.scn  |   4 +-
 .../Component/Engine/Generate/MergeMeshes.scn |   2 +-
 .../Engine/Select/MeshSplittingEngine.scn     |   2 +-
 .../SubsetTopology_subsetbehaviormodel.scn    |   2 +-
 .../Engine/Transform/TransformPosition.scn    |   2 +-
 .../Mapping/NonLinear/RigidMapping-basic.scn  |   2 +-
 .../Mapping/NonLinear/RigidMapping.scn        |   6 +-
 .../NonLinear/RigidMapping2d-basic.scn        |   2 +-
 .../NonLinear/RigidRigidMapping-basic.scn     |   2 +-
 examples/Component/Mass/UniformMass.scn       |   5 +-
 .../MechanicalLoad/ConstantForceField.scn     |   2 +-
 .../MechanicalLoad/LinearForceField.scn       |   4 +-
 .../SolidMechanics/FEM/DampingForceField.scn  |   6 +-
 .../FEM/StandardTetrahedralFEMForceField.scn  |  10 +-
 ...etrahedronHyperelasticityFEMForceField.scn | 267 +++++++++---------
 .../Spring/StiffSpringForceField_simple.scn   |   8 +-
 .../Dynamic/AddingPointInTriangleProcess.scn  |   2 +-
 examples/Component/Visual/TrailRenderer.scn   |   2 +-
 examples/Objects/Rigid.xml                    |   2 +-
 examples/Objects/TorusRigid.xml               |   2 +-
 .../TutorialForceFieldLiverSprings.scn        |   2 +-
 .../StepByStep/Pendulum/0_Pendulum.scn        |   2 +-
 .../StepByStep/Pendulum/1_Pendulum.scn        |   2 +-
 .../StepByStep/Pendulum/2_Pendulum.scn        |   2 +-
 .../StepByStep/Pendulum/3_Pendulum.scn        |   2 +-
 .../StepByStep/Pendulum/4_Pendulum.scn        |   2 +-
 .../StepByStep/Pendulum/5_Pendulum.scn        |   4 +-
 .../StepByStep/Pendulum/6_Pendulum.scn        |   4 +-
 .../StepByStep/Pendulum/7_Pendulum.scn        |   4 +-
 .../sandbox/explicit_singlehexaFEM.scn        |   2 +-
 .../sandbox/implicit_singlehexaFEM.scn        |   2 +-
 .../sandbox/implicit_singlehexaFEM_2.scn      |   2 +-
 .../linearsolver_direct_or_iterative.scn      |   4 +-
 .../rungekutta2_heterogeneousobjects.scn      |   4 +-
 .../sandbox/rungekutta_singlehexaFEM.scn      |   2 +-
 96 files changed, 571 insertions(+), 491 deletions(-)

diff --git a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
index c1445042c5d..5e5510938e9 100644
--- a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
@@ -42,7 +42,9 @@ using namespace core::objectmodel;
 template<typename DataTypes>
 void createUniformMass(simulation::Node::SPtr node, component::statecontainer::MechanicalObject<DataTypes>& /*dofs*/)
 {
-    node->addObject(New<component::mass::UniformMass<DataTypes> >());
+    typename component::mass::UniformMass<DataTypes>::SPtr uniformMass = New<component::mass::UniformMass<DataTypes> >();
+    uniformMass->d_totalMass.setValue(1.0);
+    node->addObject(uniformMass);
 }
 
 template <typename _DataTypes>
diff --git a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
index 14a43f5a67e..8267b022412 100644
--- a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
@@ -45,7 +45,9 @@ using core::objectmodel::New;
 template<typename DataTypes>
 void createUniformMass(simulation::Node::SPtr node, component::statecontainer::MechanicalObject<DataTypes>& /*dofs*/)
 {
-    node->addObject(New<component::mass::UniformMass<DataTypes> >());
+    typename component::mass::UniformMass<DataTypes>::SPtr uniformMass = New<component::mass::UniformMass<DataTypes> >();
+    uniformMass->d_totalMass.setValue(1.0);
+    node->addObject(uniformMass);
 }
 
 template <typename _DataTypes>
diff --git a/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
index 3ca05c51679..f91407fbbe9 100644
--- a/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
@@ -41,7 +41,9 @@ using namespace core::objectmodel;
 template<typename DataTypes>
 void createUniformMass(simulation::Node::SPtr node, component::statecontainer::MechanicalObject<DataTypes>& /*dofs*/)
 {
-    node->addObject(New<component::mass::UniformMass<DataTypes> >());
+    typename component::mass::UniformMass<DataTypes>::SPtr uniformMass = New<component::mass::UniformMass<DataTypes> >();
+    uniformMass->d_totalMass.setValue(1.0);
+    node->addObject(uniformMass);
 }
 
 template <typename _DataTypes>
diff --git a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
index 1e3db25c26e..6dd556f57b6 100644
--- a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
+++ b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
@@ -98,7 +98,7 @@ TEST(SparseLDLSolver, TopologyChangeEmptyMState)
     sofa::simpleapi::createObject(root, "PointSetTopologyContainer", {{"position", "0 0 0"}});
     sofa::simpleapi::createObject(root, "PointSetTopologyModifier");
     sofa::simpleapi::createObject(root, "MechanicalObject", {{"template", "Vec3"}});
-    sofa::simpleapi::createObject(root, "UniformMass");
+    sofa::simpleapi::createObject(root, "UniformMass", {{"totalMass", "1.0"}});
     sofa::simpleapi::createObject(root, "TopologicalChangeProcessor",
                                   {{"useDataInputs", "true"}, {"timeToRemove", "0.05"},
                                    {"pointsToRemove", "0"}});
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
index d4cc864b3d1..023051cdd36 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
@@ -186,7 +186,7 @@ void UniformMass<RigidTypes>::loadFromFileRigidImpl(const string& filename)
                         }
                         else		// it's an unknown keyword
                         {
-                            msg_warning(this) << "error reading file '" << filename << "'. \n"
+                            msg_error(this) << "error reading file '" << filename << "'. \n"
                                               << "Unable to decode an unknow command '"<< cmd << "'. \n" ;
                             skipToEOL(file);
                         }
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
index eb323c52470..b43fe61b28b 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
@@ -78,6 +78,9 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     DataSetIndex     d_indices; ///< optional local DOF indices. Any computation involving only indices outside of this list are discarded
     Data<bool> d_preserveTotalMass; ///< Prevent totalMass from decreasing when removing particles.
 
+    bool m_isTotalMassUsed; ///< Boolean specifying whether the data totalMass has been initially given (else vertexMass vector is being used)
+
+
     ////////////////////////// Inherited attributes ////////////////////////////
     /// https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html
     /// Bring inherited attributes and function in the current lookup context.
@@ -87,6 +90,7 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     using core::objectmodel::BaseObject::getContext;
     ////////////////////////////////////////////////////////////////////////////
 
+
     /// Link to be set to the topology container in the component graph.
     SingleLink <UniformMass<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
 
@@ -115,10 +119,8 @@ class UniformMass : public core::behavior::Mass<DataTypes>
 
     void loadRigidMass(const std::string& filename);
 
-    void reinit() override;
     void init() override;
     void initDefaultImpl() ;
-    void doUpdateInternal() override;
 
     /// @name Check and standard initialization functions from mass information
     /// @{
@@ -126,10 +128,13 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     virtual void initFromVertexMass();
 
     virtual bool checkTotalMass();
-    virtual void checkTotalMassInit();
     virtual void initFromTotalMass();
     /// @}
 
+    /// Functions updating data
+    sofa::core::objectmodel::ComponentState updateFromTotalMass();
+    sofa::core::objectmodel::ComponentState updateFromVertexMass();
+
     void addMDx(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
     void accFromF(const core::MechanicalParams* mparams, DataVecDeriv& a, const DataVecDeriv& f) override;
     void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
index 3c24e46c56b..c8a23bdf9a2 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
@@ -78,6 +78,36 @@ UniformMass<DataTypes>::UniformMass()
     , l_topology(initLink("topology", "link to the topology container"))
 {
     constructor_message();
+
+
+    sofa::core::objectmodel::Base::addUpdateCallback("updateFromTotalMass", {&d_totalMass}, [this](const core::DataTracker& )
+    {
+        if(m_isTotalMassUsed)
+        {
+            msg_info() << "dataInternalUpdate: data totalMass has changed";
+            return updateFromTotalMass();
+        }
+        else
+        {
+            msg_info() << "vertexMass data is initially used, the callback associated with the totalMass is skipped";
+            return updateFromVertexMass();
+        }
+    }, {});
+
+
+    sofa::core::objectmodel::Base::addUpdateCallback("updateFromVertexMass", {&d_vertexMass}, [this](const core::DataTracker& )
+    {
+        if(!m_isTotalMassUsed)
+        {
+            msg_info() << "dataInternalUpdate: data vertexMass has changed";
+            return updateFromVertexMass();
+        }
+        else
+        {
+            msg_info() << "totalMass data is initially used, the callback associated with the vertexMass is skipped";
+            return updateFromTotalMass();
+        }
+    }, {});
 }
 
 template <class DataTypes>
@@ -132,24 +162,21 @@ void UniformMass<DataTypes>::initDefaultImpl()
 {
     this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
 
-    Mass<DataTypes>::init();
 
-    WriteAccessor<Data<SetIndexArray > > indices = d_indices;
-    
-    if(mstate==nullptr)
-    {
-        msg_warning(this) << "Missing mechanical state. \n"
-                             "UniformMass need to be used with an object also having a MechanicalState. \n"
-                             "To remove this warning: add a <MechanicalObject/> to the parent node of the one \n"
-                             " containing this <UniformMass/>";
-        return;
-    }
+    /// SingleStateAccessor checks the mstate pointer to a MechanicalObject
+    Mass<DataTypes>::init();
 
+        
+    /// Check filename
     if ( d_filenameMass.isSet() && d_filenameMass.getValue() != "unused" )
     {
         loadRigidMass(d_filenameMass.getFullPath()) ;
     }
 
+
+    /// Check indices
+    WriteAccessor<Data<SetIndexArray > > indices = d_indices;
+
     //If d_localRange is set, update indices
     if (d_localRange.getValue()[0] >= 0
         && d_localRange.getValue()[1] > 0
@@ -168,13 +195,15 @@ void UniformMass<DataTypes>::initDefaultImpl()
             indices.push_back(i);
     }
 
-    // check if mass should use topology
+
+    /// Check link to topology
     if (l_topology.empty())
     {
         l_topology.set(this->getContext()->getMeshTopologyLink());
     }
 
     BaseMeshTopology* meshTopology = l_topology.get();
+
     if (meshTopology != nullptr && dynamic_cast<sofa::core::topology::TopologyContainer*>(meshTopology) != nullptr)
     {
         msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
@@ -201,92 +230,53 @@ void UniformMass<DataTypes>::initDefaultImpl()
         });
     }
 
-    //If user defines the vertexMass, use this as the mass
+
+    /// Check on data isSet()
     if (d_vertexMass.isSet())
     {
-        //Check double definition : both totalMass and vertexMass are user-defined
-        if (d_totalMass.isSet())
+        if(d_totalMass.isSet())
         {
             msg_warning(this) << "totalMass value overriding the value of the attribute vertexMass. \n"
                                  "vertexMass = totalMass / nb_dofs. \n"
                                  "To remove this warning you need to set either totalMass or vertexMass data field, but not both.";
-            checkTotalMassInit();
-            initFromTotalMass();
+
+            m_isTotalMassUsed = true;
+            d_vertexMass.setReadOnly(true);
         }
         else
         {
-            if(checkVertexMass())
-            {
-                initFromVertexMass();
-            }
-            else
-            {
-                checkTotalMassInit();
-                initFromTotalMass();
-            }
+            m_isTotalMassUsed = false;
+            d_totalMass.setReadOnly(true);
+
+            msg_info() << "Input vertexMass is used for initialization";
         }
     }
-    //else totalMass is used
-    else
+    else if (d_totalMass.isSet())
     {
-        if(!d_totalMass.isSet())
-        {
-            msg_info() << "No information about the mass is given. Default totatMass is used as reference.";
-        }
-
-        checkTotalMassInit();
-        initFromTotalMass();
-    }
-
-    this->trackInternalData(d_vertexMass);
-    this->trackInternalData(d_totalMass);
+        m_isTotalMassUsed = true;
+        d_vertexMass.setReadOnly(true);
 
-    //Info post-init
-    msg_info() << "totalMass  = " << d_totalMass.getValue() << " \n"
-                  "vertexMass = " << d_vertexMass.getValue();
-}
-
-
-template <class DataTypes>
-void UniformMass<DataTypes>::reinit()
-{
-    // Now update is handled through the doUpdateInternal mechanism
-    // called at each begin of step through the UpdateInternalDataVisitor
-}
-
-
-template <class DataTypes>
-void UniformMass<DataTypes>::doUpdateInternal()
-{
-    if (this->hasDataChanged(d_totalMass))
-    {
-        if(checkTotalMass())
-        {
-            initFromTotalMass();
-            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
-        }
-        else
-        {
-            msg_error() << "doUpdateInternal: incorrect update from totalMass";
-            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-        }
+        msg_info() << "Input totalForce is used for initialization";
     }
-    else if(this->hasDataChanged(d_vertexMass))
+    else
     {
-        if(checkVertexMass())
+        if(d_filenameMass.getValue() == "unused")
         {
-            initFromVertexMass();
-            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
-        }
-        else
-        {
-            msg_error() << "doUpdateInternal: incorrect update from vertexMass";
+            msg_error() << "No input mass information has been set. Please define one of both Data: "
+                        << d_vertexMass.getName() << " or " << d_totalMass.getName()
+                        << "\nFor your information, prior to #3927, default value was totalMass=\"1.0\".";
             this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+            return;
         }
     }
 
-    //Info post-reinit
-    msg_info() << "totalMass  = " << d_totalMass.getValue() << " \n"
+
+    /// Trigger callbacks to update data (see constructor)
+    if(!this->isComponentStateValid())
+        msg_error() << "Initialization process is invalid";
+
+    /// Info post-init
+    msg_info() << "totalMass  = " << d_totalMass.getValue() << " | "
                   "vertexMass = " << d_vertexMass.getValue();
 }
 
@@ -296,8 +286,8 @@ bool UniformMass<DataTypes>::checkVertexMass()
 {
     if(d_vertexMass.getValue() < 0.0 )
     {
-        msg_warning(this) << "vertexMass data can not have a negative value. \n"
-                             "To remove this warning, you need to set one single, non-zero and positive value to the vertexMass data";
+        msg_error(this) << "vertexMass data can not have a negative value. \n"
+                           "To remove this warning, you need to set one single, non-zero and positive value to the vertexMass data";
         return false;
     }
     else
@@ -325,8 +315,8 @@ bool UniformMass<DataTypes>::checkTotalMass()
 {
     if(d_totalMass.getValue() < 0.0)
     {
-        msg_warning(this) << "totalMass data can not have a negative value. \n"
-                             "To remove this warning, you need to set a non-zero positive value to the totalMass data";
+        msg_error(this) << "totalMass data can not have a negative value. \n"
+                           "To remove this warning, you need to set a non-zero positive value to the totalMass data";
         return false;
     }
     else
@@ -336,19 +326,6 @@ bool UniformMass<DataTypes>::checkTotalMass()
 }
 
 
-template <class DataTypes>
-void UniformMass<DataTypes>::checkTotalMassInit()
-{
-    //Check for negative or null value, if wrongly set use the default value totalMass = 1.0
-    if(!checkTotalMass())
-    {
-        msg_warning(this) << "Switching back to default values: totalMass = 1.0\n";
-        d_totalMass.setValue(1.0) ;
-        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-    }
-}
-
-
 template <class DataTypes>
 void UniformMass<DataTypes>::initFromTotalMass()
 {
@@ -357,9 +334,8 @@ void UniformMass<DataTypes>::initFromTotalMass()
 
     if(d_indices.getValue().size() > 0)
     {
-        MassType *m = d_vertexMass.beginEdit();
+        helper::WriteAccessor<Data<MassType>> m = d_vertexMass;
         *m = d_totalMass.getValue() / Real(d_indices.getValue().size());
-        d_vertexMass.endEdit();
 
         msg_info() << "totalMass information is used";
     }
@@ -370,6 +346,38 @@ void UniformMass<DataTypes>::initFromTotalMass()
 }
 
 
+template <class DataTypes>
+sofa::core::objectmodel::ComponentState UniformMass<DataTypes>::updateFromTotalMass()
+{
+    if (checkTotalMass())
+    {
+        initFromTotalMass();
+        return sofa::core::objectmodel::ComponentState::Valid;
+    }
+    else
+    {
+        msg_error() << "dataInternalUpdate: incorrect update from totalMass";
+        return sofa::core::objectmodel::ComponentState::Invalid;
+    }
+}
+
+
+template <class DataTypes>
+sofa::core::objectmodel::ComponentState UniformMass<DataTypes>::updateFromVertexMass()
+{
+    if(checkVertexMass())
+    {
+        initFromVertexMass();
+        return sofa::core::objectmodel::ComponentState::Valid;
+    }
+    else
+    {
+        msg_error() << "dataInternalUpdate: incorrect update from vertexMass";
+        return sofa::core::objectmodel::ComponentState::Invalid;
+    }
+}
+
+
 template <class DataTypes>
 void UniformMass<DataTypes>::updateMassOnResize(sofa::Size newSize)
 {
@@ -393,11 +401,11 @@ void UniformMass<DataTypes>::updateMassOnResize(sofa::Size newSize)
 
 // -- Mass interface
 template <class DataTypes>
-void UniformMass<DataTypes>::addMDx ( const core::MechanicalParams*,
-                                                DataVecDeriv& vres,
-                                                const DataVecDeriv& vdx,
-                                                SReal factor)
+void UniformMass<DataTypes>::addMDx ( const core::MechanicalParams*, DataVecDeriv& vres, const DataVecDeriv& vdx, SReal factor)
 {
+    if (!this->isComponentStateValid())
+        return;
+
     helper::WriteAccessor<DataVecDeriv> res = vres;
     helper::ReadAccessor<DataVecDeriv> dx = vdx;
 
@@ -413,10 +421,11 @@ void UniformMass<DataTypes>::addMDx ( const core::MechanicalParams*,
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::accFromF ( const core::MechanicalParams*,
-                                                  DataVecDeriv& va,
-                                                  const DataVecDeriv& vf )
+void UniformMass<DataTypes>::accFromF ( const core::MechanicalParams*, DataVecDeriv& va, const DataVecDeriv& vf )
 {
+    if (!this->isComponentStateValid())
+        return;
+
     WriteOnlyAccessor<DataVecDeriv> a = va;
     ReadAccessor<DataVecDeriv> f = vf;
 
@@ -429,10 +438,7 @@ void UniformMass<DataTypes>::accFromF ( const core::MechanicalParams*,
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::addMDxToVector ( BaseVector * resVect,
-                                                        const VecDeriv* dx,
-                                                        SReal mFact,
-                                                        unsigned int& offset )
+void UniformMass<DataTypes>::addMDxToVector ( BaseVector * resVect, const VecDeriv* dx, SReal mFact, unsigned int& offset )
 {
     SOFA_UNUSED(resVect);
     SOFA_UNUSED(dx);
@@ -442,26 +448,23 @@ void UniformMass<DataTypes>::addMDxToVector ( BaseVector * resVect,
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::addGravityToV(const MechanicalParams* mparams,
-                                                     DataVecDeriv& d_v)
+void UniformMass<DataTypes>::addGravityToV(const MechanicalParams* mparams, DataVecDeriv& d_v)
 {
     if (mparams)
     {
-        VecDeriv& v = *d_v.beginEdit();
+        helper::WriteAccessor<DataVecDeriv> v = d_v;
 
         const SReal* g = getContext()->getGravity().ptr();
         Deriv theGravity;
         DataTypes::set ( theGravity, g[0], g[1], g[2] );
         Deriv hg = theGravity * Real(sofa::core::mechanicalparams::dt(mparams));
 
-        dmsg_info()<< " addGravityToV hg = "<<theGravity<<"*"<<sofa::core::mechanicalparams::dt(mparams)<<"="<<hg ;
+        dmsg_info()<< "addGravityToV hg = "<<theGravity<<"*"<<sofa::core::mechanicalparams::dt(mparams)<<"="<<hg ;
 
         for ( unsigned int i=0; i<v.size(); i++ )
         {
             v[i] += hg;
         }
-
-        d_v.endEdit();
     }
 }
 
@@ -482,7 +485,7 @@ void UniformMass<DataTypes>::addForce ( const core::MechanicalParams*, DataVecDe
     const MassType& m = d_vertexMass.getValue();
     Deriv mg = theGravity * m;
 
-    dmsg_info() <<" addForce, mg = "<<d_vertexMass<<" * "<<theGravity<<" = "<<mg;
+    dmsg_info() <<"addForce, mg = "<<d_vertexMass<<" * "<<theGravity<<" = "<<mg;
 
     const ReadAccessor<Data<SetIndexArray > > indices = d_indices;
 
@@ -494,8 +497,7 @@ void UniformMass<DataTypes>::addForce ( const core::MechanicalParams*, DataVecDe
 }
 
 template <class DataTypes>
-SReal UniformMass<DataTypes>::getKineticEnergy ( const MechanicalParams* params,
-                                                           const DataVecDeriv& d_v  ) const
+SReal UniformMass<DataTypes>::getKineticEnergy ( const MechanicalParams* params, const DataVecDeriv& d_v  ) const
 {
     SOFA_UNUSED(params);
 
@@ -512,8 +514,7 @@ SReal UniformMass<DataTypes>::getKineticEnergy ( const MechanicalParams* params,
 }
 
 template <class DataTypes>
-SReal UniformMass<DataTypes>::getPotentialEnergy ( const MechanicalParams* params,
-                                                             const DataVecCoord& d_x  ) const
+SReal UniformMass<DataTypes>::getPotentialEnergy ( const MechanicalParams* params, const DataVecCoord& d_x  ) const
 {
     SOFA_UNUSED(params);
     ReadAccessor<DataVecCoord> x = d_x;
@@ -538,9 +539,7 @@ SReal UniformMass<DataTypes>::getPotentialEnergy ( const MechanicalParams* param
 // does nothing by default, need to be specialized in .cpp
 template <class DataTypes>
 type::Vec6
-UniformMass<DataTypes>::getMomentum ( const core::MechanicalParams* params,
-                                                const DataVecCoord& d_x,
-                                                const DataVecDeriv& d_v  ) const
+UniformMass<DataTypes>::getMomentum ( const core::MechanicalParams* params, const DataVecCoord& d_x, const DataVecDeriv& d_v  ) const
 {
     SOFA_UNUSED(params);
     SOFA_UNUSED(d_x);
@@ -557,6 +556,9 @@ UniformMass<DataTypes>::getMomentum ( const core::MechanicalParams* params,
 template <class DataTypes>
 void UniformMass<DataTypes>::addMToMatrix (sofa::linearalgebra::BaseMatrix * mat, SReal mFact, unsigned int &offset)
 {
+    if (!this->isComponentStateValid())
+        return;
+
     const MassType& m = d_vertexMass.getValue();
 
     static constexpr auto N = Deriv::total_size;
@@ -573,6 +575,11 @@ void UniformMass<DataTypes>::addMToMatrix (sofa::linearalgebra::BaseMatrix * mat
 template <class DataTypes>
 void UniformMass<DataTypes>::buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
 {
+    if (!this->isComponentStateValid())
+    {
+        return;
+    }
+
     const MassType& m = d_vertexMass.getValue();
     static constexpr auto N = Deriv::total_size;
 
@@ -594,8 +601,7 @@ SReal UniformMass<DataTypes>::getElementMass (sofa::Index ) const
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::getElementMass (sofa::Index  index ,
-                                                        BaseMatrix *m ) const
+void UniformMass<DataTypes>::getElementMass (sofa::Index  index, BaseMatrix *m ) const
 {
     SOFA_UNUSED(index);
 
@@ -654,11 +660,11 @@ void UniformMass<DataTypes>::draw(const VisualParams* vparams)
 template<class DataTypes>
 void UniformMass<DataTypes>::loadRigidMass( const std::string&  filename)
 {
-    msg_warning(this) << "The attribute filename is set to ["<< filename << "] while " << msgendl <<
+    msg_error(this) << "The attribute filename is set to ["<< filename << "] while " << msgendl <<
                          " the current object is not based on a Rigid template. It is thus ignored. " << msgendl <<
-                         "To remove this warning you can: " << msgendl <<
+                         "To fix this error you can: " << msgendl <<
                          "  - remove the filename attribute from <UniformMass filename='"<< filename << "'/>." << msgendl <<
-                         "  - use a Rigid mechanical object instead of a VecXX one." ;
+                         "  - use a Rigid mechanical object instead of a Vec one." ;
 }
 
 } // namespace sofa::component::mass
diff --git a/Sofa/Component/Mass/tests/UniformMass_test.cpp b/Sofa/Component/Mass/tests/UniformMass_test.cpp
index 312765db17e..af48c7aba8e 100644
--- a/Sofa/Component/Mass/tests/UniformMass_test.cpp
+++ b/Sofa/Component/Mass/tests/UniformMass_test.cpp
@@ -115,8 +115,8 @@ struct UniformMassTest :  public BaseTest
         return ;
     }
 
-    /// totalMass, mass and d_localRange..
-    /// case where NO mass info give, default totalMass = 1.0
+    /// totalMass, mass and localRange..
+    /// case where NO mass info given, ComponentState = Invalid
     void checkNoAttributes(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -127,19 +127,15 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
-        root->init(sofa::core::execparams::defaultInstance()) ;
+        EXPECT_MSG_EMIT(Error);
+        root->init(sofa::core::execparams::defaultInstance());
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
-    /// totalMass, mass and d_localRange..
-    /// case where NO mass info give, default totalMass = 1.0
+    /// Check inertiaMatrix
     void checkRigidAttribute()
     {
         EXPECT_MSG_NOEMIT(Error, Warning);
@@ -162,20 +158,19 @@ struct UniformMassTest :  public BaseTest
         {
             for(unsigned int j=0;j<3;j++)
             {
-                ASSERT_EQ(mass->d_vertexMass.getValue().inertiaMatrix[i][j],
-                          values[i*3+j]);
+                ASSERT_EQ(mass->d_vertexMass.getValue().inertiaMatrix[i][j], values[i*3+j]);
             }
         }
     }
 
     /// totalMass is well defined
-    /// vertexMass will be computed from it using the formulat :  vertexMass = totalMass / number of particules
+    /// vertexMass will be computed from it using the formula:  vertexMass = totalMass / number of dofs
     void checkVertexMassFromTotalMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' totalMass='8.0'/>                             "
+                "   <UniformMass name='m_mass' totalMass='8.0'/>             "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
@@ -192,13 +187,13 @@ struct UniformMassTest :  public BaseTest
     }
 
     /// vertexMass is well defined
-    /// totalMass will be computed from it using the formulat : totalMass = vertexMass * number of particules
+    /// totalMass will be computed from it using the formula: totalMass = vertexMass * number of dofs
     void checkTotalMassFromVertexMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' vertexMass='4.0' />                 "
+                "   <UniformMass name='m_mass' vertexMass='4.0' />           "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
@@ -215,49 +210,43 @@ struct UniformMassTest :  public BaseTest
     }
 
     /// totalMass is defined but negative
-    /// Ignore value and use default value of totalMass = 1.0
+    /// ComponentState = Invalid
     void checkNegativeTotalMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' totalMass='-8.0' />                 "
+                "   <UniformMass name='m_mass' totalMass='-8.0' />           "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
     /// vertexMass is defined but negative
-    /// Ignore value and use default value of totalMass = 1.0
+    /// ComponentState = Invalid
     void checkNegativeVertexMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' vertexMass='-4.0' />                 "
+                "   <UniformMass name='m_mass' vertexMass='-4.0' />          "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
     /// totalMass & mass are exclusive.
@@ -286,7 +275,7 @@ struct UniformMassTest :  public BaseTest
 
     /// Both vertexMass and totalMass information are defined but totalMass is negative
     /// Due to double declaration, by default the totalMass is used
-    /// Due to negative value, the default value of totalMass overwrites totalMass = 1.0
+    /// ComponentState = Invalid
     void checkDoubleDeclarationNegativeTotalMass(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -297,19 +286,16 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
     /// Both vertexMass and totalMass information are defined but vertexMass is negative
-    /// By default use the totalMass
+    /// totalMass takes over and overwrite the vertexMass
     void checkDoubleDeclarationNegativeVertexMass(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -320,19 +306,23 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Warning);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
 
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getVertexMass(), 4.0 ) ;
-            EXPECT_EQ( mass->getTotalMass(), 8.0 ) ;
+        if(mass!=nullptr)
+        {
+            EXPECT_EQ( mass->getVertexMass(), 4.0 );
+            EXPECT_EQ( mass->getTotalMass(), 8.0 );
         }
+
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
     }
 
     /// Both vertexMass and totalMass information are negative
-    /// Ignore them and use default value of totalMass = 1.0
+    /// ComponentState = Invalid
     void checkDoubleDeclarationBothNegative(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -343,15 +333,70 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
+    }
 
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
+    /// Update the totalMass
+    void checkUpdateTotalMass(){
+        const string scene =
+                "<?xml version='1.0'?>"
+                "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
+                "   <MechanicalObject position='0 0 0 4 5 6'/>               "
+                "   <UniformMass name='m_mass' totalMass='18.0'/>            "
+                "</Node>                                                     " ;
+
+        const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
+
+        root->init(sofa::core::execparams::defaultInstance()) ;
+
+        TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
+        EXPECT_TRUE( mass != nullptr ) ;
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
+
+        mass->setTotalMass(3.0);
+        mass->updateFromTotalMass();
+
+        if(mass!=nullptr)
+        {
+            EXPECT_EQ( mass->getVertexMass(), 1.5 );
+            EXPECT_EQ( mass->getTotalMass(), 3.0 );
+        }
+
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
+    }
+
+    /// Update the vertexMass
+    void checkUpdateVertexMass(){
+        const string scene =
+                "<?xml version='1.0'?>"
+                "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
+                "   <MechanicalObject position='0 0 0 4 5 6'/>               "
+                "   <UniformMass name='m_mass' vertexMass='1.0'/>            "
+                "</Node>                                                     " ;
+
+        const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
+
+        root->init(sofa::core::execparams::defaultInstance()) ;
+
+        TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
+        EXPECT_TRUE( mass != nullptr ) ;
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
+
+        mass->setMass(3.0);
+        mass->updateFromVertexMass();
+
+        if(mass!=nullptr)
+        {
+            EXPECT_EQ( mass->getVertexMass(), 3.0 );
+            EXPECT_EQ( mass->getTotalMass(), 6.0 );
         }
+
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
     }
 
     /// check mass initialization for rigids
@@ -360,7 +405,7 @@ struct UniformMassTest :  public BaseTest
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject template='Rigid3' position='0 0 0 1 0 0 1 0 0 0 1 0 0 1'/>                     "
-                "   <UniformMass filename='BehaviorModels/card.rigid'/>        "
+                "   <UniformMass filename='BehaviorModels/card.rigid'/>      "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAValidFile", scene.c_str());
         root->init(sofa::core::execparams::defaultInstance()) ;
@@ -379,9 +424,10 @@ struct UniformMassTest :  public BaseTest
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0'/>                     "
-                "   <UniformMass filename='BehaviorModels/card.rigid'/>        "
+                "   <UniformMass filename='BehaviorModels/card.rigid'/>      "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAValidFile", scene.c_str());
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
     }
 
@@ -389,10 +435,11 @@ struct UniformMassTest :  public BaseTest
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
-                "   <MechanicalObject position='0 0 0'/>                     "
-                "   <UniformMass filename='invalid_uniformmatrix.txt'/>        "
+                "   <MechanicalObject position='0 0 0 0 0 0 1'/>                     "
+                "   <UniformMass filename='invalid_uniformmatrix.txt'/>      "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAnInValidFile", scene.c_str());
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
     }
 
@@ -400,17 +447,14 @@ struct UniformMassTest :  public BaseTest
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
-                "   <MechanicalObject position='0 0 0'/>                     "
+                "   <MechanicalObject template='Rigid3' position='0 0 0 1 0 0 1 0 0 0 1 0 0 1'/>                     "
                 "   <UniformMass filename='invalid_uniformmatrix.txt'/>        "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAnInValidFile", scene.c_str());
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
     }
 
-    void reinitTest(){
-        // TODO
-        EXPECT_TRUE(todo == false) ;
-    }
 
 };
 
@@ -470,6 +514,16 @@ TYPED_TEST(UniformMassTest, checkDoubleDeclarationBothNegative)
     ASSERT_NO_THROW(this->checkDoubleDeclarationBothNegative()) ;
 }
 
+TYPED_TEST(UniformMassTest, checkUpdateTotalMass)
+{
+ASSERT_NO_THROW(this->checkUpdateTotalMass()) ;
+}
+
+TYPED_TEST(UniformMassTest, checkUpdateVertexMass)
+{
+ASSERT_NO_THROW(this->checkUpdateVertexMass()) ;
+}
+
 TYPED_TEST(UniformMassTest, loadFromAFileForNonRigid) {
     ASSERT_NO_THROW(this->loadFromAFileForNonRigid()) ;
 }
@@ -489,7 +543,3 @@ TYPED_TEST(UniformMassTest, loadFromAFileForRigid) {
 TYPED_TEST(UniformMassTest, checkRigidAttribute) {
     ASSERT_NO_THROW(this->checkRigidAttribute()) ;
 }
-
-TYPED_TEST(UniformMassTest, reinitTest) {
-    //ASSERT_NO_THROW(this->reinitTest()) ;
-}
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h
index 4725124906d..cfa115b27c4 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h
@@ -127,7 +127,7 @@ class ConstantForceField : public core::behavior::ForceField<DataTypes>
     /// Save system size for update of indices (doUpdateInternal)
     size_t m_systemSize;
 
-    /// Boolean specifying whether the data totalMass has been initially given
+    /// Boolean specifying whether the data totalForce has been initially given
     /// (else forces vector is being used)
     bool m_isTotalForceUsed;
 };
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl
index 4e0b34c6ea1..bee2ad5ea6d 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl
@@ -90,14 +90,14 @@ template<class DataTypes>
 void ConstantForceField<DataTypes>::init()
 {
     this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-       
+
+    /// Check link to topology
     if (l_topology.empty())
     {
         msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
         l_topology.set(this->getContext()->getMeshTopologyLink());
     }
 
-    // temprory pointer to topology
     if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get())
     {
         msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
@@ -115,7 +115,6 @@ void ConstantForceField<DataTypes>::init()
     }
 
 
-
     /// Check on data isSet()
     if (d_forces.isSet())
     {
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in
index 8bd4efad18f..23749c09ce1 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in
@@ -51,7 +51,7 @@ namespace sofa::component::mechanicalload
 #else
 #define SOFA_ATTRIBUTE_DISABLED__CONSTANTFF_FORCE_DATA() \
     SOFA_ATTRIBUTE_DISABLED( \
-    "v23.12 (PR#XXXX)", "v24.06",\
+    "v23.12 (PR#4019)", "v24.06",\
     "The \'force\' data is no longer used, please use the \'forces\' vector instead (with size = 1).")
 #endif
 
diff --git a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
index 701de7d6e0b..ba0c439a646 100644
--- a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
@@ -96,7 +96,7 @@ struct ConstantForceField_test : public BaseSimulationTest, NumericTest<typename
                  "   <CGLinearSolver iterations=\"25\" tolerance=\"1e-5\" threshold=\"1e-5\"/>   \n"
                  "   <EulerImplicitSolver/>                                                      \n"
                  "   <MechanicalObject name='mstate' size='2' template='"<<  DataTypes::Name() << "'/> \n"
-                 "   <UniformMass/>                                                                    \n"
+                 "   <UniformMass totalMass='1.0'/>                                                                    \n"
                  "   <ConstantForceField name='myForceField' indices='0' totalForce='"<< defaultValueForces << "'/>        \n"
                  "</Node>                                                                                                                                                               \n" ;
 
diff --git a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
index af24d8a95e4..bab1bd89732 100644
--- a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
@@ -156,8 +156,8 @@ struct PlaneForceField_test : public BaseSimulationTest
         m_mechanicalObj->x.setValue(points);
 
         typename TypedUniformMass::SPtr uniformMass = New<TypedUniformMass>();
-        m_root->addObject(uniformMass);
         uniformMass->d_totalMass.setValue(1);
+        m_root->addObject(uniformMass);
 
         /*Create the plane force field*/
         m_planeForceFieldSPtr = New<PlaneForceFieldType>();
diff --git a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h
index 5c4c221dec9..deb9b6aa8df 100644
--- a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h
+++ b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h
@@ -62,7 +62,7 @@ PatchTestStruct<DataTypes> createRegularGridScene(
     PatchTestStruct<DataTypes> patchStruct;
     typedef typename DataTypes::Real Real;
     typedef typename component::statecontainer::MechanicalObject<DataTypes> MechanicalObject;
-    typedef typename sofa::component::mass::UniformMass <DataTypes> UniformMass;
+    typedef typename sofa::component::mass::UniformMass<DataTypes> UniformMass;
     typedef component::topology::container::grid::RegularGridTopology RegularGridTopology;
     typedef typename component::engine::select::BoxROI<DataTypes> BoxRoi;
     typedef typename sofa::component::engine::select::PairBoxROI<DataTypes> PairBoxRoi;
@@ -90,6 +90,7 @@ PatchTestStruct<DataTypes> createRegularGridScene(
 
     // Mass
     typename UniformMass::SPtr mass = modeling::addNew<UniformMass>(SquareNode,"mass");
+    mass->d_totalMass.setValue(1.0);
 
     // Regular grid topology
     const RegularGridTopology::SPtr gridMesh = modeling::addNew<RegularGridTopology>(SquareNode,"loader");
diff --git a/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp b/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
index a8ab5d8040c..53507e22024 100644
--- a/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
+++ b/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
@@ -222,7 +222,12 @@ struct Scene_test: public NumericTest<SReal>
 
         root = simulation::getSimulation()->createNewGraph("root");
         root->addObject(core::objectmodel::New<InstrumentedObject<MechanicalObject3> >());
+
+        typename UniformMass3::SPtr uniformMass = core::objectmodel::New<UniformMass3>();
+        uniformMass->d_totalMass.setValue(1.0);
+        root->addObject(uniformMass);
         root->addObject(core::objectmodel::New<InstrumentedObject<UniformMass3> >());
+
         const simulation::Node::SPtr child  = simulation::getSimulation()->createNewNode("child");
         root->addChild(child);
         child->addObject(core::objectmodel::New<InstrumentedObject<MechanicalObject3> >());
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
index 8b451789701..ed90b00f819 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
@@ -42,13 +42,13 @@
 		</Node>
 		<Node 	 name="Floor"  >
 			<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 -20 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-			<UniformMass template="Rigid3d" name="uniformMass63" />
+			<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 			<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 			<Node 	 name="TRIANGLE"  >
 				<MeshOBJLoader name="loader"  filename="mesh/SaladBowl.obj" />
 				<MeshTopology name="meshTopology1"  position="@loader.position"  edges="@loader.edges"  triangles="@loader.triangles"  quads="@loader.quads"  tetrahedra="@loader.tetras"  hexahedra="@loader.hexas" />
 				<MechanicalObject template="Vec3d" name="the_bowl"  src="@loader" scale3d="100 100 100"/>
-				<UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 				<RigidMapping template="Rigid3d,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@the_bowl" />
 				<BulletTriangleModel template="Vec3d" name="tTriangleModel1"  selfCollision="0" margin="1"/>
 			</Node>
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
index d4d284f4e3c..96be6a23841 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
@@ -12,7 +12,7 @@
 	<BulletIntersection contactDistance="5"/>
 	<Node 	 name="Dragon"  >
 		<MechanicalObject template="Rigid3d" name="mObject0"  position="0 0 50 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1"  reserve="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<Node 	 name="Dragon2"  >
 			<!-- <MeshOBJLoader name="loader"  filename="mesh/SimpleThinCube.obj" /> -->
 			<MeshOBJLoader name="loader"  filename="mesh/dragon.obj" />
@@ -25,13 +25,13 @@
 	</Node>
 	<Node 	 name="Floor"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"/>
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 			<Node 	 name="TRIANGLE"  >
 				<MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 				<!-- <MechanicalObject template="Vec3d" name="fix"  position="-2 0 -2 -2 0 2 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" reserve="0" /> -->
 				<MechanicalObject template="Vec3d" name="fix"  position="-2 -2 0 2 -2 0 0 2 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  scale3d="50 50 50" reserve="0" />
-				<UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 				<RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@fix" />
 				<TBulletTriangleModel template="Vec3d" name="tBulletTriangleModel2" proximity="0" margin="2"/>
 			</Node>
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
index 5c549726185..6199dab1921 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
@@ -27,12 +27,12 @@
 		<Node 	 name="RigMec"  gravity="0 0 0"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 5 3 3 6 6 7 7"  velocity="0 0 -0.01 0 0 -0.01 0 0 -0.01"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  proximity="0"  margin="0.04" />
-			<UniformMass template="Vec3d" name="Mass"  mass="0.33" />
+			<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33" />
 		</Node>
 		<Node 	 name="Floor"  >
 			<Node 	 name="TRIANGLE"  >
 				<MechanicalObject template="Vec3d" name="fix"  position="0 0 0 3 3 0 6 7 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-				<UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 				<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  proximity="0"  margin="0.04" />
 				<FixedProjectiveConstraint template="Vec3d" name="fixedProjectiveConstraint0"  indices="0 1 2" />
 			</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn
index a3b22ccb2ba..5c5a355e743 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="-0.5 0 0 0.5 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn
index be3d5623649..8247b27df9d 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn
@@ -25,13 +25,13 @@
         <CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="Capsule"  position="-0.5 0 -0.5 0.5 0 0.5"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn
index f067b42d1a9..d8c1341a3e8 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="-0.5 0 0 0.5 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn
index b4bd1bff158..950d442f1be 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 0 0 0 2"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn
index 8b5f3fd8f50..1404d550cb3 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="-1 0 0 1 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn
index 74699c66456..0156e171b6a 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 -0.5 0 0 0.5"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn
index 6e30f739230..7723d4da822 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.5 0 5 0.577 0.577 0 0.577"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn
index b3b6f6f3737..ee8ef4934d2 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn
@@ -23,12 +23,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn
index 98404d9e504..1690541caeb 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16"  extents="1 2 3" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.5 0 5 0.577 0.577 0 0.577"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn
index cb722ba85a4..7736eec3273 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn
@@ -23,12 +23,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.5 0 0 0.577 0.577 0 0.577"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16"/>
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn
index 8809f875aca..809224ca112 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn
index 39ba344e353..4240e5e596d 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn
index a8281fd12f9..fc81e303e34 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn
index 48bff4ce98e..5829ce2a174 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn
@@ -23,13 +23,13 @@
         <CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn
index 3986adc9c3b..f7b230d63bd 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-		<UniformMass template="Vec3d" name="Mass" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn
index 6958086322e..75f980942b6 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 10"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-		<UniformMass template="Vec3d" name="Mass" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.577 0.577 0 0.577"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn
index fb19177217f..ea5a0b35344 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-		<UniformMass template="Vec3d" name="Mass" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn
index e1131d724bc..5c07c969836 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-		<UniformMass template="Vec3d" name="Mass" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn
index 013b2b8509c..e0e4969120e 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 -2 0 -2 2 0 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -5 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn
index 1fc60715158..509983e8468 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="0 -2 0 0 2 0 2 0 2"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn
index 940298e3d69..285651e85eb 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 0 0 2 0 0 2 0 2"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn
index 182c5ef73da..21984e2ba86 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 0 -2 0 2 2 0 2"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn
index 73e1e1535ef..338df366e8e 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 0 -2 -2 0 2 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -5 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn
index 4db77349d71..a30bd8a635f 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="0 -2 0 0 2 0 2 0 2"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn
index e25636aae4e..9b3e5713677 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 -2 0 -2 2 0 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-	  <UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.17592 0.424708 0.339851 0.820473"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-	<UniformMass template="Rigid3d" name="uniformMass0"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn
index 452b69386b4..6a83a452bf0 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn
@@ -26,7 +26,7 @@
 
     <Node name="RigMec" gravity="0 0 0" >
         <MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
-        <UniformMass name="uniformMass63" />
+        <UniformMass name="uniformMass63" totalMass="1.0"/>
 
         <Node name="TRIANGLE" >
             <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
diff --git a/applications/plugins/Haption/exemple/haption1.scn b/applications/plugins/Haption/exemple/haption1.scn
index 4e6a67741c5..528622522c0 100644
--- a/applications/plugins/Haption/exemple/haption1.scn
+++ b/applications/plugins/Haption/exemple/haption1.scn
@@ -50,7 +50,7 @@
 		<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 		<SparseGridTopology name="Embedded Sparse Grid"  fileTopology="mesh/liver.obj"  n="7 6 5" />
 		<MechanicalObject template="Vec3d" name="Particles"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" />
-		<UniformMass template="Vec3d" name="Mass"  mass="0.1"  totalMass="2" />
+		<UniformMass template="Vec3d" name="Mass"  vertexMass="0.1"  totalMass="2" />
 		<PrecomputedConstraintCorrection template="Vec3d" name="precomputedConstraintCorrection0"  rotations="1" />
 		<HexahedronFEMForceField template="Vec3d" name="FEM"  poissonRatio="0.45"  youngModulus="3" />
 		<Node 	name="VisualNode" gravity="0 -9.81 0" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
@@ -72,7 +72,7 @@
 		<EulerImplicitSolver name="cg_odesolver"  printLog="0"  rayleighStiffness="0.001"  rayleighMass="30" />
 		<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="25"  tolerance="1e-009"  threshold="1e-015" />
 		<MechanicalObject template="Rigid3d" name="mechanicalObject2"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1"  showObjectScale="0.1"  showIndicesScale="0.0001"  translation="10 0 0"  scale3d="1 1 1" />
-		<UniformMass template="Rigid3d" name="uniformMass1"  mass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
+		<UniformMass template="Rigid3d" name="uniformMass1"  vertexMass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
 		<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection1" />
 		<Node 	name="Visu" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
 			<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj"  rotation="90 0 0"  scale3d="1 1 1" handleSeams="1" />
diff --git a/applications/plugins/Haption/exemple/temp1.scn b/applications/plugins/Haption/exemple/temp1.scn
index 144b7ceec19..359a4a7df86 100644
--- a/applications/plugins/Haption/exemple/temp1.scn
+++ b/applications/plugins/Haption/exemple/temp1.scn
@@ -50,7 +50,7 @@
 		<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 		<SparseGridTopology name="Embedded Sparse Grid"  fileTopology="mesh/liver.obj"  n="7 6 5" />
 		<MechanicalObject template="Vec3d" name="Particles"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" />
-		<UniformMass template="Vec3d" name="Mass"  mass="0.1"  totalMass="2" />
+		<UniformMass template="Vec3d" name="Mass"  vertexMass="0.1"  totalMass="2" />
 		<PrecomputedConstraintCorrection template="Vec3d" name="precomputedConstraintCorrection0"  rotations="1" />
 		<HexahedronFEMForceField template="Vec3d" name="FEM"  poissonRatio="0.45"  youngModulus="3" />
 		<Node 	name="VisualNode" gravity="0 -9.81 0" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
@@ -72,7 +72,7 @@
 		<EulerImplicitSolver name="cg_odesolver"  printLog="0"  rayleighStiffness="0.001"  rayleighMass="30" />
 		<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="25"  tolerance="1e-009"  threshold="1e-015" />
 		<MechanicalObject template="Rigid3d" name="mechanicalObject2"  position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1"  showObjectScale="0.1"  showIndicesScale="0.0001"  translation="10 0 0"  scale3d="1 1 1" />
-		<UniformMass template="Rigid3d" name="uniformMass1"  mass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
+		<UniformMass template="Rigid3d" name="uniformMass1"  vertexMass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
 		<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection1" />
 		<Node 	name="Visu" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
 			<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj"  rotation="90 0 0"  scale3d="1 1 1" handleSeams="1" />
diff --git a/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn b/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn
index f1a820d9596..f0a2c46f003 100644
--- a/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn
+++ b/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn
@@ -113,7 +113,7 @@
  0.099457 0.345314 0
 "		        translation="3 9 0" radius="0 0 0" velocity="0 0 -15" delay="0.013333" start="-0.04" stop="4" />
 
-		<UniformMass name="M1" mass="1" />
+		<UniformMass name="M1" vertexMass="1" />
 		<PlaneForceField damping="0" normal="1 0 0" d="-5" />
 		<PlaneForceField damping="0" normal="-1 0 0" d="-11" />
 		<PlaneForceField damping="0" normal="0 1 0" d="0" />
diff --git a/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn b/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn
index a1c04a6e1c1..c90b41b2a9d 100644
--- a/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn
+++ b/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn
@@ -14,7 +14,7 @@
 			ymin="-3" ymax="12"
 			zmin="-1.5" zmax="0"
 		/>
-		<UniformMass name="M1" mass="1" />
+		<UniformMass name="M1" vertexMass="1" />
 		<SpatialGridContainer cellWidth="1.5" />
 		<SPHFluidForceField radius="0.75" density="15" viscosity="10" pressure="1000" surfaceTension="-1000" />
 		<!-- The following force fields handle collision with walls and an inclined floor -->
diff --git a/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn b/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn
index ab8437c24cd..a22d61d7e7f 100644
--- a/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn
+++ b/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn
@@ -15,7 +15,7 @@
 			zmin="-1.5" zmax="1.5"
 		/>
 <!---->
-		<UniformMass name="M1" mass="1" />
+		<UniformMass name="M1" vertexMass="1" />
 		<SpatialGridContainer cellWidth="1.5" />
 		<!-- The following force fields handle collision with walls and an inclined floor -->
 		<PlaneForceField normal="1.0 0 0" d="-4.0"/>
diff --git a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn
index a11bac2929f..d888792de76 100644
--- a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn
+++ b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn
@@ -14,7 +14,7 @@
         <EulerImplicitSolver name="solver"  printLog="0"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<MechanicalObject template="Vec3d" name="DOF"  position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  velocity="0 0 0 0 0 0 0 0 0 0 0 0"  force="0 0 0 0 0 0 0 0 0 0 0 0"  externalForce="0 0 0 0 0 0 0 0 0 0 0 0"  derivX="0 0 0 0 0 0 0 0 0 0 0 0"  free_position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  free_velocity="0 0 0 0 0 0 0 0 0 0 0 0"  rest_position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  reset_position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  restScale="1"  showObject="1"  showObjectScale="10" />
-	<UniformMass template="Vec3d" name="mass"  mass="2"  totalMass="8" />
+        <UniformMass template="Vec3d" name="mass"  totalMass="8" />
 	<MeshTopology name="mesh topology"  edges="0 1  0 2  0 3  1 2  1 3  2 3 "  triangles="1 3 2  0 2 3  0 3 1  0 1 2 "  tetrahedra="0 1 2 3 " />
 	<FixedProjectiveConstraint template="Vec3d" name="constraints"  indices="0 0" />
 	<TetrahedronFEMForceField template="Vec3d" name="FEM"  initialPoints="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66" poissonRatio="0.45" method="polar"  youngModulus="6"  updateStiffnessMatrix="1"  gatherPt=" "  gatherBsize=" " />
diff --git a/applications/plugins/Xitact/examples/XitactGrasping.scn b/applications/plugins/Xitact/examples/XitactGrasping.scn
index 58c579e5a53..a2b37a124ca 100644
--- a/applications/plugins/Xitact/examples/XitactGrasping.scn
+++ b/applications/plugins/Xitact/examples/XitactGrasping.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" listening="1" permanent="1"/>
@@ -113,7 +113,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn b/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
index 686e04e1301..3725346d2fe 100644
--- a/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
+++ b/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="0" permanent="1"/>
@@ -112,7 +112,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
index 49de0119ea9..6431ef2d7d9 100644
--- a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
+++ b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="0"/>
@@ -111,7 +111,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
@@ -220,7 +220,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="1"/>
@@ -228,7 +228,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
index 8ab8fa62483..c9c2a905e1f 100644
--- a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
+++ b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="0"/>
@@ -111,7 +111,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
@@ -220,7 +220,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="1"/>
@@ -228,7 +228,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
@@ -337,7 +337,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <ITPDriver Scale="1000" toolIndex="2"/>
@@ -345,7 +345,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/xitactTest.scn b/applications/plugins/Xitact/examples/xitactTest.scn
index 895163277bd..8b9ce1ecf9a 100644
--- a/applications/plugins/Xitact/examples/xitactTest.scn
+++ b/applications/plugins/Xitact/examples/xitactTest.scn
@@ -33,7 +33,7 @@
     <Node name="Grasper">
       <IHPDriver toolIndex="0" permanent="true" RefreshFrequency="500" forceScale="0.1"/>
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000 1000 1000 10000 1000 1000 " />
       <UncoupledConstraintCorrection compliance="0.01 0.01 0.01 0.0001 0.001 0.001 " />
       <VMechanismsForceFeedback activate="true"/>
@@ -42,7 +42,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="0.001" rx="90.0" />
diff --git a/applications/plugins/image/examples/ImageToRigidMass.scn b/applications/plugins/image/examples/ImageToRigidMass.scn
index f00b3b4cdd7..2c3e8196fa7 100644
--- a/applications/plugins/image/examples/ImageToRigidMass.scn
+++ b/applications/plugins/image/examples/ImageToRigidMass.scn
@@ -32,10 +32,10 @@
   	<MechanicalObject template="Rigid3d" position="@../imagemass.position" showObject="0" showObjectScale="1"/>
 
 <!--COMPLIANT API-->
-<!--  	<RigidMass template="Rigid3d" inertia="@../imagemass.inertia" mass="@../imagemass.mass" draw="1" /> -->
+<!--  	<RigidMass template="Rigid3d" inertia="@../imagemass.inertia" vertexMass="@../imagemass.mass" draw="1" /> -->
 
 <!--SOFA API-->
-  	<UniformMass template="Rigid3d" mass="@../imagemass.rigidMass" showAxisSizeFactor="1"/>
+  	<UniformMass template="Rigid3d" vertexMass="@../imagemass.rigidMass" showAxisSizeFactor="1"/>
 	
 	<Node 	name="visual" >
   		<MechanicalObject name="dofs"  position="@../../mesh.position" /> 
diff --git a/applications/plugins/image/examples/sampler_Frames.scn b/applications/plugins/image/examples/sampler_Frames.scn
index d38ec823ba1..c2f46d7e643 100644
--- a/applications/plugins/image/examples/sampler_Frames.scn
+++ b/applications/plugins/image/examples/sampler_Frames.scn
@@ -25,7 +25,7 @@
 -->
 
 	  <MechanicalObject  template="Rigid3d" name="DOFs" src="@sampler" />
-	  <UniformMass template="Rigid3d" name="mass"  mass="50 50 [1 0 0,0 1 0,0 0 1]" showAxisSizeFactor='0.5'/>
+	  <UniformMass template="Rigid3d" name="mass"  vertexMass="50 50 [1 0 0,0 1 0,0 0 1]" showAxisSizeFactor='0.5'/>
 	<MeshOBJLoader name="meshLoader_0" filename="mesh/Armadillo_simplified.obj" handleSeams="1" />
 	<OglModel name="Visual" src="@meshLoader_0" color="0.5 0.8 0.5 0.6"/>
 </Node>
diff --git a/examples/Benchmark/Analysis/constantMomentum.scn b/examples/Benchmark/Analysis/constantMomentum.scn
index 3c7b5347b71..d2ea9f497eb 100644
--- a/examples/Benchmark/Analysis/constantMomentum.scn
+++ b/examples/Benchmark/Analysis/constantMomentum.scn
@@ -72,7 +72,7 @@
 		      7 3.5 0
 		      7 3.5 3.5"
 		/>
-		<UniformMass/>
+		<UniformMass totalMass="1.0"/>
 		<include href="Objects/internalSpringsCube.xml" InternalSprings__name="InternalSprings1" />
 	</Node>
 
@@ -138,7 +138,7 @@
 		      7 3.5 0
 		      7 3.5 3.5"
 		/>
-		<UniformMass/>
+		<UniformMass totalMass="1.0"/>
 		<include href="Objects/internalSpringsCube.xml" InternalSprings__name="InternalSprings1" />
 	</Node>
 	    
diff --git a/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn b/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn
index 450d741a510..4c417f0ee49 100644
--- a/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn
+++ b/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn
@@ -33,7 +33,7 @@
             <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="2.5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_3" color="gray" />
@@ -51,7 +51,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_0" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_0" color="gray" />
@@ -69,7 +69,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="7.5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_1" color="gray" />
@@ -87,7 +87,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="10" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_2" color="gray" />
diff --git a/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn b/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn
index c4af413bbb2..78937b2fd67 100644
--- a/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn
+++ b/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn
@@ -33,7 +33,7 @@
 			<EulerImplicitSolver name="cg_odesolver" printLog="false"/>
 			<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9"/>
 			<MechanicalObject/>
-			<UniformMass mass="1"/>
+			<UniformMass vertexMass="1"/>
 			<RegularGridTopology nx="4" ny="4" nz="10" xmin="1" xmax="4" ymin="0" ymax="3" zmin="18" zmax="27"/>
 			<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3"/>
 		</Node>
@@ -62,7 +62,7 @@
 			<EulerImplicitSolver name="cg_odesolver" printLog="false"/>
 			<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9"/>
 			<MechanicalObject/>
-			<UniformMass mass="1"/>
+			<UniformMass vertexMass="1"/>
 			<RegularGridTopology nx="4" ny="4" nz="10" xmin="-4" xmax="-1" ymin="0" ymax="3" zmin="18" zmax="27"/>
 			<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3"/>
 		</Node>
diff --git a/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn b/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
index dff0cbf791f..6ad955b2326 100644
--- a/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
+++ b/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
@@ -25,10 +25,10 @@
             <MechanicalObject template="Rigid3" name="default0" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1" />
             <FixedProjectiveConstraint template="Rigid3" name="default1" indices="0" />
             <FixedRotationProjectiveConstraint template="Rigid3" name="default2" FixedXRotation="0" FixedYRotation="0" FixedZRotation="1" />
-            <UniformMass name="default3" showAxisSizeFactor="1" />
+            <UniformMass name="default3" showAxisSizeFactor="1" totalMass="1.0"/>
             <Node name="spring" gravity="0 -9.81 0">
                 <MechanicalObject template="Rigid3" name="default4" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 -1 0 0 0 0 0 1" />
-                <UniformMass name="default54" showAxisSizeFactor="1" />
+                <UniformMass name="default54" showAxisSizeFactor="1" totalMass="1.0"/>
                 <RigidMapping template="Rigid3,Rigid3" name="default1" rigidIndexPerPoint="1 1" axisLength="0.001" />
                 <JointSpringForceField template="Rigid3" name="default5" spring="BEGIN_SPRING  0 1  KS_T 1e+06 100000  KS_R 0 1000  KS_B 100  END_SPRING&#x0A;" />
             </Node>
@@ -36,10 +36,10 @@
         <Node name="Rotation around Z axis is free" gravity="0 -9.81 0">
             <MechanicalObject template="Rigid3" name="default6" translation="0 0 0" rotation="0 0 0" restScale="1" position="3 0 0 0 0 0 1 4 0 0 0 0 0 1" />
             <FixedProjectiveConstraint template="Rigid3" name="default7" indices="0" />
-            <UniformMass name="default54" showAxisSizeFactor="1" />
+            <UniformMass name="default54" showAxisSizeFactor="1" totalMass="1.0"/>
             <Node name="spring" gravity="0 -9.81 0">
                 <MechanicalObject template="Rigid3" name="default9" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 -1 0 0 0 0 0 1" />
-                <UniformMass name="default10" showAxisSizeFactor="1" />
+                <UniformMass name="default10" showAxisSizeFactor="1" totalMass="1.0"/>
                 <RigidMapping template="Rigid3,Rigid3" name="default11" rigidIndexPerPoint="1 1" axisLength="0.001" />
                 <JointSpringForceField template="Rigid3" name="default12" spring="BEGIN_SPRING  0 1  END_SPRING&#x0A;" />
             </Node>
diff --git a/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn b/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn
index ebf9b35dcdd..3df33cffcc1 100644
--- a/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn
+++ b/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn
@@ -10,13 +10,13 @@
 
     <Node name="Point Oscillator"  >
         <MechanicalObject template="Vec3" name="mech" position="0 0 0"  velocity="1 0 0"  force="1 0 0" externalForce="1 0 0" derivX="1 0 0"  restScale="1" />
-        <UniformMass name="m" />
+        <UniformMass name="m" totalMass="1.0"/>
         <OscillatorProjectiveConstraint template="Vec3" name="osc"  oscillators="0  1 1 1  1 0 0  1 5" />
     </Node>
 
     <Node name="Rigid Oscillator" >
         <MechanicalObject template="Rigid3" name="mech2" position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0" />
-        <UniformMass name="m2" />
+        <UniformMass name="m2" totalMass="1.0"/>
         <OscillatorProjectiveConstraint template="Rigid3" name="osc2" oscillators="0  1 1 0 0 0 0 1   0 1 1 0 0.707 0.707  1 5" />
     </Node>
 
diff --git a/examples/Component/Engine/Generate/MergeMeshes.scn b/examples/Component/Engine/Generate/MergeMeshes.scn
index bccdb3fc97a..2c86e7409d8 100644
--- a/examples/Component/Engine/Generate/MergeMeshes.scn
+++ b/examples/Component/Engine/Generate/MergeMeshes.scn
@@ -25,6 +25,6 @@
     	  
         <MeshTopology src="@basis" drawTriangles="1"/>
         <MechanicalObject showObject="1"/>
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Component/Engine/Select/MeshSplittingEngine.scn b/examples/Component/Engine/Select/MeshSplittingEngine.scn
index 9964396e546..9e47bc7013b 100644
--- a/examples/Component/Engine/Select/MeshSplittingEngine.scn
+++ b/examples/Component/Engine/Select/MeshSplittingEngine.scn
@@ -32,7 +32,7 @@
             <CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" printLog="0" />
             
             <MechanicalObject name="rigidframe" template="Rigid3" position="1 0 1 0 0 0 1" />
-            <UniformMass  />
+            <UniformMass totalMass="1.0"/>
             <FixedProjectiveConstraint indices="0"/>
             
             <Node name="rigidmapped points">
diff --git a/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn b/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn
index ac68e5a2029..6f5e51a86a0 100644
--- a/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn
+++ b/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn
@@ -29,7 +29,7 @@
         <EulerImplicitSolver name="cg_odesolver"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver template="GraphScattered" name="default18" iterations="100" tolerance="1e-05" threshold="1e-05"/>
         <MechanicalObject template="Rigid3" name="rigid" position="0 0 0 0 0 0 1" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" free_position="0 0 0 0 0 0 1" free_velocity="0 0 0 0 0 0" restScale="1" />
-        <UniformMass name="default0" />
+        <UniformMass name="default0" totalMass="1.0"/>
         <Node name="topology" gravity="0 -9.81 0">
             <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh" />
             <MeshTopology src="@loader" name="meshTopology" />
diff --git a/examples/Component/Engine/Transform/TransformPosition.scn b/examples/Component/Engine/Transform/TransformPosition.scn
index 5ae0742e113..f9077fcf805 100644
--- a/examples/Component/Engine/Transform/TransformPosition.scn
+++ b/examples/Component/Engine/Transform/TransformPosition.scn
@@ -28,7 +28,7 @@
         <SparseGridTopology name="grid" fileTopology="mesh/dragon.obj" n="7 6 5" />
         <TransformPosition name="transfo" method="fromFile" filename="transfo.tfm" input_position="@grid.position"/>
         <MechanicalObject  name="Particles" restScale="1" position="@transfo.output_position" />
-        <UniformMass  name="Mass" />
+        <UniformMass  name="Mass" totalMass="1.0"/>
         <PlaneForceField  name="Plane" normal="0 0 1" d="-10" />
         <HexahedronFEMForceField  name="FEM" youngModulus="200" poissonRatio="0.45"/>
         <Node name="VisualNode" gravity="0 -9.81 0">
diff --git a/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn b/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn
index 1288a343fcd..d7fde54e6d6 100644
--- a/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn
+++ b/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn
@@ -16,7 +16,7 @@
         <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject template="Rigid3" />
         <PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
-        <UniformMass template="Rigid3" name="mass" />
+        <UniformMass template="Rigid3" name="mass" totalMass="1.0"/>
         <Node name="child node with DOFs mapped from the parent">
             <MechanicalObject template="Vec3" name="endpoint coordinates" position="1 -0.0 0"  />
             <RigidMapping name="angle-coord mapping" input="@.." output="@." index="0" />
diff --git a/examples/Component/Mapping/NonLinear/RigidMapping.scn b/examples/Component/Mapping/NonLinear/RigidMapping.scn
index 341e623abc4..300fb830c98 100644
--- a/examples/Component/Mapping/NonLinear/RigidMapping.scn
+++ b/examples/Component/Mapping/NonLinear/RigidMapping.scn
@@ -50,7 +50,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_4" color="gray" texturename="textures/brushed_metal.bmp" />
@@ -68,7 +68,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="7.5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_0" color="gray" texturename="textures/brushed_metal.bmp" />
@@ -86,7 +86,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="10" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_1" color="gray" texturename="textures/brushed_metal.bmp" />
diff --git a/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn b/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn
index f80e9ca2cc0..af9df9825fd 100644
--- a/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn
+++ b/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn
@@ -17,7 +17,7 @@
         <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject template="Rigid2" />
         <PartialFixedProjectiveConstraint fixedDirections="1 1 0" />
-        <UniformMass template="Rigid2" name="mass" />
+        <UniformMass template="Rigid2" name="mass" totalMass="1.0"/>
         <Node name="child node with DOFs mapped from the parent">
             <MechanicalObject template="Vec2" name="endpoint coordinates" position="1 0 "  />
             <RigidMapping template="" name="angle-coord mapping" input="@.." output="@." index="0" />
diff --git a/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn b/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
index cc1d920970c..6b09109dc7c 100644
--- a/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
+++ b/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
@@ -15,7 +15,7 @@
         <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" verbose="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject template="Rigid3" />
         <PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
-        <UniformMass template="Rigid3" name="mass" />
+        <UniformMass template="Rigid3" name="mass" totalMass="1.0"/>
         <Node name="child node with DOFs mapped from the parent">
             <MechanicalObject template="Rigid3" name="endpoint coordinates" position="1 0 0 0 0 0 1"  />
             <RigidMapping name="angle-coord mapping" input="@.." output="@." index="0" />
diff --git a/examples/Component/Mass/UniformMass.scn b/examples/Component/Mass/UniformMass.scn
index 7de3a469e35..e312c9ecaa1 100644
--- a/examples/Component/Mass/UniformMass.scn
+++ b/examples/Component/Mass/UniformMass.scn
@@ -14,6 +14,7 @@
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    <RequiredPlugin name="Sofa.Component.Visual"/> 
 
     <CollisionPipeline verbose="0" name="CollisionPipeline" />
     <BruteForceBroadPhase/>
@@ -22,6 +23,8 @@
     <DiscreteIntersection />
     <DefaultAnimationLoop/>
 
+    <InteractiveCamera position="-2 2.6 17.9" orientation="0 0 0 1" distance="17.9" />
+
     <MeshGmshLoader name="loader" filename="mesh/liver.msh" />
     <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />
 
@@ -32,7 +35,7 @@
         <!-- Container for the tetrahedra-->
         <TetrahedronSetTopologyContainer name="TetraTopo" src="@../loader" />
         <TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
-        <UniformMass totalMass="60"  name="uniformlyConstantMass" />
+        <UniformMass totalMass="60" name="uniformlyConstantMass" printLog="1"/>
         <TetrahedralCorotationalFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.45" youngModulus="5000" />
         <FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="3 39 64" />
         
diff --git a/examples/Component/MechanicalLoad/ConstantForceField.scn b/examples/Component/MechanicalLoad/ConstantForceField.scn
index c564034920a..7f29d2bd1c7 100644
--- a/examples/Component/MechanicalLoad/ConstantForceField.scn
+++ b/examples/Component/MechanicalLoad/ConstantForceField.scn
@@ -34,7 +34,7 @@
         <EulerImplicitSolver rayleighStiffness="0.01" />
         <CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
         <MechanicalObject template="Rigid3" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
         <ConstantForceField indices="0" forces="0 0.10 0     0 1 0" />
         <Node name="Visu">
diff --git a/examples/Component/MechanicalLoad/LinearForceField.scn b/examples/Component/MechanicalLoad/LinearForceField.scn
index 8b811e39720..85780d88527 100644
--- a/examples/Component/MechanicalLoad/LinearForceField.scn
+++ b/examples/Component/MechanicalLoad/LinearForceField.scn
@@ -15,7 +15,7 @@
         <EulerExplicitSolver />
         <CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
         <MechanicalObject template="Rigid3" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
         <LinearForceField points="0" forces="0 0 0 0 0 0  1 0 0 0 0 0  -1 0 0 0 0 0  -1 0 0 0 0 0  0 0 0 0 0 0" force="2.0" times="0 4 8 10 12" />
         <Node name="Visu">
@@ -28,7 +28,7 @@
         <EulerExplicitSolver />
         <CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
         <MechanicalObject template="Rigid3" dx="2" dy="2" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
         <LinearForceField points="0" forces="0 0 0 0 0 0  0 1 0 0 0 0  0 -1 0 0 0 0  0 -1 0 0 0 0  0 0 0 0 0 0" force="2.0" times="0 4 8 10 12" />
         <Node name="Visu">
diff --git a/examples/Component/SolidMechanics/FEM/DampingForceField.scn b/examples/Component/SolidMechanics/FEM/DampingForceField.scn
index 01fba9bcbe9..2d69a008339 100644
--- a/examples/Component/SolidMechanics/FEM/DampingForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/DampingForceField.scn
@@ -17,20 +17,20 @@
 
     <Node name="noDamping (white)"  >
         <MechanicalObject name="mObject2"  position="0 0 0"  velocity="1 1 1"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  showObject="1"  showObjectScale="0.1"  drawMode="1" />
-        <UniformMass template="Vec3" name="uniformMass3" />
+        <UniformMass template="Vec3" name="uniformMass3" totalMass="1.0"/>
         <TrailRenderer template="Vec3" position="@mObject2.position" color="1 1 1 1"/>
     </Node>
 
     <Node name="uniform (green)"  >
         <MechanicalObject template="Vec3" name="mObject2"  position="0 0 0 0 0 0"  velocity="1 1 1 1 1 1"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  showObject="1"  showObjectScale="0.1"  drawMode="3" />
-        <UniformMass name="uniformMass3" />
+        <UniformMass name="uniformMass3" totalMass="1.0"/>
         <UniformVelocityDampingForceField template="Vec3" name="uniformVelocityDampingFF0" />
         <TrailRenderer template="Vec3" position="@mObject2.position" color="0 1 0 1"/>
     </Node>
 
     <Node name="diagonal (red)"  >
         <MechanicalObject template="Vec3" name="mObject2"  position="0 0 0 0 0 0"  velocity="1 1 1 1 1 1"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1"  showObject="1"  drawMode="2" />
-        <UniformMass name="uniformMass3" />
+        <UniformMass name="uniformMass3" totalMass="1.0"/>
         <DiagonalVelocityDampingForceField template="Vec3" name="diagonalVelocityDampingFF1"  dampingCoefficient="0.5 0.2 0.2 1 1 1" />
         <TrailRenderer template="Vec3" position="@mObject2.position" color="1 0 0 1"/>
     </Node>
diff --git a/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn b/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn
index 62ccba55d4c..f606597068c 100644
--- a/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn
@@ -23,7 +23,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />
 
         <BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
@@ -38,7 +38,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
@@ -61,7 +61,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
@@ -85,7 +85,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
@@ -109,7 +109,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
diff --git a/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn
index 6d0598f2161..4ea423a4263 100644
--- a/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn
@@ -1,135 +1,140 @@
 <?xml version="1.0" ?>
 <Node name="root" dt="0.005" showBoundingTree="0" gravity="0 -9 0">
-	<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-	<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-	<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-	<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
-	<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-	<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
-	<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-	<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
-	<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [TetrahedronHyperelasticityFEMForceField] -->
-	<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-	<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
-	<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-	<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
-	<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [Visual3DText VisualStyle] -->
-
-	<VisualStyle displayFlags="showForceFields showBehaviorModels" />
-	<CollisionPipeline verbose="0" />
-	<BruteForceBroadPhase/>
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [TetrahedronHyperelasticityFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [Visual3DText VisualStyle] -->
+
+        <VisualStyle displayFlags="showForceFields showBehaviorModels" />
+        <CollisionPipeline verbose="0" />
+        <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-	<CollisionResponse response="PenalityContactForceField" />
-	<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-	<DefaultAnimationLoop/>
-	
-	<Node name="Corrotational">
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-		
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		<TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />
-		
-		<BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="Corrotational" position="1 0 -0.5" scale="0.2" />
-	</Node>
-	
-	<Node name="ArrudaBoyce">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="2 0 0 3 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="ArrudaBoyce" position="3 0 -0.5" scale="0.2" />
-	</Node>
-	
-	<Node name="StVenantKirchhoff">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="StVenantKirchhoff"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="4 0 0 5 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="StVenantKirchhoff" position="5 0 -0.5" scale="0.2" />
-	</Node>
-	
-	
-	<Node name="NeoHookean">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="NeoHookean"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="6 0 0 7 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="NeoHookean" position="7 0 -0.5" scale="0.2" />
-	</Node>
-	
-	
-	<Node name="MooneyRivlin">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="5000 7000 10" materialName="MooneyRivlin"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="8 0 0 9 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="MooneyRivlin" position="9 0 -0.5" scale="0.2" />
-	</Node>
+        <CollisionResponse response="PenalityContactForceField" />
+        <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
+        <DefaultAnimationLoop/>
+
+        <Node name="Corrotational">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+                <TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />
+
+                <BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="Corrotational" position="1 0 -0.5" scale="0.2" />
+        </Node>
+
+        <Node name="ArrudaBoyce">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="2 0 0 3 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="ArrudaBoyce" position="3 0 -0.5" scale="0.2" />
+        </Node>
+
+        <Node name="StVenantKirchhoff">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="StVenantKirchhoff"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="4 0 0 5 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="StVenantKirchhoff" position="5 0 -0.5" scale="0.2" />
+        </Node>
+
+
+        <Node name="NeoHookean">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="NeoHookean"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="6 0 0 7 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="NeoHookean" position="7 0 -0.5" scale="0.2" />
+        </Node>
+
+
+        <Node name="MooneyRivlin">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="5000 7000 10" materialName="MooneyRivlin"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="8 0 0 9 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="MooneyRivlin" position="9 0 -0.5" scale="0.2" />
+        </Node>
 </Node>
diff --git a/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn b/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn
index 3072efe8827..b5fcd047313 100644
--- a/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn
+++ b/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn
@@ -24,25 +24,25 @@
 
     <Node name="sphere1">
         <MechanicalObject template="Vec3" name="dofs" position="1 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25"/>
     </Node>
 
     <Node name="sphere2">
         <MechanicalObject template="Vec3" name="dofs" position="2 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25"/>
     </Node>
 
     <Node name="sphere3-4">
         <MechanicalObject template="Vec3" name="dofs" position="3 0 0 4 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25 0.25"/>
     </Node>
 
     <Node name="sphere5-6">
         <MechanicalObject template="Vec3" name="dofs" position="5 0 0 6 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25 0.25"/>
         <SpringForceField template="Vec3" name="spring" spring="0 1 50 1 1" showArrowSize="0.05" drawMode="2"/>
     </Node>
diff --git a/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn
index 605e054a7d4..3b9009aec95 100644
--- a/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn
+++ b/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn
@@ -13,6 +13,6 @@
     <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"  drawTriangles="1" />
     <MechanicalObject position="@mesh.position" showIndices="true" showIndicesScale="0.0002" />
     <TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="60" />
-    <UniformMass />
+    <UniformMass totalMass="1.0"/>
     <TopologicalChangeProcessor listening="1" filename="AddingPointInTriangleProcess.txt" />
 </Node>
diff --git a/examples/Component/Visual/TrailRenderer.scn b/examples/Component/Visual/TrailRenderer.scn
index 7945873e4ff..0bedfed7256 100644
--- a/examples/Component/Visual/TrailRenderer.scn
+++ b/examples/Component/Visual/TrailRenderer.scn
@@ -17,6 +17,6 @@
     <MechanicalObject template="Vec3" name="particle"
                       position="0 0 0  0 0 0  0 0 0  0 0 0"
                       velocity="5 5 0  -5 5 0  7 7 0  -7 7 0" showObject="true" showObjectScale="10"/>
-    <UniformMass/>
+    <UniformMass totalMass="1.0"/>
     <TrailRenderer template="Vec3" position="@particle.position" nbSteps="200"/>
 </Node>
diff --git a/examples/Objects/Rigid.xml b/examples/Objects/Rigid.xml
index c2f0d708b36..6efdd7f80cd 100644
--- a/examples/Objects/Rigid.xml
+++ b/examples/Objects/Rigid.xml
@@ -2,7 +2,7 @@
 	<EulerImplicitSolver rayleighStiffness="0.01"  rayleighMass="0.1" />
 	<CGLinearSolver iterations="25" threshold="0.00000001"  />
 	<MechanicalObject template="Rigid3" translation="0 0 0" rotation="0 0 0" scale3d="1 1 1"/>
-	<UniformMass />
+	<UniformMass totalMass="1.0"/>
 	<Node name="VisualNode" tags="Visual">
 		<OglModel name="Visual" filename="file" color="gray" scale3d="1 1 1" />
 		<RigidMapping input="@.." output="@Visual" />
diff --git a/examples/Objects/TorusRigid.xml b/examples/Objects/TorusRigid.xml
index aa441cee956..c9d9636cc49 100644
--- a/examples/Objects/TorusRigid.xml
+++ b/examples/Objects/TorusRigid.xml
@@ -2,7 +2,7 @@
 	<EulerImplicitSolver rayleighStiffness="0.01"  rayleighMass="0.1" />
 	<CGLinearSolver iterations="25" threshold="0.00000001"  tolerance="1e-05"/>
 	<MechanicalObject template="Rigid3"  dx="0" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0"  />
-	<UniformMass />
+	<UniformMass totalMass="1.0"/>
 	<Node name="Visu">
 		<MeshOBJLoader name="meshVisualLoader" filename="mesh/torus.obj"/>
 		<OglModel name="Visual" src="@meshVisualLoader" color="gray" scale="1.0"/>
diff --git a/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn b/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn
index 3c20e7699fb..fe60c3b4ba0 100644
--- a/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn
+++ b/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn
@@ -31,7 +31,7 @@
         <MeshTopology name="mesh" src="@meshLoader0" />
         <MechanicalObject template="Vec3" name="dofs" />
         <MeshSpringForceField template="Vec3" name="Springs" stiffness="4500" />
-        <UniformMass template="Vec3" name="mass" />
+        <UniformMass template="Vec3" name="mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="FixedProjectiveConstraint" indices="3 39 64" />
         <Node name="Visu" gravity="0 -9.81 0">
             <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />
diff --git a/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn
index 289fc96f131..afecbb4782e 100644
--- a/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn
@@ -7,6 +7,6 @@
     <DefaultAnimationLoop/>
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn
index 9c602288d17..cf5e7ed37ed 100644
--- a/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn
@@ -11,6 +11,6 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn
index 2c0ca124178..9905c77a1ca 100644
--- a/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn
@@ -16,7 +16,7 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0" />
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn
index 2b32034e94a..f7c64d8198e 100644
--- a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn
@@ -16,7 +16,7 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn
index ab21d36153b..ec922e8b879 100644
--- a/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn
@@ -17,7 +17,7 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject" gravity="0 -9.81 0">
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
         <SpringForceField template="Vec3" name="Internal Spring" spring="0 1 100 0.1 1&#x0A;" />
     </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn
index f3eb8be8e8a..52b666add4f 100644
--- a/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn
@@ -17,13 +17,13 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject" gravity="0 -9.81 0">
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
         <SpringForceField template="Vec3" name="Internal Spring" spring="0 1 100 0.1 1&#x0A;" />
     </Node>
     <Node name="Second Object" gravity="0 -9.81 0">
         <VisualStyle displayFlags="showVisual hideBehavior hideCollision hideMapping hideOptions" />
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="2 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn
index ff3d7d4a59c..865de90243d 100644
--- a/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn
@@ -17,14 +17,14 @@
 	<EulerExplicitSolver name="Explicit Euler Solver" />
 	<Node 	 name="FirstObject"  gravity="0 -9.81 0"  >
 		<MechanicalObject template="Vec3" name="Particles"  position="0 0 0 1 0 0 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" showObject="1" showObjectScale="10"/>
-		<UniformMass template="Vec3" name="Mass" />
+		<UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Vec3" name="Fix Particles"  indices="0" />
 		<SpringForceField template="Vec3" name="Internal Spring"  spring="0 1 100 0.1 1 1 2 100 0.1 1" />
 	</Node>
 	<Node 	 name="SecondObject"  gravity="0 -9.81 0"  >
 		<VisualStyle name="visualStyle2"  displayFlags="showVisual hideBehavior hideCollision hideMapping hideOptions" />
 		<MechanicalObject template="Vec3" name="Particles"  position="2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" showObject="1" showObjectScale="10"/>
-		<UniformMass template="Vec3" name="Mass" />
+		<UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
 	</Node>
 	<SpringForceField template="Vec3" name="Interaction Spring"  spring="1 0 10 0.1 1"  object1="@FirstObject"  object2="@SecondObject" />
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn
index 237608a794c..d8e8f5f9779 100644
--- a/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn
@@ -19,14 +19,14 @@
     <CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
     <Node name="FirstObject" gravity="0 -9.81 0">
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
         <SpringForceField template="Vec3" name="Internal Spring" spring="0 1 100 0.1 1&#x0A;" />
     </Node>
     <Node name="SecondObject" gravity="0 -9.81 0">
         <VisualStyle displayFlags="showVisual hideBehavior hideCollision hideMapping hideOptions" />
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="2 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
     <SpringForceField template="Vec3" name="Interaction Spring" object1="@FirstObject" object2="@SecondObject" spring="1 0 10 0.1 1&#x0A;" />
 </Node>
diff --git a/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn b/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn
index 381fcdbbb89..ca4e31e71e8 100644
--- a/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn
+++ b/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn
@@ -20,6 +20,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 2 3 4 5 6 7"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn b/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn
index 1d40821c814..9edaa452da2 100644
--- a/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn
+++ b/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn
@@ -23,6 +23,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 4 5"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn b/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn
index d2a6631480f..de4716d5409 100644
--- a/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn
+++ b/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn
@@ -23,6 +23,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 2 3 4 5 6 7"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn b/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn
index 7a484a5417e..02e93b7c2bd 100644
--- a/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn
+++ b/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn
@@ -17,7 +17,7 @@
         <RegularGridTopology p0="-2 0 0" />
         <MechanicalObject />
         <HexahedronFEMForceField poissonRatio="0" youngModulus="1000" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <PlaneForceField normal="0 1 0" d="-5" stiffness="10000" />
     </Node>
 
@@ -27,7 +27,7 @@
         <RegularGridTopology p0="2 0 0" />
         <MechanicalObject />
         <HexahedronFEMForceField poissonRatio="0" youngModulus="1000" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <PlaneForceField normal="0 1 0" d="-5" stiffness="10000" />
     </Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn b/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn
index 4c973125b5f..3013da95ba2 100644
--- a/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn
+++ b/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn
@@ -14,7 +14,7 @@
 <Node name="rigid">
 <MechanicalObject template="Rigid3" translation="2 0.5 0"/>
 <PlaneForceField template="Rigid3"  normal="0 1 0" d="-5" stiffness="10000" />
-<UniformMass template="Rigid3" />
+<UniformMass template="Rigid3" totalMass="1.0"/>
 <Node name="mapped">
 	<MechanicalObject />
 	<RegularGridTopology p0="-0.5 -0.5 -0.5"/>
@@ -26,7 +26,7 @@
 <RegularGridTopology />
 <MechanicalObject  translation="-2 0 0"/>
 <RegularGridSpringForceField />
-<UniformMass  />
+<UniformMass totalMass="1.0"/>
 <PlaneForceField normal="0 1 0" d="-5" stiffness="10000" />
 </Node>
 
diff --git a/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn b/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn
index 4d2d3ae2266..ee098b29deb 100644
--- a/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn
+++ b/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn
@@ -19,6 +19,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 2 3 4 5 6 7"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>

From a3067a2c6e96a39f6fc75c545dd33234067b9ced Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Tue, 22 Oct 2024 01:41:47 +0200
Subject: [PATCH 28/43] [runSofa] App name instead of empty string (#5076)

---
 applications/projects/runSofa/Main.cpp | 24 +++++++++++++-----------
 1 file changed, 13 insertions(+), 11 deletions(-)

diff --git a/applications/projects/runSofa/Main.cpp b/applications/projects/runSofa/Main.cpp
index 4f7878d9e33..1b5bd15f88b 100644
--- a/applications/projects/runSofa/Main.cpp
+++ b/applications/projects/runSofa/Main.cpp
@@ -108,6 +108,8 @@ void addGUIParameters(sofa::gui::common::ArgumentParser* argumentParser)
     GUIManager::RegisterParameters(argumentParser);
 }
 
+static std::string appName { "runSofa" };
+
 // ---------------------------------------------------------------------
 // ---
 // ---------------------------------------------------------------------
@@ -359,7 +361,7 @@ int main(int argc, char** argv)
         MessageDispatcher::addHandler( new ExceptionMessageHandler() ) ;
     }
     else{
-        msg_warning("") << "Invalid argument '" << messageHandler << "' for '--formatting'";
+        msg_warning(appName) << "Invalid argument '" << messageHandler << "' for '--formatting'";
     }
     MessageDispatcher::addHandler(&MainPerComponentLoggingMessageHandler::getInstance()) ;
 #ifdef TRACY_ENABLE
@@ -367,9 +369,9 @@ int main(int argc, char** argv)
 #endif
 
     // Output FileRepositories
-    msg_info("runSofa") << "PluginRepository paths = " << PluginRepository.getPathsJoined();
-    msg_info("runSofa") << "DataRepository paths = " << DataRepository.getPathsJoined();
-    msg_info("runSofa") << "GuiDataRepository paths = " << GuiDataRepository.getPathsJoined();
+    msg_info(appName) << "PluginRepository paths = " << PluginRepository.getPathsJoined();
+    msg_info(appName) << "DataRepository paths = " << DataRepository.getPathsJoined();
+    msg_info(appName) << "GuiDataRepository paths = " << GuiDataRepository.getPathsJoined();
 
     // Initialise paths
     BaseGUI::setConfigDirectoryPath(Utils::getSofaPathPrefix() + "/config", true);
@@ -392,22 +394,22 @@ int main(int argc, char** argv)
 
         if (PluginRepository.findFile(configPluginPath, "", nullptr))
         {
-            msg_info("runSofa") << "Loading automatically plugin list in " << configPluginPath;
+            msg_info(appName) << "Loading automatically plugin list in " << configPluginPath;
             pluginManager.readFromIniFile(configPluginPath);
         }
         else if (PluginRepository.findFile(defaultConfigPluginPath, "", nullptr))
         {
-            msg_info("runSofa") << "Loading automatically plugin list in " << defaultConfigPluginPath;
+            msg_info(appName) << "Loading automatically plugin list in " << defaultConfigPluginPath;
             pluginManager.readFromIniFile(defaultConfigPluginPath);
         }
         else
         {
-            msg_info("runSofa") << "No plugin list found. No plugin will be automatically loaded.";
+            msg_info(appName) << "No plugin list found. No plugin will be automatically loaded.";
         }
     }
     else
     {
-        msg_info("runSofa") << "Automatic plugin loading disabled.";
+        msg_info(appName) << "Automatic plugin loading disabled.";
     }
 
     sofa::core::ObjectFactory* objectFactory = sofa::core::ObjectFactory::getInstance();
@@ -489,7 +491,7 @@ int main(int argc, char** argv)
     sofa::simulation::node::initRoot(groot.get());
     if( computationTimeAtBegin )
     {
-        msg_info("") << sofa::helper::AdvancedTimer::end("Init", groot->getTime(), groot->getDt());
+        msg_info(appName) << sofa::helper::AdvancedTimer::end("Init", groot->getTime(), groot->getDt());
     }
 
     //=======================================
@@ -504,9 +506,9 @@ int main(int argc, char** argv)
 
     if (printFactory)
     {
-        msg_info("") << "////////// FACTORY //////////" ;
+        msg_info(appName) << "////////// FACTORY //////////" ;
         sofa::helper::printFactoryLog();
-        msg_info("") << "//////// END FACTORY ////////" ;
+        msg_info(appName) << "//////// END FACTORY ////////" ;
     }
 
     if( computationTimeSampling>0 )

From d74e879c240f99c837abd61ee1b5a3c75b98af33 Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Tue, 22 Oct 2024 08:56:20 +0200
Subject: [PATCH 29/43] [all] Fix warnings (#5054)

* [all] Fix warnings

* Fix warnings in CompressedRowSparseMatrixMechanical.h
---
 .../mapping/nonlinear/SquareMapping.inl       |  2 +
 .../solidmechanics/spring/SpringForceField.h  |  4 +-
 .../CompressedRowSparseMatrixMechanical.h     | 80 +++++++++----------
 Sofa/framework/Type/src/sofa/type/MatSym.h    |  2 +-
 .../SofaPhysicsAPI/SofaPhysicsSimulation.cpp  | 10 ---
 5 files changed, 45 insertions(+), 53 deletions(-)

diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl
index a74203abe0c..f5183295f67 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.inl
@@ -37,6 +37,7 @@ template <class TIn, class TOut>
 void SquareMapping<TIn, TOut>::apply(const core::MechanicalParams* mparams,
     DataVecCoord_t<Out>& dOut, const DataVecCoord_t<In>& dIn)
 {
+    SOFA_UNUSED(mparams);
     helper::WriteOnlyAccessor< DataVecCoord_t<Out> >  out = dOut;
     const helper::ReadAccessor<DataVecCoord_t<In>> in = dIn;
 
@@ -64,6 +65,7 @@ void SquareMapping<TIn, TOut>::matrixFreeApplyDJT(
     const Data<VecDeriv_t<In>>& parentDisplacement,
     const Data<VecDeriv_t<Out>>& childForce)
 {
+    SOFA_UNUSED(mparams);
     helper::WriteAccessor parentForceAccessor(parentForce);
     helper::ReadAccessor parentDisplacementAccessor(parentDisplacement);
     helper::ReadAccessor childForceAccessor(childForce);
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h
index f3b532f29cb..21e7b88c687 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h
@@ -75,8 +75,8 @@ class SpringForceField : public core::behavior::PairInteractionForceField<DataTy
 
     Data<float> d_showArrowSize; ///< size of the axis
     Data<int> d_drawMode; ///< The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow
-    Data<type::vector<SReal> > d_kd;  ///< List of damping for the all springs. Must have the same size as indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere
     Data<type::vector<SReal> > d_ks;  ///< List of stiffness for the all springs. Must have the same size as indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere
+    Data<type::vector<SReal> > d_kd;  ///< List of damping for the all springs. Must have the same size as indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere
     Data<type::vector<Spring> > d_springs; ///< pairs of indices, stiffness, damping, rest length
     Data<type::vector<SReal> > d_lengths; ///< List of lengths to create the springs. Must have the same size as indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere
     Data<type::vector<bool> > d_elongationOnly; ///< List of boolean stating on the fact that the spring should only apply forces on elongations. Must have the same size as indices1 & indices2, or if only one element, it will be applied to all springs. If empty, False will be applied everywhere
@@ -93,7 +93,7 @@ class SpringForceField : public core::behavior::PairInteractionForceField<DataTy
 
     // Make other overloaded version of getPotentialEnergy() to show up in subclass.
     SReal getPotentialEnergy(const core::MechanicalParams* /* PARAMS FIRST */, const DataVecCoord& data_x1, const DataVecCoord& data_x2) const override;
-    virtual void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix);
+    virtual void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
     void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
     void buildDampingMatrix(core::behavior::DampingMatrix* /*matrix*/) override;
 
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
index 4083f078909..37784038f99 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
@@ -345,7 +345,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
             for (Index xj = rowRange.begin(); xj < rowRange.end(); ++xj)
             {
                 Block& b = this->colsValue[xj];
-                for (Index bj = 0; bj < NC; ++bj)
+                for (Index bj = 0; bj < (Index)NC; ++bj)
                     traits::vset(b, bi, bj, 0);
             }
         }
@@ -367,7 +367,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
             Block* b = this->wblock(i,j,false);
             if (b)
             {
-                for (Index bi = 0; bi < NL; ++bi)
+                for (Index bi = 0; bi < (Index)NL; ++bi)
                     traits::vset(*b, bi, bj, 0);
             }
         }
@@ -398,7 +398,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                 {
                     Block* b = &this->colsValue[xj];
                     // first clear (i,j)
-                    for (Index bj = 0; bj < NC; ++bj)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         traits::vset(*b, bi, bj, 0);
 
                     // then clear (j,i) 
@@ -416,7 +416,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                         }
                     }
 
-                    for (Index bj = 0; bj < NL; ++bj)
+                    for (Index bj = 0; bj < (Index)NL; ++bj)
                         traits::vset(*b, bj, bi, 0);
              
                 }
@@ -478,8 +478,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     static bool nonzeros(Index /*i*/, Index /*j*/, Block& val, const Real /*ref*/) { return (!traits::empty(val)); }
     static bool nonsmall(Index /*i*/, Index /*j*/, Block& val, const Real   ref  )
     {
-        for (Index bi = 0; bi < NL; ++bi)
-            for (Index bj = 0; bj < NC; ++bj)
+        for (Index bi = 0; bi < (Index)NL; ++bi)
+            for (Index bj = 0; bj < (Index)NC; ++bj)
                 if (type::rabs(traits::v(val, bi, bj)) >= ref) return true;
         return false;
     }
@@ -487,7 +487,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     {
         if (NL>1 && i*NL == j*NC)
         {
-            for (Index bi = 1; bi < NL; ++bi)
+            for (Index bi = 1; bi < (Index)NL; ++bi)
                 for (Index bj = 0; bj < bi; ++bj)
                     traits::vset(val, bi, bj, 0);
         }
@@ -497,8 +497,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     {
         if (NL>1 && i*NL == j*NC)
         {
-            for (Index bi = 0; bi < NL-1; ++bi)
-                for (Index bj = bi+1; bj < NC; ++bj)
+            for (Index bi = 0; bi < (Index)NL-1; ++bi)
+                for (Index bj = bi+1; bj < (Index)NC; ++bj)
                     traits::vset(val, bi, bj, 0);
         }
         return i*NL >= j*NC;
@@ -670,8 +670,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     {
         Index index = b->data;
         const Block& data = (index >= 0) ? this->colsValue[index] : this->btemp[-index-1].value;
-        for (Index l=0; l<NL; ++l)
-            for (Index c=0; c<NC; ++c)
+        for (Index l=0; l < (Index)NL; ++l)
+            for (Index c=0; c < (Index)NC; ++c)
                 buffer[l*NC+c] = static_cast<T>(traits::v(data, l, c));
         return buffer;
     }
@@ -693,8 +693,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     {
         Index index = b->data;
         Block& data = (index >= 0) ? this->colsValue[index] : this->btemp[-index-1].value;
-        for (Index l=0; l<NL; ++l)
-            for (Index c=0; c<NC; ++c)
+        for (Index l=0; l <( Index)NL; ++l)
+            for (Index c=0; c < (Index)NC; ++c)
                 traits::vset(data, l, c, static_cast<Real>(buffer[l*NC+c]) );
     }
     virtual void bAccessorSet(InternalBlockAccessor* b, const float* buffer) override
@@ -715,8 +715,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     {
         Index index = b->data;
         Block& data = (index >= 0) ? this->colsValue[index] : this->btemp[-index-1].value;
-        for (Index l=0; l<NL; ++l)
-            for (Index c=0; c<NC; ++c)
+        for (Index l=0; l < (Index)NL; ++l)
+            for (Index c=0; c < (Index)NC; ++c)
                 traits::vadd(data, l, c,static_cast<Real>(buffer[l*NC+c]) );
     }
     virtual void bAccessorAdd(InternalBlockAccessor* b, const float* buffer) override
@@ -1001,8 +1001,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     //            Index rowIndex = this->rowIndex[xi] * NL;
     //            Index colIndex = this->colsIndex[xj] * NC;
     //            std::copy(vec.begin() + colIndex, vec.begin() + colIndex + NC, vi.begin());
-    //            for (Index bi = 0; bi < NL; ++bi)
-    //                for (Index bj = 0; bj < NC; ++bj)
+    //            for (Index bi = 0; bi < (Index)NL; ++bi)
+    //                for (Index bj = 0; bj < (Index)NC; ++bj)
     //                    res[rowIndex + bi] += traits::v(b, bi, bj) * vi[bj];
 
     //            if constexpr (!Policy::StoreLowerTriangularBlock)
@@ -1011,8 +1011,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
     //                {
     //                    sofa::type::Vec<NL,Real2> vj;
     //                    std::copy(vec.begin() + rowIndex, vec.begin() + rowIndex + NL, vj.begin());
-    //                    for (Index bi = 0; bi < NL; ++bi)
-    //                        for (Index bj = 0; bj < NC; ++bj)
+    //                    for (Index bi = 0; bi < (Index)NL; ++bi)
+    //                        for (Index bj = 0; bj < (Index)NC; ++bj)
     //                            res[colIndex + bi] += traits::v(b, bj, bi) * vj[bj];
     //                }
     //            }
@@ -1039,19 +1039,19 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                 // transfer a chunk of large vector to a local block-sized vector
                 type::Vec<NC, Real2> v;
                 //Index jN = colsIndex[xj] * NC;    // scalar column index
-                for (Index bj = 0; bj < NC; ++bj)
+                for (Index bj = 0; bj < (Index)NC; ++bj)
                     v[bj] = vget(vec, this->colsIndex[xj], NC, bj);
 
                 // multiply the block with the local vector
                 const Block& b = this->colsValue[xj];    // non-null block has block-indices (rowIndex[xi],colsIndex[xj]) and value colsValue[xj]
-                for (Index bi = 0; bi < NL; ++bi)
-                    for (Index bj = 0; bj < NC; ++bj)
+                for (Index bi = 0; bi < (Index)NL; ++bi)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         r[bi] += traits::v(b, bi, bj) * v[bj];
             }
 
             // transfer the local result  to the large result vector
             //Index iN = rowIndex[xi] * NL;                      // scalar row index
-            for (Index bi = 0; bi < NL; ++bi)
+            for (Index bi = 0; bi < (Index)NL; ++bi)
                 vset(res, this->rowIndex[xi], NL, bi, r[bi]);
         }
     }
@@ -1076,8 +1076,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                 Index rowIndex = this->rowIndex[xi] * NL;
                 Index colIndex = this->colsIndex[xj] * NC;
                 std::copy(vec.begin() + colIndex, vec.begin() + colIndex + NC, vi.begin());
-                for (Index bi = 0; bi < NL; ++bi)
-                    for (Index bj = 0; bj < NC; ++bj)
+                for (Index bi = 0; bi < (Index)NL; ++bi)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         res[rowIndex + bi] += traits::v(b, bi, bj) * vi[bj];
 
                 if constexpr (!Policy::StoreLowerTriangularBlock)
@@ -1086,8 +1086,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                     {
                         sofa::type::Vec<NL,Real2> vj;
                         std::copy(vec.begin() + rowIndex, vec.begin() + rowIndex + NL, vj.begin());
-                        for (Index bi = 0; bi < NL; ++bi)
-                            for (Index bj = 0; bj < NC; ++bj)
+                        for (Index bi = 0; bi < (Index)NL; ++bi)
+                            for (Index bj = 0; bj < (Index)NC; ++bj)
                                 res[colIndex + bi] += traits::v(b, bj, bi) * vj[bj];
                     }
                 }
@@ -1113,16 +1113,16 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                 const Block& b = this->colsValue[xj];
                 Index rowIndex = this->rowIndex[xi] * NL;
                 Index colIndex = this->colsIndex[xj] * NC;
-                for (Index bi = 0; bi < NL; ++bi)
-                    for (Index bj = 0; bj < NC; ++bj)
+                for (Index bi = 0; bi < (Index)NL; ++bi)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         res[rowIndex + bi] += traits::v(b, bi, bj) * vec[bj];
 
                 if constexpr (!Policy::StoreLowerTriangularBlock)
                 {
                     if (colIndex != rowIndex)
                     {
-                        for (Index bi = 0; bi < NL; ++bi)
-                            for (Index bj = 0; bj < NC; ++bj)
+                        for (Index bi = 0; bi < (Index)NL; ++bi)
+                            for (Index bj = 0; bj < (Index)NC; ++bj)
                                 res[colIndex + bi] += traits::v(b, bj, bi) * vec[bj];
                     }
                 }
@@ -1150,7 +1150,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
             // copy the corresponding chunk of the input to a local vector
             type::Vec<NL,Real2> v;
             //Index iN = rowIndex[xi] * NL;    // index of the row in the vector
-            for (Index bi = 0; bi < NL; ++bi)
+            for (Index bi = 0; bi < (Index)NL; ++bi)
                 v[bi] = vget(vec, this->rowIndex[xi], NL, bi);
 
             // accumulate the product of the column with the local vector
@@ -1163,14 +1163,14 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                 //Index jN = colsIndex[xj] * NC;
 
                 // columnwise block-vector product
-                for (Index bj = 0; bj < NC; ++bj)
+                for (Index bj = 0; bj < (Index)NC; ++bj)
                     r[bj] = traits::v(b, 0, bj) * v[0];
-                for (Index bi = 1; bi < NL; ++bi)
-                    for (Index bj = 0; bj < NC; ++bj)
+                for (Index bi = 1; bi < (Index)NL; ++bi)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         r[bj] += traits::v(b, bi, bj) * v[bi];
 
                 // accumulate the product to the result
-                for (Index bj = 0; bj < NC; ++bj)
+                for (Index bj = 0; bj < (Index)NC; ++bj)
                     vadd(res, this->colsIndex[xj], NC, bj, r[bj]);
             }
         }
@@ -1279,8 +1279,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
             {
                 Index jN = this->colsIndex[xj] * NC;
                 const Block& b = this->colsValue[xj];
-                for (Index bi = 0; bi < NL; ++bi)
-                    for (Index bj = 0; bj < NC; ++bj)
+                for (Index bi = 0; bi < (Index)NL; ++bi)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         dest->add(iN+bi, jN+bj, traits::v(b, bi, bj));
             }
         }
@@ -1291,8 +1291,8 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
                 Index iN = it->l * NL;
                 Index jN = it->c * NC;
                 const Block& b = it->value;
-                for (Index bi = 0; bi < NL; ++bi)
-                    for (Index bj = 0; bj < NC; ++bj)
+                for (Index bi = 0; bi < (Index)NL; ++bi)
+                    for (Index bj = 0; bj < (Index)NC; ++bj)
                         dest->add(iN+bi, jN+bj, traits::v(b, bi, bj));
             }
         }
diff --git a/Sofa/framework/Type/src/sofa/type/MatSym.h b/Sofa/framework/Type/src/sofa/type/MatSym.h
index 5191e52cc3b..3e3e5ff41e5 100644
--- a/Sofa/framework/Type/src/sofa/type/MatSym.h
+++ b/Sofa/framework/Type/src/sofa/type/MatSym.h
@@ -135,7 +135,7 @@ class MatSym : public VecNoInit<D * (D + 1) / 2, real>
     /// convert matrix to sym
     static void Mat2Sym( const Mat<D, D, real>& M, MatSym<D, real>& W)
     {
-        for (int j = 0; j < D; j++)
+        for (sofa::Size j = 0; j < D; j++)
         {
             for (int i = 0; i <= j; i++)
             {
diff --git a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp
index bd9b56357a8..f0e53e0ac62 100644
--- a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp
+++ b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp
@@ -1143,16 +1143,6 @@ void SofaPhysicsSimulation::calcProjection()
                 vparams->zNear(), vparams->zFar());
     }
 
-    double xForeground = -zForeground * xNear / vparams->zNear();
-    double yForeground = -zForeground * yNear / vparams->zNear();
-    double xBackground = -zBackground * xNear / vparams->zNear();
-    double yBackground = -zBackground * yNear / vparams->zNear();
-
-    xForeground *= xFactor;
-    yForeground *= yFactor;
-    xBackground *= xFactor;
-    yBackground *= yFactor;
-
     glGetDoublev(GL_PROJECTION_MATRIX,lastProjectionMatrix);
 
     glMatrixMode(GL_MODELVIEW);

From cda8e2306915cb2ae768ff6a283e7931dfa637db Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Tue, 22 Oct 2024 13:37:58 +0200
Subject: [PATCH 30/43] [all] Run codespell on the code base + config file
 (#5064)

* Introduce codespell action

* [all] Run codespell on the code base

* codespell config file

* remove action for now

* fix test due to change of description
---
 .codespellrc                                  |  3 +
 CMakeLists.txt                                |  2 +-
 CONTRIBUTING.md                               |  2 +-
 GUIDELINES.md                                 |  2 +-
 .../animationloop/ConstraintAnimationLoop.cpp |  2 +-
 .../animationloop/ConstraintAnimationLoop.h   |  2 +-
 .../detection/algorithm/CollisionPM.h         |  2 +-
 .../detection/algorithm/CollisionPipeline.cpp |  2 +-
 .../algorithm/DirectSAPNarrowPhase.cpp        |  4 +-
 .../algorithm/DirectSAPNarrowPhase.h          |  4 +-
 .../collision/detection/algorithm/IncrSAP.cpp |  4 +-
 .../collision/detection/algorithm/IncrSAP.h   |  4 +-
 .../detection/algorithm/RayTraceDetection.h   |  2 +-
 .../algorithm/RayTraceNarrowPhase.cpp         |  2 +-
 .../detection/algorithm/RayTraceNarrowPhase.h |  2 +-
 .../tests/CollisionPipeline_test.cpp          |  2 +-
 .../BaseProximityIntersection.cpp             |  2 +-
 .../intersection/BaseProximityIntersection.h  |  2 +-
 .../intersection/MeshDiscreteIntersection.inl |  2 +-
 .../component/collision/geometry/CubeModel.h  |  4 +-
 .../collision/geometry/TriangleModel.inl      |  2 +-
 .../response/contact/CollisionResponse.cpp    |  2 +-
 .../contact/PenalityContactForceField.h       |  2 +-
 .../contact/PenalityContactForceField.inl     |  2 +-
 .../collision/testing/MeshPrimitiveCreator.h  |  4 +-
 .../testing/SpherePrimitiveCreator.h          |  6 +-
 .../LinearSolverConstraintCorrection.inl      |  4 +-
 .../PrecomputedConstraintCorrection.inl       |  4 +-
 .../model/BilateralConstraintResolution.h     |  2 +-
 .../model/BilateralLagrangianConstraint.inl   |  2 +-
 .../model/UnilateralLagrangianConstraint.inl  |  2 +-
 ...alInteractionLagrangianConstraint_test.cpp |  8 +--
 .../lagrangian/solver/ConstraintSolverImpl.h  |  2 +-
 .../solver/GenericConstraintProblem.cpp       |  2 +-
 .../solver/GenericConstraintSolver.cpp        |  2 +-
 .../solver/GenericConstraintSolver.h          |  2 +-
 .../lagrangian/solver/LCPConstraintSolver.cpp |  2 +-
 .../lagrangian/solver/LCPConstraintSolver.h   |  2 +-
 .../DirectionProjectiveConstraint.h           |  2 +-
 .../FixedPlaneProjectiveConstraint.h          |  2 +-
 .../projective/FixedProjectiveConstraint.h    |  2 +-
 .../projective/FixedProjectiveConstraint.inl  |  4 +-
 .../FixedTranslationProjectiveConstraint.h    |  2 +-
 .../HermiteSplineProjectiveConstraint.inl     |  2 +-
 .../projective/LineProjectiveConstraint.h     |  2 +-
 .../LinearMovementProjectiveConstraint.h      |  2 +-
 .../LinearVelocityProjectiveConstraint.h      |  4 +-
 .../PartialFixedProjectiveConstraint.inl      |  4 +-
 ...artialLinearMovementProjectiveConstraint.h |  8 +--
 ...tialLinearMovementProjectiveConstraint.inl |  6 +-
 .../projective/PlaneProjectiveConstraint.h    |  2 +-
 .../projective/PointProjectiveConstraint.h    |  2 +-
 ...ositionBasedDynamicsProjectiveConstraint.h |  2 +-
 ...ffineMovementProjectiveConstraint_test.cpp |  6 +-
 .../DirectionProjectiveConstraint_test.cpp    |  6 +-
 .../FixedPlaneProjectiveConstraint_test.cpp   |  6 +-
 .../tests/FixedProjectiveConstraint_test.cpp  |  6 +-
 .../tests/LineProjectiveConstraint_test.cpp   |  6 +-
 .../PartialFixedProjectiveConstraint_test.cpp |  6 +-
 .../tests/PlaneProjectiveConstraint_test.cpp  |  6 +-
 .../tests/PointProjectiveConstraint_test.cpp  |  6 +-
 ...TetrahedronDiffusionFEMForceField_test.cpp |  6 +-
 .../engine/analyze/ClusteringEngine.h         |  6 +-
 .../engine/analyze/ClusteringEngine.inl       |  2 +-
 .../sofa/component/engine/analyze/Distances.h |  2 +-
 .../tests/Engine.Analyze_DataUpdate_test.cpp  |  4 +-
 .../engine/generate/GenerateCylinder.inl      |  2 +-
 .../engine/generate/GenerateRigidMass.h       |  2 +-
 .../component/engine/generate/MergePoints.cpp |  2 +-
 .../tests/Engine.Generate_DataUpdate_test.cpp |  4 +-
 .../Engine/Generate/tests/JoinPoints_test.cpp |  6 +-
 .../RandomPointDistributionInSurface_test.cpp |  6 +-
 .../sofa/component/engine/select/BaseROI.inl  |  2 +-
 .../sofa/component/engine/select/MeshROI.inl  |  2 +-
 .../component/engine/select/NearestPointROI.h |  2 +-
 .../component/engine/select/ProximityROI.h    |  2 +-
 .../component/engine/select/ProximityROI.inl  |  2 +-
 .../engine/select/SelectConnectedLabelsROI.h  |  4 +-
 .../Engine/Select/tests/BoxROI_test.cpp       |  2 +-
 .../tests/Engine.Select_DataUpdate_test.cpp   |  4 +-
 .../engine/testing/DataEngineTestCreation.h   |  2 +-
 .../engine/transform/DifferenceEngine.h       |  2 +-
 .../engine/transform/DifferenceEngine.inl     |  4 +-
 .../engine/transform/QuatToRigidEngine.cpp    |  2 +-
 .../engine/transform/TransformPosition.inl    |  2 +-
 .../Engine.Transform_DataUpdate_test.cpp      |  4 +-
 .../Transform/tests/TransformEngine_test.cpp  |  6 +-
 .../sofa/component/haptics/LCPForceFeedback.h |  2 +-
 .../sofa/component/io/mesh/BaseVTKReader.h    |  2 +-
 .../linearsolver/direct/BTDLinearSolver.h     |  8 +--
 .../linearsolver/direct/BTDLinearSolver.inl   | 30 +++++-----
 .../linearsolver/direct/EigenSolverFactory.h  |  2 +-
 .../linearsolver/direct/SparseLDLSolverImpl.h |  4 +-
 .../iterative/MatrixLinearSolver.h            |  6 +-
 .../iterative/MinResLinearSolver.inl          |  2 +-
 .../iterative/ShewchukPCGLinearSolver.h       |  2 +-
 .../iterative/ShewchukPCGLinearSolver.inl     |  2 +-
 .../ordering/OrderingMethodAccessor.h         |  2 +-
 .../BlockJacobiPreconditioner.h               |  2 +-
 .../preconditioner/SSORPreconditioner.cpp     |  2 +-
 .../ConstantSparsityProjectionMethod.h        |  2 +-
 .../linearsystem/CreateMatrixDispatcher.h     |  2 +-
 .../component/linearsystem/MappingGraph.h     |  2 +-
 .../linearsystem/MatrixLinearSystem.h         |  2 +-
 .../linearsystem/MatrixLinearSystem.inl       |  4 +-
 .../mapping/linear/BarycentricMapping.inl     |  2 +-
 .../mapping/linear/BarycentricMappingRigid.h  |  4 +-
 .../mapping/linear/BeamLinearMapping.inl      |  2 +-
 .../linear/DeformableOnRigidFrameMapping.h    |  2 +-
 .../linear/DeformableOnRigidFrameMapping.inl  |  4 +-
 .../mapping/linear/IdentityMapping.h          |  2 +-
 .../mapping/linear/IdentityMultiMapping.h     |  2 +-
 .../mapping/linear/LineSetSkinningMapping.inl |  4 +-
 .../SimpleTesselatedTetraTopologicalMapping.h |  2 +-
 .../component/mapping/linear/SubsetMapping.h  |  4 +-
 .../mapping/linear/SubsetMapping.inl          |  2 +-
 .../mapping/linear/SubsetMultiMapping.h       |  2 +-
 .../Linear/tests/BarycentricMapping_test.cpp  |  4 +-
 .../Linear/tests/SubsetMultiMapping_test.cpp  |  6 +-
 .../nonlinear/DistanceFromTargetMapping.h     |  2 +-
 .../mapping/nonlinear/DistanceMapping.h       |  2 +-
 .../mapping/nonlinear/DistanceMapping.inl     |  2 +-
 .../mapping/nonlinear/DistanceMultiMapping.h  |  4 +-
 .../nonlinear/DistanceMultiMapping.inl        |  2 +-
 .../mapping/nonlinear/RigidMapping.h          |  2 +-
 .../NonLinear/tests/DistanceMapping_test.cpp  |  6 +-
 .../NonLinear/tests/RigidMapping_test.cpp     |  6 +-
 .../tests/SquareDistanceMapping_test.cpp      |  6 +-
 .../NonLinear/tests/SquareMapping_test.cpp    |  6 +-
 .../mapping/testing/MappingTestCreation.h     |  6 +-
 .../testing/Multi2MappingTestCreation.h       |  6 +-
 .../testing/MultiMappingTestCreation.h        |  6 +-
 .../src/sofa/component/mass/DiagonalMass.cpp  |  4 +-
 .../src/sofa/component/mass/DiagonalMass.h    |  2 +-
 .../src/sofa/component/mass/DiagonalMass.inl  |  2 +-
 .../src/sofa/component/mass/MeshMatrixMass.h  |  4 +-
 .../sofa/component/mass/MeshMatrixMass.inl    | 58 +++++++++----------
 .../src/sofa/component/mass/UniformMass.cpp   |  2 +-
 .../src/sofa/component/mass/UniformMass.h     |  4 +-
 .../src/sofa/component/mass/UniformMass.inl   |  2 +-
 .../mechanicalload/ConicalForceField.h        |  2 +-
 .../mechanicalload/EllipsoidForceField.h      |  2 +-
 .../InteractionEllipsoidForceField.h          |  2 +-
 .../mechanicalload/PlaneForceField.h          |  4 +-
 .../mechanicalload/PlaneForceField.inl        |  2 +-
 .../mechanicalload/SphereForceField.h         |  4 +-
 .../mechanicalload/SphereForceField.inl       |  2 +-
 .../TaitSurfacePressureForceField.h           |  2 +-
 .../TaitSurfacePressureForceField.inl         |  2 +-
 .../tests/ConstantForceField_test.cpp         |  4 +-
 .../tests/PlaneForceField_test.cpp            |  6 +-
 .../tests/SkeletalMotionConstraint_test.cpp   |  6 +-
 .../backward/VariationalSymplecticSolver.cpp  | 14 ++---
 .../tests/EulerImplicitSolverDynamic_test.cpp |  6 +-
 .../NewmarkImplicitSolverDynamic_test.cpp     |  6 +-
 .../tests/SpringSolverDynamic_test.cpp        |  6 +-
 ...alSymplecticExplicitSolverDynamic_test.cpp |  6 +-
 ...alSymplecticImplicitSolverDynamic_test.cpp |  6 +-
 ...plicitSolverNonLinearForceDynamic_test.cpp |  6 +-
 ...alDifferenceExplicitSolverDynamic_test.cpp |  6 +-
 .../tests/EulerExplicitSolverDynamic_test.cpp |  6 +-
 .../RungeKutta2ExplicitSolverDynamic_test.cpp |  6 +-
 .../RungeKutta4ExplicitSolverDynamic_test.cpp |  6 +-
 .../sofa/component/playback/CompareState.cpp  |  2 +-
 .../component/playback/CompareTopology.cpp    |  2 +-
 .../component/playback/InputEventReader.cpp   |  4 +-
 .../component/playback/InputEventReader.h     |  6 +-
 .../sofa/component/playback/ReadTopology.cpp  |  2 +-
 .../sofa/component/playback/ReadTopology.h    |  2 +-
 .../src/sofa/component/playback/WriteState.h  |  2 +-
 .../sofa/component/playback/WriteTopology.cpp |  2 +-
 .../sofa/component/playback/WriteTopology.h   |  6 +-
 .../component/sceneutility/InfoComponent.h    |  4 +-
 .../sceneutility/MakeAliasComponent.h         |  2 +-
 .../sceneutility/MakeDataAliasComponent.h     |  2 +-
 .../sceneutility/MessageHandlerComponent.cpp  |  2 +-
 .../FastTetrahedralCorotationalForceField.h   |  4 +-
 .../fem/elastic/HexahedronFEMForceField.inl   |  2 +-
 .../fem/elastic/QuadBendingFEMForceField.h    |  2 +-
 .../fem/elastic/QuadBendingFEMForceField.inl  |  2 +-
 .../TetrahedralCorotationalFEMForceField.inl  |  2 +-
 .../fem/elastic/TetrahedronFEMForceField.h    |  4 +-
 .../fem/elastic/TetrahedronFEMForceField.inl  |  8 +--
 .../fem/elastic/TriangleFEMForceField.inl     |  2 +-
 .../fem/elastic/TriangularFEMForceField.h     |  4 +-
 .../fem/elastic/TriangularFEMForceField.inl   |  4 +-
 .../elastic/TriangularFEMForceFieldOptim.h    |  4 +-
 .../elastic/TriangularFEMForceFieldOptim.inl  |  6 +-
 .../tests/HexahedronFEMForceField_test.cpp    |  6 +-
 .../TetrahedronFEMForceField_stepTest.cpp     |  6 +-
 .../tests/TriangleFEMForceField_stepTest.cpp  |  2 +-
 .../StandardTetrahedralFEMForceField.h        |  6 +-
 .../StandardTetrahedralFEMForceField.inl      |  4 +-
 .../TetrahedronHyperelasticityFEMForceField.h |  2 +-
 ...etrahedronHyperelasticityFEMForceField.inl |  2 +-
 .../hyperelastic/material/BoyceAndArruda.h    |  2 +-
 .../fem/hyperelastic/material/Costa.h         |  2 +-
 .../fem/hyperelastic/material/MooneyRivlin.h  |  2 +-
 .../fem/hyperelastic/material/Ogden.h         |  2 +-
 .../hyperelastic/material/VerondaWestman.h    |  2 +-
 .../FEM/HyperElastic/tests/Material_test.cpp  |  2 +-
 ...perelasticityFEMForceField_params_test.cpp |  6 +-
 ...yperelasticityFEMForceField_scene_test.cpp |  6 +-
 ...exahedronCompositeFEMForceFieldAndMass.inl |  6 +-
 .../HexahedronCompositeFEMMapping.h           |  4 +-
 ...NonUniformHexahedralFEMForceFieldAndMass.h |  2 +-
 .../spring/FrameSpringForceField.h            |  2 +-
 .../spring/MeshSpringForceField.h             |  2 +-
 .../spring/MeshSpringForceField.inl           |  2 +-
 .../PolynomialRestShapeSpringsForceField.h    |  2 +-
 .../PolynomialRestShapeSpringsForceField.inl  |  2 +-
 .../spring/PolynomialSpringsForceField.inl    |  2 +-
 .../spring/QuadBendingSprings.h               |  2 +-
 .../spring/QuadBendingSprings.inl             |  2 +-
 .../spring/RestShapeSpringsForceField.h       |  2 +-
 .../spring/RestShapeSpringsForceField.inl     |  2 +-
 .../solidmechanics/spring/SpringForceField.h  |  2 +-
 .../spring/SpringForceField.inl               |  2 +-
 .../spring/TriangularBendingSprings.h         |  2 +-
 .../spring/VectorSpringForceField.h           |  2 +-
 .../spring/VectorSpringForceField.inl         |  4 +-
 .../Spring/tests/SpringForceField_test.cpp    |  6 +-
 .../TetrahedralTensorMassForceField.h         |  2 +-
 .../TriangularTensorMassForceField.h          |  2 +-
 .../testing/ForceFieldTestCreation.h          |  4 +-
 .../simutests/AffinePatch_test.cpp            |  6 +-
 .../simutests/LinearElasticity_test.cpp       |  6 +-
 .../component/statecontainer/MappedObject.h   |  2 +-
 .../statecontainer/MechanicalObject.h         |  2 +-
 .../statecontainer/MechanicalObject.inl       |  4 +-
 .../container/constant/MeshTopology.cpp       |  2 +-
 .../container/constant/MeshTopology.h         |  4 +-
 .../DynamicSparseGridTopologyModifier.cpp     |  2 +-
 .../dynamic/EdgeSetTopologyContainer.cpp      |  6 +-
 .../dynamic/EdgeSetTopologyContainer.h        |  4 +-
 .../dynamic/EdgeSetTopologyModifier.cpp       |  6 +-
 .../dynamic/EdgeSetTopologyModifier.h         |  2 +-
 .../HexahedronSetTopologyContainer.cpp        |  2 +-
 .../dynamic/HexahedronSetTopologyContainer.h  |  2 +-
 .../dynamic/HexahedronSetTopologyModifier.cpp | 10 ++--
 .../dynamic/QuadSetTopologyContainer.cpp      |  4 +-
 .../dynamic/QuadSetTopologyContainer.h        |  2 +-
 .../dynamic/QuadSetTopologyModifier.cpp       |  4 +-
 .../TetrahedronSetGeometryAlgorithms.inl      |  8 +--
 .../TetrahedronSetTopologyContainer.cpp       |  2 +-
 .../dynamic/TetrahedronSetTopologyContainer.h |  2 +-
 .../TetrahedronSetTopologyModifier.cpp        | 12 ++--
 .../dynamic/TriangleSetGeometryAlgorithms.cpp |  2 +-
 .../dynamic/TriangleSetGeometryAlgorithms.h   |  2 +-
 .../dynamic/TriangleSetGeometryAlgorithms.inl | 28 ++++-----
 .../dynamic/TriangleSetTopologyContainer.cpp  |  4 +-
 .../dynamic/TriangleSetTopologyContainer.h    |  2 +-
 .../dynamic/TriangleSetTopologyModifier.cpp   |  4 +-
 .../dynamic/TriangleSetTopologyModifier.h     |  8 +--
 .../tests/HexahedronSetTopology_test.cpp      |  4 +-
 .../Dynamic/tests/QuadSetTopology_test.cpp    |  2 +-
 .../TetrahedronNumericalIntegration_test.cpp  |  6 +-
 .../tests/TetrahedronSetTopology_test.cpp     |  4 +-
 .../TriangleNumericalIntegration_test.cpp     |  6 +-
 .../tests/TriangleSetTopology_test.cpp        |  2 +-
 .../container/grid/CylinderGridTopology.cpp   |  2 +-
 .../container/grid/CylinderGridTopology.h     |  2 +-
 .../topology/container/grid/GridTopology.h    |  2 +-
 .../grid/SparseGridMultipleTopology.cpp       |  2 +-
 .../grid/SparseGridMultipleTopology.h         |  2 +-
 .../grid/SparseGridRamificationTopology.h     | 14 ++---
 .../container/grid/SparseGridTopology.cpp     |  2 +-
 .../container/grid/SparseGridTopology.h       |  8 +--
 .../container/grid/SphereGridTopology.cpp     |  2 +-
 .../container/grid/SphereGridTopology.h       |  2 +-
 .../Grid/tests/RegularGridTopology_test.cpp   | 10 ++--
 .../mapping/Hexa2TetraTopologicalMapping.cpp  |  2 +-
 .../Tetra2TriangleTopologicalMapping.cpp      |  4 +-
 .../topology/testing/fake_TopologyScene.h     |  2 +-
 .../Utility/tests/TopologyChecker_test.cpp    | 32 +++++-----
 .../src/sofa/component/visual/BaseCamera.cpp  |  2 +-
 .../sofa/component/visual/VisualModelImpl.cpp |  2 +-
 .../sofa/component/visual/VisualModelImpl.h   |  2 +-
 .../Visual/tests/VisualModelImpl_test.cpp     |  6 +-
 .../component/engine/TextureInterpolation.h   |  2 +-
 .../tests/TextureInterpolation_DataUpdate.cpp |  4 +-
 .../gl/component/rendering2d/OglColorMap.cpp  |  4 +-
 .../gl/component/rendering2d/OglColorMap.h    |  4 +-
 .../gl/component/rendering2d/OglLabel.cpp     |  4 +-
 .../sofa/gl/component/rendering2d/OglLabel.h  |  2 +-
 .../gl/component/rendering3d/OglModel.cpp     |  4 +-
 .../sofa/gl/component/rendering3d/OglModel.h  |  2 +-
 .../src/sofa/gl/component/shader/Light.cpp    |  6 +-
 .../src/sofa/gl/component/shader/Light.h      |  4 +-
 .../sofa/gl/component/shader/LightManager.cpp |  4 +-
 .../gl/component/shader/VisualManagerPass.cpp |  2 +-
 Sofa/GL/src/sofa/gl/BasicShapes.h             |  2 +-
 Sofa/GL/src/sofa/gl/DrawToolGL.cpp            | 12 ++--
 .../Common/src/sofa/gui/common/BaseViewer.cpp |  2 +-
 .../Common/src/sofa/gui/common/BaseViewer.h   |  2 +-
 .../gui/common/FilesRecentlyOpenedManager.cpp |  2 +-
 .../Common/src/sofa/gui/common/GUIManager.h   |  6 +-
 .../AddRecordedCameraButtonSetting.h          |  2 +-
 .../performer/InciseAlongPathPerformer.h      |  2 +-
 .../performer/InteractionPerformer.cpp        |  2 +-
 .../performer/RemovePrimitivePerformer.h      |  2 +-
 .../performer/RemovePrimitivePerformer.inl    |  2 +-
 .../performer/TopologicalChangeManager.cpp    |  4 +-
 .../performer/TopologicalChangeManager.h      |  6 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/DataWidget.h      |  2 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/GUI.ui            |  2 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/GenGraphForm.cpp  |  2 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/GraphDataWidget.h |  2 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/LinkWidget.h      |  2 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/ModifyObject.h    |  2 +-
 .../sofa/gui/qt/QDataDescriptionWidget.cpp    |  2 +-
 .../GUI/Qt/src/sofa/gui/qt/QGraphStatWidget.h |  2 +-
 .../gui/qt/QModelViewTableDataContainer.h     |  2 +-
 .../Qt/src/sofa/gui/qt/QMouseOperations.cpp   |  4 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.cpp |  4 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.h   |  2 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.cpp       |  4 +-
 Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.h         |  6 +-
 .../GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.h |  2 +-
 .../Qt/src/sofa/gui/qt/SofaSceneGraphWidget.h |  4 +-
 .../Qt/src/sofa/gui/qt/SofaWindowDataGraph.h  |  4 +-
 .../Qt/src/sofa/gui/qt/SofaWindowProfiler.h   | 18 +++---
 .../Qt/src/sofa/gui/qt/viewer/SofaViewer.cpp  |  2 +-
 .../Qt/src/sofa/gui/qt/viewer/SofaViewer.h    |  2 +-
 Sofa/framework/Config/CMakeLists.txt          |  2 +-
 .../Config/cmake/CompilerOptions.cmake        |  2 +-
 .../Config/cmake/Modules/FindSOFA.cmake       |  8 +--
 .../Config/cmake/Modules/find_lib.cmake       |  2 +-
 .../Config/cmake/SofaMacrosConfigure.cmake    |  4 +-
 .../Config/cmake/SofaMacrosInstall.cmake      |  2 +-
 Sofa/framework/Config/src/sofa/config.h.in    |  2 +-
 Sofa/framework/Core/simutest/CMakeLists.txt   |  2 +-
 .../objectmodel/BaseLink_simutest.cpp         |  2 +-
 .../Core/src/sofa/core/BaseMapping.h          |  2 +-
 .../Core/src/sofa/core/CollisionElement.h     |  2 +-
 .../Core/src/sofa/core/ConstraintParams.h     |  6 +-
 .../Core/src/sofa/core/DataTrackerCallback.h  |  4 +-
 Sofa/framework/Core/src/sofa/core/Mapping.h   |  4 +-
 .../Core/src/sofa/core/MechanicalParams.h     |  2 +-
 .../Core/src/sofa/core/Multi2Mapping.inl      |  2 +-
 .../Core/src/sofa/core/ObjectFactory.h        |  4 +-
 .../sofa/core/behavior/BaseAnimationLoop.h    |  2 +-
 .../src/sofa/core/behavior/BaseConstraint.h   |  2 +-
 .../src/sofa/core/behavior/BaseForceField.cpp |  2 +-
 .../src/sofa/core/behavior/BaseForceField.h   |  2 +-
 .../Core/src/sofa/core/behavior/BaseMass.cpp  |  2 +-
 .../behavior/BaseProjectiveConstraintSet.cpp  |  2 +-
 .../Core/src/sofa/core/behavior/BlockType.h   |  2 +-
 .../core/behavior/CRSMultiMatrixAccessor.cpp  | 26 ++++-----
 .../Core/src/sofa/core/behavior/Constraint.h  |  6 +-
 .../sofa/core/behavior/ConstraintResolution.h |  2 +-
 .../behavior/DefaultMultiMatrixAccessor.cpp   | 14 ++---
 .../behavior/DefaultMultiMatrixAccessor.h     | 12 ++--
 .../src/sofa/core/behavior/LinearSolver.h     |  2 +-
 .../behavior/MixedInteractionConstraint.h     |  6 +-
 .../behavior/MixedInteractionForceField.h     |  4 +-
 .../Core/src/sofa/core/behavior/OdeSolver.h   |  4 +-
 .../core/behavior/PairInteractionConstraint.h |  6 +-
 .../core/behavior/PairInteractionForceField.h |  4 +-
 .../Core/src/sofa/core/collision/Detection.h  |  4 +-
 .../src/sofa/core/collision/DetectionOutput.h |  4 +-
 .../src/sofa/core/collision/Intersection.h    |  2 +-
 Sofa/framework/Core/src/sofa/core/fwd.h       |  2 +-
 .../PerComponentLoggingMessageHandler.h       |  2 +-
 .../RichConsoleStyleMessageFormatter.h        |  2 +-
 .../core/objectmodel/AbstractDataLink.cpp     |  4 +-
 .../sofa/core/objectmodel/AbstractDataLink.h  | 12 ++--
 .../Core/src/sofa/core/objectmodel/Base.cpp   |  4 +-
 .../Core/src/sofa/core/objectmodel/Base.h     |  4 +-
 .../src/sofa/core/objectmodel/BaseContext.h   |  4 +-
 .../Core/src/sofa/core/objectmodel/BaseNode.h |  2 +-
 .../src/sofa/core/objectmodel/BaseObject.h    |  4 +-
 .../core/objectmodel/BaseObjectDescription.h  |  2 +-
 .../Core/src/sofa/core/objectmodel/Data.h     |  2 +-
 .../src/sofa/core/objectmodel/JoystickEvent.h |  2 +-
 .../Core/src/sofa/core/objectmodel/Link.h     |  2 +-
 .../src/sofa/core/topology/BaseTopology.h     |  8 +--
 .../src/sofa/core/topology/TopologyChange.h   |  4 +-
 .../src/sofa/core/topology/TopologyData.h     |  4 +-
 .../src/sofa/core/topology/TopologyData.inl   | 12 ++--
 .../sofa/core/topology/TopologySubsetData.h   |  6 +-
 .../Core/src/sofa/core/visual/VisualModel.h   |  2 +-
 Sofa/framework/Core/test/Engine_test.cpp      |  6 +-
 .../Core/test/ObjectFactoryJson_test.cpp      |  4 +-
 Sofa/framework/Core/test/TestEngine.cpp       |  2 +-
 Sofa/framework/Core/test/TrackedData_test.cpp |  2 +-
 .../Core/test/objectmodel/BaseClass_test.cpp  |  2 +-
 .../BaseObjectDescription_test.cpp            |  4 +-
 .../Core/test/objectmodel/DataLink_test.cpp   |  4 +-
 .../src/sofa/defaulttype/AbstractTypeInfo.h   |  4 +-
 .../src/sofa/defaulttype/SolidTypes.h         |  4 +-
 .../src/sofa/defaulttype/TypeInfoRegistry.h   | 10 ++--
 .../sofa/defaulttype/TypeInfoRegistryTools.h  |  4 +-
 .../src/sofa/defaulttype/VecTypes.h           |  2 +-
 .../defaulttype/typeinfo/models/SetTypeInfo.h |  2 +-
 .../test/QuaternionIntegration_test.cpp       |  6 +-
 .../DefaultType/test/RigidDeriv_test.cpp      |  4 +-
 .../Geometry/src/sofa/geometry/Edge.h         |  2 +-
 Sofa/framework/Helper/simutest/CMakeLists.txt |  2 +-
 .../Helper/src/sofa/helper/AdvancedTimer.h    |  4 +-
 .../src/sofa/helper/ComponentChange.cpp       |  6 +-
 .../Helper/src/sofa/helper/DiffLib.cpp        |  4 +-
 .../Helper/src/sofa/helper/DiffLib.h          |  2 +-
 .../Helper/src/sofa/helper/FnDispatcher.h     | 12 ++--
 .../Helper/src/sofa/helper/GenerateRigid.h    |  2 +-
 .../src/sofa/helper/MarchingCubeUtility.cpp   |  2 +-
 .../src/sofa/helper/MarchingCubeUtility.h     | 10 ++--
 .../Helper/src/sofa/helper/OptionsGroup.h     |  6 +-
 .../Helper/src/sofa/helper/Polynomial_LD.h    |  6 +-
 .../Helper/src/sofa/helper/StringUtils.cpp    |  4 +-
 .../Helper/src/sofa/helper/StringUtils.h      |  2 +-
 .../Helper/src/sofa/helper/decompose.h        |  8 +--
 .../Helper/src/sofa/helper/decompose.inl      | 14 ++---
 Sofa/framework/Helper/src/sofa/helper/deque.h | 10 ++--
 .../Helper/src/sofa/helper/io/SphereLoader.h  |  4 +-
 .../Helper/src/sofa/helper/io/XspLoader.cpp   |  2 +-
 .../Helper/src/sofa/helper/io/XspLoader.h     |  4 +-
 .../src/sofa/helper/logging/ComponentInfo.h   |  2 +-
 .../helper/logging/CountingMessageHandler.h   |  2 +-
 .../logging/ExceptionMessageHandler.cpp       |  2 +-
 .../helper/logging/FileMessageHandler.cpp     |  2 +-
 .../helper/logging/LoggingMessageHandler.h    |  4 +-
 .../src/sofa/helper/logging/Messaging.h       |  2 +-
 .../helper/logging/RoutingMessageHandler.h    |  2 +-
 .../framework/Helper/src/sofa/helper/random.h |  2 +-
 Sofa/framework/Helper/src/sofa/helper/set.cpp |  2 +-
 Sofa/framework/Helper/src/sofa/helper/set.h   |  2 +-
 .../src/sofa/helper/system/FileRepository.cpp |  6 +-
 .../src/sofa/helper/system/FileRepository.h   |  6 +-
 .../src/sofa/helper/system/console_internal.h |  2 +-
 .../src/sofa/helper/system/thread/CTime.h     |  2 +-
 .../system/thread/thread_specific_ptr.h       |  2 +-
 .../Helper/src/sofa/helper/visual/Trackball.h |  2 +-
 .../src/sofa/helper/visual/Transformation.cpp |  4 +-
 .../Helper/test/system/FileMonitor_test.cpp   |  2 +-
 .../sofa/linearalgebra/EigenSparseMatrix.h    |  4 +-
 .../src/sofa/linearalgebra/FullMatrix.h       |  2 +-
 .../src/sofa/linearalgebra/RotationMatrix.cpp |  2 +-
 .../src/sofa/linearalgebra/RotationMatrix.h   |  2 +-
 .../linearalgebra/SparseMatrixStorageOrder.h  |  2 +-
 .../src/sofa/linearalgebra/config.h.in        |  2 +-
 .../LinearAlgebra/test/Matrix_test.cpp        |  8 +--
 .../sofa/simulation/common/xml/Element.inl    |  2 +-
 .../sofa/simulation/BaseMechanicalVisitor.cpp |  2 +-
 .../sofa/simulation/BaseSimulationExporter.h  |  4 +-
 .../sofa/simulation/CollisionAnimationLoop.h  |  2 +-
 .../Core/src/sofa/simulation/Colors.h         |  2 +-
 .../Core/src/sofa/simulation/Node.h           |  8 +--
 .../src/sofa/simulation/ParallelForEach.h     |  4 +-
 .../src/sofa/simulation/RequiredPlugin.cpp    |  2 +-
 .../Core/src/sofa/simulation/RequiredPlugin.h |  2 +-
 .../Core/src/sofa/simulation/Task.h           |  2 +-
 .../sofa/simulation/UpdateLinksVisitor.cpp    |  2 +-
 .../Core/src/sofa/simulation/Visitor.cpp      |  2 +-
 .../Core/src/sofa/simulation/Visitor.h        |  8 +--
 .../MechanicalAccumulateMatrixDeriv.h         |  2 +-
 ...pplyProjectiveConstraint_ToMatrixVisitor.h |  2 +-
 .../src/sofa/simulation/graph/DAGNode.cpp     |  4 +-
 .../Graph/src/sofa/simulation/graph/DAGNode.h |  2 +-
 .../src/sofa/testing/TestMessageHandler.h     |  2 +-
 .../Testing/test/TestMessageHandler_test.cpp  | 10 ++--
 .../Topology/src/sofa/topology/Triangle.h     |  2 +-
 .../framework/Type/src/sofa/type/DualQuat.cpp |  2 +-
 Sofa/framework/Type/src/sofa/type/Frame.h     |  4 +-
 Sofa/framework/Type/src/sofa/type/Mat.h       | 14 ++---
 Sofa/framework/Type/src/sofa/type/MatSym.h    |  2 +-
 .../Type/src/sofa/type/Mat_solve_SVD.h        |  2 +-
 Sofa/framework/Type/src/sofa/type/Quat.cpp    |  4 +-
 Sofa/framework/Type/src/sofa/type/Quat.h      |  2 +-
 Sofa/framework/Type/src/sofa/type/SVector.h   |  2 +-
 Sofa/framework/Type/src/sofa/type/Transform.h |  4 +-
 Sofa/framework/Type/src/sofa/type/Vec.h       |  2 +-
 .../Type/src/sofa/type/trait/Rebind.h         |  2 +-
 .../Type/src/sofa/type/vector_Integral.cpp    |  2 +-
 Sofa/framework/Type/src/sofa/type/vector_T.h  |  6 +-
 .../Type/src/sofa/type/vector_algorithm.h     |  4 +-
 .../Type/src/sofa/type/vector_device.h        |  4 +-
 .../ArticulatedHierarchyBVHController.cpp     |  2 +-
 .../ArticulatedHierarchyBVHController.h       |  2 +-
 .../ArticulatedHierarchyContainer.inl         |  2 +-
 .../ArticulatedHierarchyController.cpp        |  4 +-
 .../ArticulatedHierarchyController.h          |  2 +-
 .../ArticulatedSystemMapping.inl              |  4 +-
 .../BulletCollisionDetection.dox              |  2 +-
 .../BCD_test.cpp                              | 10 ++--
 .../BulletCollisionDetection/doc/Doxyfile     |  2 +-
 .../examples/GlobalBulletCollision.py         |  4 +-
 .../BulletCollisionDetection.h                |  2 +-
 .../BulletConvexHullModel.h                   |  2 +-
 .../BulletConvexHullModel.inl                 |  2 +-
 .../BulletCylinderModel.h                     |  4 +-
 .../OBBCapsPrimitiveCreator.h                 |  8 +--
 .../CollisionOBBCapsule_test/OBB_test.cpp     | 10 ++--
 .../detection/intersection/BaseIntTool.h      |  6 +-
 .../detection/intersection/CapsuleIntTool.inl |  4 +-
 .../detection/intersection/IntrUtility3.inl   |  6 +-
 .../detection/intersection/MeshIntTool.cpp    |  6 +-
 .../detection/intersection/MeshIntTool.h      |  2 +-
 .../CollisionOBBCapsule/geometry/OBBModel.h   |  2 +-
 .../plugins/DiffusionSolver/DiffusionSolver.h |  2 +-
 .../Geomagic/src/Geomagic/GeomagicDriver.cpp  |  2 +-
 .../Geomagic/src/Geomagic/GeomagicDriver.h    |  4 +-
 .../Geomagic/src/Geomagic/GeomagicEmulator.h  |  2 +-
 applications/plugins/Haption/CMakeLists.txt   |  2 +-
 .../{exemple => examples}/haption1.scn        |  0
 .../Haption/{exemple => examples}/temp1.scn   |  0
 applications/plugins/Haption/initHaption.cpp  |  2 +-
 .../plugins/LeapMotion/LeapMotion/Leap.h      | 28 ++++-----
 .../plugins/LeapMotion/LeapMotion/LeapMath.h  |  2 +-
 .../LeapMotion/src/LeapMotionDriver.cpp       |  4 +-
 .../plugins/LeapMotion/src/LeapMotionDriver.h |  2 +-
 .../CollisionAnimationLoop_mt.h               |  2 +-
 .../algorithm/ParallelBruteForceBroadPhase.h  |  2 +-
 .../PersistentFrictionContact.inl             |  2 +-
 ...sistentUnilateralInteractionConstraint.inl |  2 +-
 .../src/SceneCreator/SceneCreator.cpp         |  8 +--
 .../plugins/Sensable/NewOmniDriver.cpp        |  2 +-
 applications/plugins/Sensable/OmniDriver.cpp  |  2 +-
 .../examples/Dentistry/dentalSurgery_06.scn   |  2 +-
 .../examples/Dentistry/dentalSurgery_07.scn   |  2 +-
 .../examples/Dentistry/dentalSurgery_08.scn   |  2 +-
 .../plugins/SofaAssimp/AssimpLoader.cpp       |  2 +-
 .../plugins/SofaAssimp/initAssimpPlugin.cpp   |  2 +-
 applications/plugins/SofaCUDA/CMakeLists.txt  |  2 +-
 .../gpu/cuda/CudaHexahedronTLEDForceField.cu  |  8 +--
 .../SofaCUDA/sofa/gpu/cuda/CudaMatrix.h       |  2 +-
 .../cuda/CudaTetrahedronTLEDForceField.cpp    |  2 +-
 .../gpu/cuda/CudaTetrahedronTLEDForceField.cu |  8 +--
 .../SofaCUDA/sofa/gpu/cuda/CudaTypes.h        |  2 +-
 .../SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h  |  6 +-
 .../contact/CudaPenalityContactForceField.inl |  2 +-
 .../linear/CudaBarycentricMapping-3f.cpp      |  2 +-
 .../linear/CudaBarycentricMapping-3f1-3f.cpp  |  4 +-
 .../linear/CudaBarycentricMapping-3f1-d.cpp   |  4 +-
 .../linear/CudaBarycentricMapping-3f1-f.cpp   |  4 +-
 .../linear/CudaBarycentricMapping-3f1.cpp     |  4 +-
 .../linear/CudaBarycentricMapping-f.cpp       |  2 +-
 .../mapping/linear/CudaBarycentricMapping.cpp |  2 +-
 .../mapping/linear/CudaBarycentricMapping.inl |  6 +-
 .../fem/elastic/CudaHexahedronFEMForceField.h |  6 +-
 .../elastic/CudaTetrahedronFEMForceField.h    |  6 +-
 .../spring/CudaSpringForceField.h             |  8 +--
 .../statecontainer/CudaMechanicalObject.cu    | 22 +++----
 .../statecontainer/CudaMechanicalObject.inl   |  2 +-
 .../applications/meshconv/tesselate.cpp       |  4 +-
 .../miniFlowVR/include/flowvr/render/mesh.h   |  2 +-
 .../miniFlowVR/include/flowvr/render/noise.h  |  2 +-
 .../extlibs/miniFlowVR/include/ftl/cmdline.h  |  2 +-
 .../extlibs/miniFlowVR/include/ftl/mat.h      |  8 +--
 .../extlibs/miniFlowVR/include/ftl/quat.h     |  2 +-
 .../extlibs/miniFlowVR/src/ftlm/quat.cpp      |  2 +-
 .../miniFlowVR/src/librender/mesh_io_obj.cpp  |  2 +-
 .../src/SofaDistanceGrid/DistanceGrid.h       |  2 +-
 .../RigidDistanceGridDiscreteIntersection.cpp |  2 +-
 .../forcefield/DistanceGridForceField.h       |  6 +-
 applications/plugins/SofaHAPI/doc/Doxyfile    |  4 +-
 .../SofaMiscCollision_test/BroadPhase_test.h  |  6 +-
 .../OBBCapsPrimitiveCreator.h                 |  8 +--
 .../SofaMiscCollision_test/OBB_test.cpp       | 10 ++--
 .../examples/MatrixContributions121.scn       |  2 +-
 .../plugins/SofaOpenCL/OpenCLProgramParser.h  | 12 ++--
 .../SofaOpenCL/OpenCLSpringForceField.h       |  8 +--
 .../plugins/SofaSimpleGUI/PickedPoint.h       |  2 +-
 .../plugins/SofaSimpleGUI/SimpleGUI.dox       |  2 +-
 .../plugins/SofaSimpleGUI/SofaScene.h         |  2 +-
 .../plugins/SofaTest/BroadPhase_test.h        |  6 +-
 .../plugins/SofaTest/ForceField_test.h        |  4 +-
 .../plugins/SofaTest/InitPlugin_test.h        |  2 +-
 applications/plugins/SofaTest/Mapping_test.h  |  6 +-
 .../plugins/SofaTest/Multi2Mapping_test.h     |  6 +-
 .../plugins/SofaTest/MultiMapping_test.h      |  6 +-
 .../plugins/SofaTest/PrimitiveCreation.cpp    | 10 ++--
 applications/plugins/SofaTest/doc/Doxyfile    |  4 +-
 .../OglTetrahedralModel.inl                   |  6 +-
 .../OglVolumetricModel.cpp                    |  8 +--
 applications/plugins/Xitact/ITPDriver.cpp     |  6 +-
 applications/plugins/Xitact/PaceMaker.cpp     |  2 +-
 applications/plugins/Xitact/PaceMaker.h       |  2 +-
 applications/plugins/image/CImgData.h         |  4 +-
 applications/plugins/image/Containers.h       |  4 +-
 applications/plugins/image/ImageAlgorithms.h  |  4 +-
 applications/plugins/image/ImageContainer.h   |  2 +-
 applications/plugins/image/ImageSampler.h     |  6 +-
 applications/plugins/image/ImageViewer.h      |  2 +-
 applications/plugins/image/Kinect.h           |  2 +-
 applications/plugins/image/VectorVis.h        |  2 +-
 .../plugins/image/VoronoiToMeshEngine.h       |  8 +--
 .../examples/MeshesToImage_Diffusion.scn      |  2 +-
 .../image/examples/MeshesToImage_Fill.scn     |  2 +-
 .../image/examples/openMeshToImage.html       |  2 +-
 .../image/examples/sampler_meshSpring.html    |  2 +-
 .../src/image_gui/ImagePlaneWidget.h          |  2 +-
 .../image/image_test/ImageEngine_test.cpp     |  8 +--
 .../image/image_test/TestImageEngine.h        |  6 +-
 .../imagetoolbox/imagetoolboxcentralwidget.h  |  2 +-
 .../image/imagetoolbox/imagetoolboxwidget.h   |  2 +-
 .../labelgrid/labelgridimagetoolbox.h         |  2 +-
 .../image/imagetoolbox/labelimagetoolbox.h    |  2 +-
 .../plugins/image/python/SofaImage/API.py     |  2 +-
 .../plugins/image/python/SofaImage/Tools.py   |  2 +-
 applications/projects/Modeler/exec/Main.cpp   |  2 +-
 .../projects/Modeler/lib/GraphModeler.h       |  6 +-
 .../projects/Modeler/lib/SofaModeler.cpp      |  2 +-
 .../projects/Modeler/lib/SofaModeler.h        |  2 +-
 .../src/SceneChecking/SceneCheckAPIChange.cpp |  2 +-
 applications/projects/SofaFlowVR/Main.cpp     |  2 +-
 .../projects/SofaGuiGlut/CMakeLists.txt       |  2 +-
 .../src/SofaPhysicsAPI/SofaPhysicsAPI.h       | 12 ++--
 .../src/SofaPhysicsAPI/SofaPhysicsBindings.h  | 14 ++---
 .../SofaPhysicsOutputMesh_impl.h              | 10 ++--
 .../projects/myCfExport/myCfExport.cpp        |  2 +-
 applications/projects/runSofa/Main.cpp        |  6 +-
 .../projects/sofaInitTimer/runInitTimer.sh    |  2 +-
 .../anatomyModelling/anatomyModelling.cpp     |  2 +-
 cmake/Modules/FindICU.cmake                   |  8 +--
 cmake/Modules/FindOpenCTM.cmake               |  2 +-
 cmake/Modules/FindOptiX.cmake                 |  2 +-
 .../MatrixAssembly_assembledCG_blocs.scn      |  2 +-
 .../MatrixAssembly_direct_blocs.scn           |  2 +-
 .../Engine/GL/TextureInterpolation.scn        |  2 +-
 .../Component/IO/Mesh/LiverUseNewLoaders.scn  |  2 +-
 .../Tutorials/Basic/TutorialBasicCube.html    |  2 +-
 .../Mappings/TutorialMappingBarycentric.html  |  2 +-
 .../Mappings/TutorialMappingIdentity.html     |  2 +-
 .../Mappings/TutorialMappingRigid.html        |  4 +-
 .../Mappings/TutorialMappingSkinning.html     |  2 +-
 .../Solvers/ExplicitRungeKutta4.html          |  4 +-
 .../Dentistry_Haptics/dentalSurgery_06.html   |  2 +-
 .../Dentistry_Haptics/dentalSurgery_06a.html  |  2 +-
 .../Dentistry_Haptics/dentalSurgery_06b.html  |  2 +-
 .../Dentistry_Haptics/dentalSurgery_07.html   |  2 +-
 .../Getyourbearings/1_getyourbearings.html    |  2 +-
 .../StepByStep/Pendulum/0_Pendulum.html       |  2 +-
 .../StepByStep/Pendulum/3_Pendulum.html       |  2 +-
 examples/Tutorials/Tutorials.html             |  2 +-
 scripts/deprecated/replace-object12-IO.sh     |  2 +-
 scripts/rm-ObjectType.sh                      |  2 +-
 scripts/set-paramsfirst.sh                    |  4 +-
 share/mesh/dragon-1500.obj                    |  2 +-
 share/mesh/liver2.obj                         |  2 +-
 share/shaders/generalRenderingShader.frag     | 10 ++--
 share/shaders/shaderLibrary.glsl              |  6 +-
 share/shaders/shaderLibrary_cataract.glsl     |  6 +-
 share/shaders/tritexturing.frag               |  2 +-
 .../linux-postinstall-fixup.sh                |  2 +-
 tools/sofa-launcher/example.py                |  4 +-
 tools/sofa-launcher/integration_example.py    |  2 +-
 tools/sofa-launcher/launcher.py               |  2 +-
 648 files changed, 1268 insertions(+), 1265 deletions(-)
 create mode 100644 .codespellrc
 rename applications/plugins/Haption/{exemple => examples}/haption1.scn (100%)
 rename applications/plugins/Haption/{exemple => examples}/temp1.scn (100%)

diff --git a/.codespellrc b/.codespellrc
new file mode 100644
index 00000000000..37e3e4affac
--- /dev/null
+++ b/.codespellrc
@@ -0,0 +1,3 @@
+[codespell]
+skip = CHANGELOG.md
+ignore-words-list = Sensable,SensAble,Datas,offsetT,dOut,*/extlibs/*,doubleClick,findOut,inForce,optionA
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9006eec30bc..85160f7960f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -440,7 +440,7 @@ if(SOFA_BUILD_RELEASE_PACKAGE)
         set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "${EXTRA_INSTALL_COMMAND}")
         set(CPACK_NSIS_MENU_LINKS
             "https://www.sofa-framework.org/documentation/" "SOFA User Documentation"
-            "https://www.sofa-framework.org/api/" "SOFA Developper API"
+            "https://www.sofa-framework.org/api/" "SOFA Developer API"
             "https://github.com/sofa-framework/sofa/discussions" "SOFA Support")
     endif()
     #######################
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index d6fedeeb918..763be56f91f 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -108,7 +108,7 @@ For more information on forks and pull request, check out [this GitHub guide](ht
 
 ### SOFA Developer Certificate Of Origin (DCO)
 
-SOFA is using the [mechanism of the linux project](https://www.kernel.org/doc/html/latest/process/submitting-patches.html#sign-your-work-the-developer-s-certificate-of-origin) to track and secure all issues related to copyrights: the Developper Certificate of Origin (DCO). If you are contributing code or documentation to the SOFA project, and using the git signed-off-by mechanism, you are agreeing to this certificate.  This DCO essentially means that:
+SOFA is using the [mechanism of the linux project](https://www.kernel.org/doc/html/latest/process/submitting-patches.html#sign-your-work-the-developer-s-certificate-of-origin) to track and secure all issues related to copyrights: the Developer Certificate of Origin (DCO). If you are contributing code or documentation to the SOFA project, and using the git signed-off-by mechanism, you are agreeing to this certificate.  This DCO essentially means that:
 
 - you offer the changes under the same license agreement as the project, and
 - you have the right to do that,
diff --git a/GUIDELINES.md b/GUIDELINES.md
index 3564407b756..01effe69eab 100644
--- a/GUIDELINES.md
+++ b/GUIDELINES.md
@@ -5,7 +5,7 @@
 ### Base rules
 The base rules are in Google C++ Style Guide: https://google.github.io/styleguide/cppguide.html   
 All rules below **replace** the corresponding base rules.  
-For any subject not mentionned below, please refer to the base.
+For any subject not mentioned below, please refer to the base.
 
 ### Commit message
 A correct commit message must therefore be structured as:  
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
index b5140019a14..b40e59dee91 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
@@ -220,7 +220,7 @@ ConstraintAnimationLoop::ConstraintAnimationLoop() :
     , d_doCollisionsFirst(initData(&d_doCollisionsFirst, false, "doCollisionsFirst","Compute the collisions first (to support penality-based contacts)"))
     , d_doubleBuffer( initData(&d_doubleBuffer, false, "doubleBuffer","Double the buffer dedicated to the constraint problem to make it accessible to another thread"))
     , d_scaleTolerance( initData(&d_scaleTolerance, true, "scaleTolerance","Scale the error tolerance with the number of constraints"))
-    , d_allVerified( initData(&d_allVerified, false, "allVerified","All contraints must be verified (each constraint's error < tolerance)"))
+    , d_allVerified( initData(&d_allVerified, false, "allVerified","All constraints must be verified (each constraint's error < tolerance)"))
     , d_sor( initData(&d_sor, 1.0_sreal, "sor","Successive Over Relaxation parameter (0-2)"))
     , d_schemeCorrection( initData(&d_schemeCorrection, false, "schemeCorrection","Apply new scheme where compliance is progressively corrected"))
     , d_realTimeCompensation( initData(&d_realTimeCompensation, false, "realTimeCompensation","If the total computational time T < dt, sleep(dt-T)"))
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
index cd07f88876b..c0198536671 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
@@ -114,7 +114,7 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintAnimationLoop : public sofa::si
     Data<bool> d_doCollisionsFirst; ///< Compute the collisions first (to support penality-based contacts)
     Data<bool> d_doubleBuffer; ///< Double the buffer dedicated to the constraint problem to make it accessible to another thread
     Data<bool> d_scaleTolerance; ///< Scale the error tolerance with the number of constraints
-    Data<bool> d_allVerified; ///< All contraints must be verified (each constraint's error < tolerance)
+    Data<bool> d_allVerified; ///< All constraints must be verified (each constraint's error < tolerance)
     Data<SReal> d_sor; ///< Successive Over Relaxation parameter (0-2)
     Data<bool> d_schemeCorrection; ///< Apply new scheme where compliance is progressively corrected
     Data<bool> d_realTimeCompensation; ///< If the total computational time T < dt, sleep(dt-T)
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPM.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPM.h
index 193684bf086..f153307b905 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPM.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPM.h
@@ -38,7 +38,7 @@ namespace sofa::component::collision::detection::algorithm
 
         /**
           *x and y value are used to identify this pair, the order is not important but the order of elem1_ and elem2_ is because
-          *when using intersect funcion we run inter->intersect(elem1,elem2,output), so the intersect method must handle the order you give.
+          *when using intersect function we run inter->intersect(elem1,elem2,output), so the intersect method must handle the order you give.
           */
         CollidingPair(const core::CollisionElementIterator & elem1_,const core::CollisionElementIterator & elem2_,core::collision::ElementIntersector * /*inter*/) :
             elem1(elem1_),elem2(elem2_)
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp
index 309eafe5ea2..a123ff5cd23 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp
@@ -58,7 +58,7 @@ const int CollisionPipeline::defaultDepthValue = 6;
 
 CollisionPipeline::CollisionPipeline()
     : d_doPrintInfoMessage(initData(&d_doPrintInfoMessage, false, "verbose",
-                                    "Display extra informations at each computation step. (default=false)"))
+                                    "Display extra information at each computation step. (default=false)"))
     , d_doDebugDraw(initData(&d_doDebugDraw, false, "draw",
                              "Draw the detected collisions. (default=false)"))
 
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp
index dd1ebc83b78..ffec72fc398 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp
@@ -250,10 +250,10 @@ void DirectSAPNarrowPhase::narrowCollisionDetectionFromSortedEndPoints()
     SCOPED_TIMER_VARNAME(scopeTimer, "Direct SAP intersection");
     int nbInvestigatedPairs{ 0 };
 
-    std::list<int> activeBoxes;//active boxes are the one that we encoutered only their min (end point), so if there are two boxes b0 and b1,
+    std::list<int> activeBoxes;//active boxes are the one that we encountered only their min (end point), so if there are two boxes b0 and b1,
     //if we encounter b1_min as b0_min < b1_min, on the current axis, the two boxes intersect :  b0_min--------------------b0_max
     //                                                                                                      b1_min---------------------b1_max
-    //once we encouter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
+    //once we encounter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
     //so the rule is : -every time we encounter a box min end point, we check if it is overlapping with other active_boxes and add the owner (a box) of this end point to
     //                  the active boxes.
     //                 -every time we encounter a max end point of a box, we are sure that we encountered min end point of a box because _end_points is sorted,
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.h
index eff32606c88..ae4fe92de14 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.h
@@ -38,7 +38,7 @@ namespace sofa::component::collision::detection::algorithm
 
 /**
  * This class is an implementation of sweep and prune in its "direct" version, i.e. at each step
- * it sorts all the primitives along an axis (not checking the moving ones) and computes overlaping pairs without
+ * it sorts all the primitives along an axis (not checking the moving ones) and computes overlapping pairs without
  * saving it. But the memory used to save these primitives is created just once, the first time we add CollisionModels.
  */
 class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAPNarrowPhase : public core::collision::NarrowPhaseDetection
@@ -53,7 +53,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAPNarrowPhase : pu
     /** \brief Returns the axis number which have the greatest variance for the primitive end points.
      *
      * This axis is used when updating and sorting end points. The greatest variance means
-     * that this axis have the most chance to eliminate a maximum of not overlaping SAPBox pairs
+     * that this axis have the most chance to eliminate a maximum of not overlapping SAPBox pairs
      * because along this axis, SAPBoxes are the sparsest.
      */
     int greatestVarianceAxis() const;
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
index b1fa60cc423..43d3f054c1e 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
@@ -371,10 +371,10 @@ void IncrSAP::boxPrune(){
 
     SCOPED_TIMER("Box Prune SAP intersection");
 
-    std::deque<int> active_boxes; // active boxes are the one that we encoutered only their min (end point), so if there are two boxes b0 and b1,
+    std::deque<int> active_boxes; // active boxes are the one that we encountered only their min (end point), so if there are two boxes b0 and b1,
                                   // if we encounter b1_min as b0_min < b1_min, on the current axis, the two boxes intersect :  b0_min--------------------b0_max
                                   //                                                                                                      b1_min---------------------b1_max
-                                  // once we encouter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
+                                  // once we encounter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
                                   // so the rule is : - every time we encounter a box min end point, we check if it is overlapping with other active_boxes and add the owner (a box) of this end point to
                                   //                  the active boxes.
                                   //                  - every time we encounter a max end point of a box, we are sure that we encountered min end point of a box because _end_points is sorted,
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h
index e83d29d7dd8..3a787ff9059 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h
@@ -178,7 +178,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API IncrSAP :
     void updateEndPoints();
 
     /**
-     * Sets the end points ID, i.e. each end point in the list after this mehod have its position (ID) updated.
+     * Sets the end points ID, i.e. each end point in the list after this method have its position (ID) updated.
      */
     void setEndPointsID();
 
@@ -263,7 +263,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API IncrSAP :
 
     void addCollisionModel (core::CollisionModel *cm) override;
 
-    // Unuseful methods because all is done in addCollisionModel
+    // Useless methods because all is done in addCollisionModel
     void addCollisionPair (const std::pair<core::CollisionModel*, core::CollisionModel*>& ) override {}
     void addCollisionPairs (const type::vector<std::pair<core::CollisionModel*, core::CollisionModel*> >&) override {}
 
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.h
index e0220909a1d..6a2d5e1bf58 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.h
@@ -31,7 +31,7 @@ namespace sofa::component::collision::detection::algorithm
 /**
  *  \brief It is a Ray Trace based collision detection algorithm
  *
- *   For each point in one object, we trace a ray following the oposite of the point's normal
+ *   For each point in one object, we trace a ray following the opposite of the point's normal
  *   up to find a triangle in the other object. Both triangles are tested to evaluate if they are in
  *   colliding state. It must be used with a TriangleOctreeModel,as an octree is used to traverse the object.
  */
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp
index 30dadd9682a..e48a308c68b 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp
@@ -52,7 +52,7 @@ void RayTraceNarrowPhase::findPairsVolume (CubeCollisionModel * cm1, CubeCollisi
         return;
 
 
-    /*construct the octree of both models, when it still doesn't exisits */
+    /*construct the octree of both models, when it still doesn't exists */
     if (!tm1->octreeRoot)
     {
 
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.h
index ac68c919558..4208f6570c0 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.h
@@ -35,7 +35,7 @@ namespace sofa::component::collision::detection::algorithm
 /**
  *  \brief It is a Ray Trace based collision detection algorithm
  *
- *   For each point in one object, we trace a ray following the oposite of the point's normal
+ *   For each point in one object, we trace a ray following the opposite of the point's normal
  *   up to find a triangle in the other object. Both triangles are tested to evaluate if they are in
  *   colliding state. It must be used with a TriangleOctreeModel,as an octree is used to traverse the object.
  */
diff --git a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp
index 3c0d68f66c2..0adc21e696f 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp
@@ -269,7 +269,7 @@ TEST_F(TestCollisionPipeline, checkCollisionPipelineWithMonkeyValueForDepth_Open
             // Check the returned value.
             if(this->checkCollisionPipelineWithMonkeyValueForDepth(depthValue) != depthValue)
             {
-                ADD_FAILURE() << "User provided depth parameter value '" << depthValue << "' has been un-expectedly overriden." ;
+                ADD_FAILURE() << "User provided depth parameter value '" << depthValue << "' has been un-expectedly overridden." ;
             }
         }
         else
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
index 00c2405953e..12c7e592cd8 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
@@ -27,7 +27,7 @@ namespace sofa::component::collision::detection::intersection
 using namespace sofa::component::collision::geometry;
 
 BaseProximityIntersection::BaseProximityIntersection()
-    : d_alarmDistance(initData(&d_alarmDistance, 1.0_sreal, "alarmDistance", "Distance above which the intersection computations ignores the promixity pair. This distance can also be used in some broad phase algorithms to reduce the search area"))
+    : d_alarmDistance(initData(&d_alarmDistance, 1.0_sreal, "alarmDistance", "Distance above which the intersection computations ignores the proximity pair. This distance can also be used in some broad phase algorithms to reduce the search area"))
     , d_contactDistance(initData(&d_contactDistance, 0.5_sreal, "contactDistance", "Distance below which a contact is created"))
 {
     d_alarmDistance.setRequired(true);
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h
index b5eef9eaeae..8dbe24ea612 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h
@@ -47,7 +47,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API BaseProximityIntersect
     sofa::core::objectmodel::RenamedData<SReal> contactDistance;
 
 
-    Data<SReal> d_alarmDistance; ///< Distance above which the intersection computations ignores the promixity pair. This distance can also be used in some broad phase algorithms to reduce the search area
+    Data<SReal> d_alarmDistance; ///< Distance above which the intersection computations ignores the proximity pair. This distance can also be used in some broad phase algorithms to reduce the search area
     Data<SReal> d_contactDistance; ///< Distance below which a contact is created
 protected:
     BaseProximityIntersection();
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.inl b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.inl
index ff6a9e689a0..ad7c8db5892 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.inl
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.inl
@@ -123,7 +123,7 @@ int MeshDiscreteIntersection::computeIntersection(collision::geometry::TSphere<T
     }
 
     //However, if the plane has intersected the sphere, then it is
-    //neccesary to check if the proyected point "projPoint" is inside
+    //necessary to check if the proyected point "projPoint" is inside
     //the triangle.
 #define SAMESIDE(ap1,ap2,ap3,ap4) (((cross((ap4-ap3),(ap1-ap3))) * (cross((ap4-ap3),(ap2-ap3)))) >= 0)
     if ( (SAMESIDE(projPoint,p0,p1,p2) && SAMESIDE(projPoint,p1,p0,p2) && SAMESIDE(projPoint,p2,p0,p1)))
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h
index 8ebabcae79b..2940e94e79e 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h
@@ -57,9 +57,9 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API CubeCollisionModel : public core::Co
     {
         sofa::type::Vec3 minBBox, maxBBox;
         std::pair<Cube,Cube> subcells;
-        std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children; ///< Note that children is only meaningfull if subcells in empty
+        std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children; ///< Note that children is only meaningful if subcells in empty
 
-        // additional datas for implementing Volino's method for efficient cloth self collision 
+        // additional data for implementing Volino's method for efficient cloth self collision 
         sofa::type::Vec3 coneAxis;
         SReal coneAngle;
     };
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl
index 040d3622d65..69cb8ec2998 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl
@@ -228,7 +228,7 @@ void TriangleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     if (!isMoving() && !cubeModel->empty() && !m_needsUpdate)
         return; // No need to recompute BBox if immobile nor if mesh didn't change.
 
-    // set to false to avoid excesive loop
+    // set to false to avoid excessive loop
     m_needsUpdate=false;
 
     type::Vec3 minElem, maxElem;
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
index 605773cd741..5cf07396523 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
@@ -172,7 +172,7 @@ void CollisionResponse::createNewContacts(const core::collision::ContactManager:
 
                 if (contact == nullptr)
                 {
-                    //contact couln't be created: write an error and collision detection output is no longer considered
+                    //contact couldn't be created: write an error and collision detection output is no longer considered
                     contactCreationError(errorStream, model1, model2, responseUsed);
                     contactMap.erase(contactIt);
                 }
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.h
index 5b2ade19fe0..1ad75539831 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.h
@@ -127,7 +127,7 @@ class PenalityContactForceField : public core::behavior::PairInteractionForceFie
 
     const type::vector< Contact >& getContact() const { return contacts.getValue();}
 
-    // -- tool grabing utility
+    // -- tool grabbing utility
     void grabPoint( const core::behavior::MechanicalState<defaulttype::Vec3Types> *tool,
             const type::vector< sofa::Index > &index,
             type::vector< std::pair< core::objectmodel::BaseObject*, type::Vec3f> > &result,
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl
index 3be0f652619..1a342383a81 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl
@@ -119,7 +119,7 @@ void PenalityContactForceField<DataTypes>::addDForce(const sofa::core::Mechanica
         {
             Coord du = dx2[c.m2]-dx1[c.m1];
             Real dpen = - du*c.norm;
-            //if (c.pen < 0) dpen += c.pen; // start penality at distance 0
+            //if (c.pen < 0) dpen += c.pen; // start penalty at distance 0
             Real dfN = c.ks * dpen * (Real)kFactor;
             Deriv dforce = -c.norm*dfN;
             df1[c.m1]+=dforce;
diff --git a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h
index 8bb32bd00ac..e89bb076d46 100644
--- a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h
+++ b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h
@@ -64,7 +64,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -89,7 +89,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
     tri->addObject(triCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     triCollisionModel->init();
 
     return triCollisionModel;
diff --git a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h
index 6f392d05780..fb9f38075ef 100644
--- a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h
+++ b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h
@@ -87,7 +87,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObjectRigid3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -130,7 +130,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -144,7 +144,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>::SPtr sphereCollisionModel = New<sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>>();
     sphere->addObject(sphereCollisionModel);
 
-    //editting the RigidSphereModel
+    //editing the RigidSphereModel
     sphereCollisionModel->init();
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>::VecReal& vecRad = *(sphereCollisionModel->d_radius.beginEdit());
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
index 4abdd39f127..c29e6e20a98 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
@@ -614,7 +614,7 @@ void LinearSolverConstraintCorrection<DataTypes>::addConstraintDisplacement(SRea
 
     const auto positionIntegrationFactor = l_ODESolver->getPositionIntegrationFactor();
 
-    // TODO => optimisation => for each bloc store J[bloc,dof]
+    // TODO => optimisation => for each block store J[block,dof]
     for (int i = begin; i <= end; i++)
     {
         MatrixDerivRowConstIterator rowIt = constraints.readLine(i);
@@ -674,7 +674,7 @@ void LinearSolverConstraintCorrection<DataTypes>::setConstraintDForce(SReal* df,
         }
     }
 
-    // course on indices of the dofs involved invoved in the bloc //
+    // course on indices of the dofs involved invoved in the block //
     auto it_dof(Vec_I_list_dof[last_force].cbegin()), it_end(Vec_I_list_dof[last_force].cend());
     for(; it_dof!=it_end; ++it_dof)
     {
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl
index e66fa21f205..5a500629730 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl
@@ -261,7 +261,7 @@ void PrecomputedConstraintCorrection<DataTypes>::bwdInit()
         // Buffer Allocation
         invM->data = new Real[nbRows * nbCols];
 
-        // for the intial computation, the gravity has to be put at 0
+        // for the initial computation, the gravity has to be put at 0
         const sofa::type::Vec3& gravity = this->getContext()->getGravity();
 
         static constexpr sofa::type::Vec3 gravity_zero(0_sreal, 0_sreal, 0_sreal);
@@ -397,7 +397,7 @@ void PrecomputedConstraintCorrection<DataTypes>::bwdInit()
             cgLinearSolver->d_smallDenominatorThreshold.setValue(buf_threshold);
         }
 
-        // Retore velocity
+        // Restore velocity
         for (unsigned int i = 0; i < velocity.size(); i++)
             velocity[i] = prev_velocity[i];
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h
index 075c9232388..10af8e5ab20 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h
@@ -90,7 +90,7 @@ class BilateralConstraintResolution3Dof : public ConstraintResolution
         assert(canInvert);
         SOFA_UNUSED(canInvert);
 
-        // invW is unsused in this scope, remove the warning:
+        // invW is unused in this scope, remove the warning:
         SOFA_UNUSED(invW);
 
         if(_f)
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl
index df936e58a85..ad18a6ed7f7 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl
@@ -404,7 +404,7 @@ void BilateralLagrangianConstraint<DataTypes>::draw(const core::visual::VisualPa
 }
 
 //TODO(dmarchal): implementing keyboard interaction behavior directly in a component is not a valid
-//design for a component. Interaction should be defered to an independent Component implemented in the SofaInteraction
+//design for a component. Interaction should be deferred to an independent Component implemented in the SofaInteraction
 //a second possibility is to implement this behavir using script.
 template<class DataTypes>
 void BilateralLagrangianConstraint<DataTypes>::handleEvent(Event *event)
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl
index ff7dbbe72c9..5112e0b46cc 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl
@@ -245,7 +245,7 @@ void UnilateralLagrangianConstraint<DataTypes>::getPositionViolation(linearalgeb
 
         v->set(c.id, dfree);
 
-        c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still usefull.
+        c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still useful.
 
         if (c.mu > 0.0)
         {
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp b/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp
index 874b85c78e3..7b89636d391 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp
@@ -127,7 +127,7 @@ struct BilateralInteractionLangrangianConstraint_test : public NumericTest<>
     }
 
 
-    /// This component requires to be used in conjonction with MechanicalObjects.
+    /// This component requires to be used in conjunction with MechanicalObjects.
     void checkMstateRequiredAssumption(){
         EXPECT_MSG_EMIT(Error) ;
 
@@ -233,14 +233,14 @@ bool BilateralInteractionLangrangianConstraint_test<Vec3Types>::test_Vec3Constra
     return false;
 }
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<Vec3Types
               ,Rigid3dTypes
  //
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(BilateralInteractionLangrangianConstraint_test, DataTypes);
 
 //TODO(dmarchal): Needs a serious refactor !!!
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h
index 82aee17d67b..626eb74d2ec 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h
@@ -77,7 +77,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API ConstraintSolverImpl : pub
     virtual ConstraintProblem* getConstraintProblem() = 0;
 
     /// Do not use the following LCPs until the next call to this function.
-    /// This is used to prevent concurent access to the LCP when using a LCPForceFeedback through an haptic thread.
+    /// This is used to prevent concurrent access to the LCP when using a LCPForceFeedback through an haptic thread.
     virtual void lockConstraintProblem(sofa::core::objectmodel::BaseObject* from, ConstraintProblem* p1, ConstraintProblem* p2=nullptr) = 0;
 
     void removeConstraintCorrection(core::behavior::BaseConstraintCorrection *s) override;
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp
index 4a666047f24..3729f48d491 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp
@@ -560,7 +560,7 @@ void GenericConstraintProblem::NNCG(GenericConstraintSolver* solver, int iterati
     sofa::type::vector<SReal> tabErrors(dimension);
 
     {
-        // peform one iteration of ProjectedGaussSeidel
+        // perform one iteration of ProjectedGaussSeidel
         bool constraintsAreVerified = true;
         std::copy_n(force, dimension, std::begin(m_lam));
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
index 7a60a110c4e..e76b5eac8b9 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
@@ -66,7 +66,7 @@ GenericConstraintSolver::GenericConstraintSolver()
     , d_tolerance(initData(&d_tolerance, 0.001_sreal, "tolerance", "residual error threshold for termination of the Gauss-Seidel algorithm"))
     , d_sor(initData(&d_sor, 1.0_sreal, "sor", "Successive Over Relaxation parameter (0-2)"))
     , d_scaleTolerance(initData(&d_scaleTolerance, true, "scaleTolerance", "Scale the error tolerance with the number of constraints"))
-    , d_allVerified(initData(&d_allVerified, false, "allVerified", "All contraints must be verified (each constraint's error < tolerance)"))
+    , d_allVerified(initData(&d_allVerified, false, "allVerified", "All constraints must be verified (each constraint's error < tolerance)"))
     , d_newtonIterations(initData(&d_newtonIterations, 100, "newtonIterations", "Maximum iteration number of Newton (for the NonsmoothNonlinearConjugateGradient solver only)"))
     , d_multithreading(initData(&d_multithreading, false, "multithreading", "Build compliances concurrently"))
     , d_computeGraphs(initData(&d_computeGraphs, false, "computeGraphs", "Compute graphs of errors and forces during resolution"))
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h
index 0eda9924d74..7d752048930 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h
@@ -111,7 +111,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API GenericConstraintSolver :
     Data<SReal> d_tolerance; ///< residual error threshold for termination of the Gauss-Seidel algorithm
     Data<SReal> d_sor; ///< Successive Over Relaxation parameter (0-2)
     Data<bool> d_scaleTolerance; ///< Scale the error tolerance with the number of constraints
-    Data<bool> d_allVerified; ///< All contraints must be verified (each constraint's error < tolerance)
+    Data<bool> d_allVerified; ///< All constraints must be verified (each constraint's error < tolerance)
     Data<int> d_newtonIterations; ///< Maximum iteration number of Newton (for the NonsmoothNonlinearConjugateGradient solver only)
     Data<bool> d_multithreading; ///< Build compliances concurrently
     Data<bool> d_computeGraphs; ///< Compute graphs of errors and forces during resolution
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
index 88176a20a26..42b9179f220 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
@@ -948,7 +948,7 @@ int LCPConstraintSolver::nlcp_gaussseidel_unbuilt(SReal *dfree, SReal *f, std::v
 
             ///////// verifier si Delta force vaut 0 => pas la peine d'ajouter la force
 
-            // set Delta force on object 1 for evaluating the followings displacement
+            // set Delta force on object 1 for evaluating the following displacement
 
             if(update)
             {
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h
index e2a5177e57c..d4ba0ee2681 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h
@@ -158,7 +158,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
     Data<type::Vec3> d_showLevelTranslation; ///< Translation between levels
 
     ConstraintProblem* getConstraintProblem() override;
-    void lockConstraintProblem(sofa::core::objectmodel::BaseObject* from, ConstraintProblem* p1, ConstraintProblem* p2=nullptr) override; ///< Do not use the following LCPs until the next call to this function. This is used to prevent concurent access to the LCP when using a LCPForceFeedback through an haptic thread
+    void lockConstraintProblem(sofa::core::objectmodel::BaseObject* from, ConstraintProblem* p1, ConstraintProblem* p2=nullptr) override; ///< Do not use the following LCPs until the next call to this function. This is used to prevent concurrent access to the LCP when using a LCPForceFeedback through an haptic thread
 
 private:
     void computeInitialGuess();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h
index 8348c4b5884..872ae61a5af 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h
@@ -41,7 +41,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class DirectionProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h
index 795e9957474..79770550c4d 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h
@@ -39,7 +39,7 @@ using sofa::core::topology::BaseMeshTopology;
 using sofa::core::behavior::MultiMatrixAccessor;
 using sofa::core::behavior::ProjectiveConstraintSet;
 
-/// This class can be overriden if needed for additionnal storage within template specilizations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class FixedPlaneProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
index d622e3a926d..f10acb6c553 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
@@ -36,7 +36,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class FixedProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
index 30a13f89d8f..7c4cb684473 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
@@ -230,7 +230,7 @@ void FixedProjectiveConstraint<DataTypes>::projectJacobianMatrix(const core::Mec
 
 // projectVelocity applies the same changes on velocity vector as projectResponse on position vector :
 // Each fixed point received a null velocity vector.
-// When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull.
+// When a new fixed point is added while its velocity vector is already null, projectVelocity is not useful.
 // But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null or 
 // to set the projectVelocity option to True. If not, the fixed point is going to drift.
 template <class DataTypes>
@@ -242,7 +242,7 @@ void FixedProjectiveConstraint<DataTypes>::projectVelocity(const core::Mechanica
 
     helper::WriteAccessor<DataVecDeriv> res (vData );
 
-    if ( d_fixAll.getValue() )    // fix everyting
+    if ( d_fixAll.getValue() )    // fix everything
     {
         for(Size i=0; i<res.size(); i++)
             res[i] = Deriv();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h
index 103e0400f2b..2176f0d9d9c 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h
@@ -31,7 +31,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class FixedTranslationProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl
index 03717a81c08..6a844cd338b 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl
@@ -37,7 +37,7 @@ HermiteSplineProjectiveConstraint<DataTypes>::HermiteSplineProjectiveConstraint(
     , d_x0(initData(&d_x0, "X0", "first control point") )
     , d_dx0(initData(&d_dx0, "dX0", "first control tangente") )
     , d_x1(initData(&d_x1, "X1", "second control point") )
-    , d_dx1(initData(&d_dx1, "dX1", "sceond control tangente") )
+    , d_dx1(initData(&d_dx1, "dX1", "second control tangente") )
     , d_sx0(initData(&d_sx0, "SX0", "first interpolation vector") )
     , d_sx1(initData(&d_sx1, "SX1", "second interpolation vector") )
     , l_topology(initLink("topology", "link to the topology container"))
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h
index 96d9edc704e..0475832b1bb 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h
@@ -40,7 +40,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class LineProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h
index 10655b70d13..c6434edab57 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h
@@ -107,7 +107,7 @@ public :
 
     /// the key times surrounding the current simulation time (for interpolation)
     Real prevT, nextT;
-    ///the motions corresponding to the surrouding key times
+    ///the motions corresponding to the surrounding key times
     Deriv prevM, nextM;
     ///initial constrained DOFs position
     VecCoord x0;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
index 74c67b83997..6e3a71e9329 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
@@ -68,12 +68,12 @@ public :
     Data<type::vector<Real> > d_keyTimes;
     /// the motions corresponding to the key frames
     Data<VecDeriv > d_keyVelocities;
-    /// the coordinates on which to applay velocities
+    /// the coordinates on which to apply velocities
     SetIndex d_coordinates;
 
     /// the key times surrounding the current simulation time (for interpolation)
     Real prevT, nextT;
-    ///the velocities corresponding to the surrouding key times
+    ///the velocities corresponding to the surrounding key times
     Deriv prevV, nextV;
     ///position at the initial step for constrained DOFs position
     VecCoord x0;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl
index ed05ccf9933..361c55dc11f 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl
@@ -97,7 +97,7 @@ void PartialFixedProjectiveConstraint<DataTypes>::projectResponse(const core::Me
 
 // projectVelocity applies the same changes on velocity vector as projectResponse on position vector :
 // Each fixed point received a null velocity vector.
-// When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull.
+// When a new fixed point is added while its velocity vector is already null, projectVelocity is not useful.
 // But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null or 
 // to set the projectVelocity option to True. If not, the fixed point is going to drift.
 template <class DataTypes>
@@ -112,7 +112,7 @@ void PartialFixedProjectiveConstraint<DataTypes>::projectVelocity(const core::Me
 
     if ( this->d_fixAll.getValue() )
     {
-        // fix everyting
+        // fix everything
         for (Size i = 0; i < res.size(); i++)
         {
             for (unsigned int c = 0; c < NumDimensions; ++c)
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h
index 6ac522d1f95..a2eb576ae4e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h
@@ -127,16 +127,16 @@ public :
 
     /// the key times surrounding the current simulation time (for interpolation)
     Real prevT, nextT;
-    ///the motions corresponding to the surrouding key times
+    ///the motions corresponding to the surrounding key times
     Deriv prevM, nextM;
     ///initial constrained DOFs position
     VecCoord x0;
 
     core::objectmodel::Data<bool> d_linearMovementBetweenNodesInIndices; ///< Take into account the linear movement between the constrained points
     core::objectmodel::Data<unsigned> d_mainIndice; ///< The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes
-    core::objectmodel::Data<unsigned> d_minDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the minimum displacment
-    core::objectmodel::Data<unsigned> d_maxDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the maximum displacment
-    core::objectmodel::Data<type::vector<Real> > d_imposedDisplacmentOnMacroNodes; ///< The imposed displacment on macro nodes
+    core::objectmodel::Data<unsigned> d_minDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the minimum displacement
+    core::objectmodel::Data<unsigned> d_maxDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the maximum displacement
+    core::objectmodel::Data<type::vector<Real> > d_imposedDisplacmentOnMacroNodes; ///< The imposed displacement on macro nodes
     ///< and u1 u2 u3 u4 u5 u6 u7 u8 for 3d case
     Data<Real> d_X0; ///< Size of specimen in X-direction
     Data<Real> d_Y0; ///< Size of specimen in Y-direction
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl
index c79596e08ba..d42c03b63de 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl
@@ -45,9 +45,9 @@ PartialLinearMovementProjectiveConstraint<DataTypes>::PartialLinearMovementProje
     , d_showMovement( initData(&d_showMovement, (bool)false, "showMovement", "Visualization of the movement to be applied to constrained dofs."))
     , d_linearMovementBetweenNodesInIndices( initData(&d_linearMovementBetweenNodesInIndices, (bool)false, "linearMovementBetweenNodesInIndices", "Take into account the linear movement between the constrained points"))
     , d_mainIndice( initData(&d_mainIndice, "mainIndice", "The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes "))
-    , d_minDepIndice( initData(&d_minDepIndice, "minDepIndice", "The indice node in the list of constrained nodes, which is imposed the minimum displacment "))
-    , d_maxDepIndice( initData(&d_maxDepIndice, "maxDepIndice", "The indice node in the list of constrained nodes, which is imposed the maximum displacment "))
-    , d_imposedDisplacmentOnMacroNodes(  initData(&d_imposedDisplacmentOnMacroNodes,"imposedDisplacmentOnMacroNodes","The imposed displacment on macro nodes") )
+    , d_minDepIndice( initData(&d_minDepIndice, "minDepIndice", "The indice node in the list of constrained nodes, which is imposed the minimum displacement "))
+    , d_maxDepIndice( initData(&d_maxDepIndice, "maxDepIndice", "The indice node in the list of constrained nodes, which is imposed the maximum displacement "))
+    , d_imposedDisplacmentOnMacroNodes(  initData(&d_imposedDisplacmentOnMacroNodes,"imposedDisplacmentOnMacroNodes","The imposed displacement on macro nodes") )
     , d_X0 ( initData ( &d_X0, Real(0.0),"X0","Size of specimen in X-direction" ) )
     , d_Y0 ( initData ( &d_Y0, Real(0.0),"Y0","Size of specimen in Y-direction" ) )
     , d_Z0 ( initData ( &d_Z0, Real(0.0),"Z0","Size of specimen in Z-direction" ) )
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h
index 4625fcd2a61..e7311abd86a 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h
@@ -40,7 +40,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class PlaneProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h
index 255d2b7dd57..a843bc0f1fa 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h
@@ -38,7 +38,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class PointProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h
index 167aa1c2954..7f350a7c256 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h
@@ -38,7 +38,7 @@
 namespace sofa::component::constraint::projective
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class PositionBasedDynamicsProjectiveConstraintInternalData
 {
diff --git a/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp
index 43421246e99..98be7bad2e5 100644
--- a/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp
@@ -190,13 +190,13 @@ struct AffineMovementProjectiveConstraint_test : public BaseSimulationTest, Nume
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(AffineMovementProjectiveConstraint_test, DataTypes);
 // first test case
 TYPED_TEST( AffineMovementProjectiveConstraint_test , testValue )
diff --git a/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp
index ebafa65a07f..e4663da89ac 100644
--- a/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp
@@ -229,13 +229,13 @@ struct DirectionProjectiveConstraint_test : public BaseSimulationTest, NumericTe
  };
 
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(DirectionProjectiveConstraint_test, DataTypes);
 
 // first test case
diff --git a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
index 5e5510938e9..cc7083b929a 100644
--- a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
@@ -127,15 +127,15 @@ struct FixedPlaneProjectiveConstraint_test : public BaseSimulationTest
     }
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec3Types,
     defaulttype::Vec6Types,
     defaulttype::Rigid3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(FixedPlaneProjectiveConstraint_test, DataTypes);
 
 // test cases
diff --git a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
index 8267b022412..adee116e4ec 100644
--- a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
@@ -237,7 +237,7 @@ struct FixedProjectiveConstraint_test : public BaseTest
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec1Types,
@@ -246,9 +246,9 @@ typedef Types<
     defaulttype::Vec6Types,
     defaulttype::Rigid2Types,
     defaulttype::Rigid3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(FixedProjectiveConstraint_test, DataTypes);
 // first test case
 TYPED_TEST( FixedProjectiveConstraint_test , testValueImplicitWithCG )
diff --git a/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp
index d150397e0df..61a72af32ff 100644
--- a/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp
@@ -214,13 +214,13 @@ const PointSetTopologyContainer::SPtr topology = core::objectmodel::New<PointSet
  };
 
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(LineProjectiveConstraint_test, DataTypes);
 // first test case
 TYPED_TEST( LineProjectiveConstraint_test , oneConstrainedParticle )
diff --git a/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
index f91407fbbe9..10f6897e0c2 100644
--- a/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
@@ -124,7 +124,7 @@ struct PartialFixedProjectiveConstraint_test : public BaseSimulationTest
     }
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec1Types,
@@ -133,9 +133,9 @@ typedef Types<
     defaulttype::Vec6Types,
     defaulttype::Rigid2Types,
     defaulttype::Rigid3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(PartialFixedProjectiveConstraint_test, DataTypes);
 
 // test cases
diff --git a/Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp
index 1d5fc5b0abd..05be6be816f 100644
--- a/Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp
@@ -213,13 +213,13 @@ const PointSetTopologyContainer::SPtr topology = core::objectmodel::New<PointSet
  };
 
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(PlaneProjectiveConstraint_test, DataTypes);
 // first test case
 TYPED_TEST( PlaneProjectiveConstraint_test , oneConstrainedParticle )
diff --git a/Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp
index a6ec19a9cea..5151e9f7f29 100644
--- a/Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp
@@ -217,13 +217,13 @@ struct PointProjectiveConstraint_test : public BaseSimulationTest, NumericTest<t
  };
 
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(PointProjectiveConstraint_test, DataTypes);
 // first test case
 TYPED_TEST( PointProjectiveConstraint_test , oneConstrainedParticle )
diff --git a/Sofa/Component/Diffusion/tests/TetrahedronDiffusionFEMForceField_test.cpp b/Sofa/Component/Diffusion/tests/TetrahedronDiffusionFEMForceField_test.cpp
index c71e26a84be..5338843d1a6 100644
--- a/Sofa/Component/Diffusion/tests/TetrahedronDiffusionFEMForceField_test.cpp
+++ b/Sofa/Component/Diffusion/tests/TetrahedronDiffusionFEMForceField_test.cpp
@@ -184,12 +184,12 @@ struct TetrahedronDiffusionFEMForceField_test : public BaseSimulationTest
 };
 
 
-// ========= Define the list of types to instanciate.
+// ========= Define the list of types to instantiate.
 //using ::testing::Types;
-typedef ::testing::Types<component::diffusion::TetrahedronDiffusionFEMForceField<defaulttype::Vec1Types> > TestTypes; // the types to instanciate.
+typedef ::testing::Types<component::diffusion::TetrahedronDiffusionFEMForceField<defaulttype::Vec1Types> > TestTypes; // the types to instantiate.
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(TetrahedronDiffusionFEMForceField_test, TestTypes);
 
 // test case
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.h b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.h
index 9efe8a5029d..95839123e96 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.h
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.h
@@ -39,8 +39,8 @@ namespace sofa::component::engine::analyze
 
 /**
  * This class groups points into overlapping clusters according to a user defined number of clusters and radius
- * It takes input positions (and optionally a meshtopology if geodesic distances are prefered)
- * ouput clusters can then be fed to
+ * It takes input positions (and optionally a meshtopology if geodesic distances are preferred)
+ * output clusters can then be fed to
  *     - shape matching engine
  *     - blendSkinningMapping
  *
@@ -75,7 +75,7 @@ class ClusteringEngine : public core::DataEngine
 
     void draw(const core::visual::VisualParams* vparams) override;
 
-    Data<bool> d_useTopo; ///< Use avalaible topology to compute neighborhood.
+    Data<bool> d_useTopo; ///< Use available topology to compute neighborhood.
     //Data<unsigned int> maxIter;
 
     Data<Real> d_radius; ///< Neighborhood range.
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.inl b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.inl
index 81f14baa603..347e2887eb3 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.inl
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ClusteringEngine.inl
@@ -44,7 +44,7 @@ using sofa::helper::WriteOnlyAccessor;
 
 template <class DataTypes>
 ClusteringEngine<DataTypes>::ClusteringEngine()
-    : d_useTopo(initData(&d_useTopo, true, "useTopo", "Use avalaible topology to compute neighborhood."))
+    : d_useTopo(initData(&d_useTopo, true, "useTopo", "Use available topology to compute neighborhood."))
     , d_radius(initData(&d_radius, (Real)1.0, "radius", "Neighborhood range."))
     , d_fixedRadius(initData(&d_fixedRadius, (Real)1.0, "fixedRadius", "Neighborhood range (for non mechanical particles)."))
     , d_nbClusters(initData(&d_nbClusters, (int)-1, "number", "Number of clusters (-1 means that all input points are selected)."))
diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h
index 1c91abc2187..d0159ca3e35 100644
--- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h
+++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h
@@ -45,7 +45,7 @@
 namespace sofa::component::engine::analyze
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class DistancesInternalData
 {
diff --git a/Sofa/Component/Engine/Analyze/tests/Engine.Analyze_DataUpdate_test.cpp b/Sofa/Component/Engine/Analyze/tests/Engine.Analyze_DataUpdate_test.cpp
index a69ee0a81c1..6681222877e 100644
--- a/Sofa/Component/Engine/Analyze/tests/Engine.Analyze_DataUpdate_test.cpp
+++ b/Sofa/Component/Engine/Analyze/tests/Engine.Analyze_DataUpdate_test.cpp
@@ -44,9 +44,9 @@ typedef ::testing::Types<
 //TestDataEngine< component::engine::analyze::ShapeMatching<defaulttype::Vec3Types> >, // getObject pb -> require a scene
 TestDataEngine< component::engine::analyze::ClusteringEngine<defaulttype::Vec3Types> >,
 TestDataEngine< component::engine::analyze::SumEngine<type::Vec3> >
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
-//// ========= Tests to run for each instanciated type
+//// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(DataEngine_test, TestTypes);
 
 //// test number of call to DataEngine::update
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.inl b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.inl
index aae72476488..6a0dd45af0b 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.inl
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateCylinder.inl
@@ -391,7 +391,7 @@ void GenerateCylinder<DataTypes>::doUpdate()
                             out.push_back(pos);
                             bezierTetrahedronWeight.push_back((Real)(1+2*ctheta)/3.0f);
                         } else {
-                            // this is the affine case. The triangular control points are simply built from a tesselation of the triangles
+                            // this is the affine case. The triangular control points are simply built from a tessellation of the triangles
                             for (j=1;j<(degreeTetrahedron-1);++j) {
                                 for (k=1;k<(degreeTetrahedron-j);++k) {
                                     pos= out[tr[0]]*k/degreeTetrahedron+(Real)(degreeTetrahedron-j-k)*out[tr[1]]/degreeTetrahedron+
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.h b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.h
index d9c97c62ce5..db479ad9437 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.h
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.h
@@ -89,7 +89,7 @@ class GenerateRigidMass : public core::DataEngine
     type::fixed_array<SReal,10> afIntegral;
 
 public:
-    /// Implementing the GetCustomTemplateName is mandatory to have a custom template name paremters
+    /// Implementing the GetCustomTemplateName is mandatory to have a custom template name parameters
     /// instead of the default one generated automatically by the SOFA_CLASS() macro.
     static std::string GetCustomTemplateName();
 
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp
index 249bce47218..6527093512d 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergePoints.cpp
@@ -28,7 +28,7 @@ namespace sofa::component::engine::generate
 
 void registerMergePoints(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Merge 2 cordinate vectors.")
+    factory->registerObjects(core::ObjectRegistrationData("Merge 2 coordinate vectors.")
         .add< MergePoints<defaulttype::Vec3Types> >(true) // default template
         .add< MergePoints<defaulttype::Vec1Types> >()
         .add< MergePoints<defaulttype::Vec2Types> >()
diff --git a/Sofa/Component/Engine/Generate/tests/Engine.Generate_DataUpdate_test.cpp b/Sofa/Component/Engine/Generate/tests/Engine.Generate_DataUpdate_test.cpp
index 86cf0e875c2..e9a7c88e62b 100644
--- a/Sofa/Component/Engine/Generate/tests/Engine.Generate_DataUpdate_test.cpp
+++ b/Sofa/Component/Engine/Generate/tests/Engine.Generate_DataUpdate_test.cpp
@@ -84,9 +84,9 @@ TestDataEngine< component::engine::generate::NormEngine<type::Vec3> >,
 TestDataEngine< component::engine::generate::NormalsFromPoints<defaulttype::Vec3Types> >,
 TestDataEngine< component::engine::generate::RandomPointDistributionInSurface<defaulttype::Vec3Types> >,
 TestDataEngine< component::engine::generate::Spiral<defaulttype::Vec3Types> >
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
-//// ========= Tests to run for each instanciated type
+//// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(DataEngine_test, TestTypes);
 
 //// test number of call to DataEngine::update
diff --git a/Sofa/Component/Engine/Generate/tests/JoinPoints_test.cpp b/Sofa/Component/Engine/Generate/tests/JoinPoints_test.cpp
index 09c932f3ac6..cbb7b449313 100644
--- a/Sofa/Component/Engine/Generate/tests/JoinPoints_test.cpp
+++ b/Sofa/Component/Engine/Generate/tests/JoinPoints_test.cpp
@@ -84,13 +84,13 @@ class JoinPoints_test : public ::testing::Test, public JoinPoints<_DataTypes>
 namespace
 {
 
-    // Define the list of DataTypes to instanciate
+    // Define the list of DataTypes to instantiate
     using ::testing::Types;
     typedef Types<
         defaulttype::Vec3Types
-    > DataTypes; // the types to instanciate.
+    > DataTypes; // the types to instantiate.
 
-    // Test suite for all the instanciations
+    // Test suite for all the instantiations
     TYPED_TEST_SUITE(JoinPoints_test, DataTypes);
 
     // test data setup
diff --git a/Sofa/Component/Engine/Generate/tests/RandomPointDistributionInSurface_test.cpp b/Sofa/Component/Engine/Generate/tests/RandomPointDistributionInSurface_test.cpp
index 8eb024ddd1e..8ba250214c5 100644
--- a/Sofa/Component/Engine/Generate/tests/RandomPointDistributionInSurface_test.cpp
+++ b/Sofa/Component/Engine/Generate/tests/RandomPointDistributionInSurface_test.cpp
@@ -99,13 +99,13 @@ class RandomPointDistributionInSurface_test : public ::testing::Test
 namespace
 {
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(RandomPointDistributionInSurface_test, DataTypes);
 
 // test data setup
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.inl
index 502b801776d..ffa61c28545 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.inl
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.inl
@@ -173,7 +173,7 @@ void BaseROI<DataTypes>::init()
                 {
                     msg_error(this) <<  "Unable to find a MechanicalObject for this component. "
                                         "To remove this error message you can either:\n"
-                                        "   - to specifiy the DOF where to apply the BaseROI with the 'position' attribute.\n"
+                                        "   - to specify the DOF where to apply the BaseROI with the 'position' attribute.\n"
                                         "   - to add MechanicalObject or MeshLoader component before the " << this->getClassName() << " in the scene graph.\n";
                     d_componentState.setValue(ComponentState::Invalid) ;
                     return ;
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl
index eafed799633..1121b696f00 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl
@@ -220,7 +220,7 @@ bool MeshROI<DataTypes>::isPointInROI(const CPos& p) const
             const CPos& p0 =  DataTypes::getCPos(x0[t[0]]);
             const CPos& p1 =  DataTypes::getCPos(x0[t[1]]);
             const CPos& p2 =  DataTypes::getCPos(x0[t[2]]);
-            // Normal N compuation of the ROI mesh triangle
+            // Normal N computation of the ROI mesh triangle
             CPos N;
             N[0] = (p1[1]-p0[1])*(p2[2]-p1[2]) - (p1[2]-p0[2])*(p2[1]-p1[1]);
             N[1] = (p1[2]-p0[2])*(p2[0]-p1[0]) - (p1[0]-p0[0])*(p2[2]-p1[2]);
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.h
index 74cc21a04e9..4c3b93d9225 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.h
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/NearestPointROI.h
@@ -36,7 +36,7 @@ namespace sofa::component::engine::select
 {
 
 /**
- * Given two mechanical states, find correspondance between degrees of freedom, based on the minimal distance.
+ * Given two mechanical states, find correspondence between degrees of freedom, based on the minimal distance.
  *
  * Project all the points from the second mechanical state on the first one. This done by finding the point in the
  * first mechanical state closest to each point in the second mechanical state. If the distance is less than a provided
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.h
index cbfba0f9b47..9e25ba3ae15 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.h
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.h
@@ -101,7 +101,7 @@ class ProximityROI : public core::DataEngine
 
 
     //Parameter
-    Data<bool> p_drawSphere; ///< Draw shpere(s)
+    Data<bool> p_drawSphere; ///< Draw sphere(s)
     Data<bool> p_drawPoints; ///< Draw Points
     Data<double> _drawSize; ///< rendering size for box and topological elements
 };
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.inl
index f9b5a3752a5..88194db7d23 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.inl
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.inl
@@ -42,7 +42,7 @@ ProximityROI<DataTypes>::ProximityROI()
     , f_pointsInROI( initData(&f_pointsInROI,"pointsInROI","Points contained in the ROI") )
     , f_distanceInROI( initData(&f_distanceInROI,"distance","distance between the points contained in the ROI and the closest center.") )
     , f_indicesOut( initData(&f_indicesOut,"indicesOut","Indices of the points not contained in the ROI") )
-    , p_drawSphere( initData(&p_drawSphere,false,"drawSphere","Draw shpere(s)") )
+    , p_drawSphere( initData(&p_drawSphere,false,"drawSphere","Draw sphere(s)") )
     , p_drawPoints( initData(&p_drawPoints,false,"drawPoints","Draw Points") )
     , _drawSize( initData(&_drawSize,1.0,"drawSize","rendering size for box and topological elements") )
 {
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.h
index f965801d1e7..af5ed9e5804 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.h
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.h
@@ -49,7 +49,7 @@ class SelectConnectedLabelsROI : public sofa::core::DataEngine
     Data<unsigned int> d_nbLabels; ///< number of label lists
     typedef type::vector<type::SVector<T> > VecVLabels;
     core::objectmodel::vectorData<VecVLabels> d_labels;
-    Data<type::vector<T> > d_connectLabels; ///< Pairs of label to be connected accross different label lists
+    Data<type::vector<T> > d_connectLabels; ///< Pairs of label to be connected across different label lists
 
     //Output
     Data<type::vector<sofa::Index> > d_indices; ///< selected point/cell indices
@@ -57,7 +57,7 @@ class SelectConnectedLabelsROI : public sofa::core::DataEngine
     SelectConnectedLabelsROI(): Inherit1()
       , d_nbLabels ( initData ( &d_nbLabels,(unsigned int)0,"nbLabels","number of label lists" ) )
       , d_labels(this, "labels", "lists of labels associated to each point/cell", core::objectmodel::DataEngineDataType::DataEngineInput)
-      , d_connectLabels ( initData ( &d_connectLabels,"connectLabels","Pairs of label to be connected accross different label lists" ) )
+      , d_connectLabels ( initData ( &d_connectLabels,"connectLabels","Pairs of label to be connected across different label lists" ) )
       , d_indices ( initData ( &d_indices,"indices","selected point/cell indices" ) )
     {
         d_labels.resize(d_nbLabels.getValue());
diff --git a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp
index e894bb04d06..6b0d14609ae 100644
--- a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp
+++ b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp
@@ -140,7 +140,7 @@ struct BoxROITest :  public sofa::testing::BaseTest
 
         boxroi->reinit();
 
-        EXPECT_EQ(boxroi->getComponentState(), ComponentState::Invalid ) << "Reinit shouln't crash or change the state because there is still no MechanicalObject. ";
+        EXPECT_EQ(boxroi->getComponentState(), ComponentState::Invalid ) << "Reinit shouldn't crash or change the state because there is still no MechanicalObject. ";
 
     }
 
diff --git a/Sofa/Component/Engine/Select/tests/Engine.Select_DataUpdate_test.cpp b/Sofa/Component/Engine/Select/tests/Engine.Select_DataUpdate_test.cpp
index 0f32ad24fb1..4751ebae1d2 100644
--- a/Sofa/Component/Engine/Select/tests/Engine.Select_DataUpdate_test.cpp
+++ b/Sofa/Component/Engine/Select/tests/Engine.Select_DataUpdate_test.cpp
@@ -64,9 +64,9 @@ TestDataEngine< component::engine::select::SelectLabelROI<unsigned int> >,
 TestDataEngine< component::engine::select::SubsetTopology<defaulttype::Vec3Types> >,
 TestDataEngine< component::engine::select::ValuesFromIndices<int> >,
 TestDataEngine< component::engine::select::ValuesFromPositions<defaulttype::Vec3Types> >
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
-//// ========= Tests to run for each instanciated type
+//// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(DataEngine_test, TestTypes);
 
 //// test number of call to DataEngine::update
diff --git a/Sofa/Component/Engine/Testing/src/sofa/component/engine/testing/DataEngineTestCreation.h b/Sofa/Component/Engine/Testing/src/sofa/component/engine/testing/DataEngineTestCreation.h
index 7ffffacf893..9ecd9b82f4c 100644
--- a/Sofa/Component/Engine/Testing/src/sofa/component/engine/testing/DataEngineTestCreation.h
+++ b/Sofa/Component/Engine/Testing/src/sofa/component/engine/testing/DataEngineTestCreation.h
@@ -115,7 +115,7 @@ struct DataEngine_test : public BaseTest
 
     /// Testing the number of call to the DataEngine::update() function
     /// @warning DO NOT test the values computed by the engine
-    /// To do so, you can inherit this class and add a test function that takes inputs and ouputs to test
+    /// To do so, you can inherit this class and add a test function that takes inputs and outputs to test
     void run_basic_test()
     {
         /// The comp
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.h b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.h
index 3e6f3cd65ea..257de19307a 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.h
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.h
@@ -54,7 +54,7 @@ class DifferenceEngine : public core::DataEngine
 protected:
 
     Data<VecData> d_input; ///< input vector
-    Data<VecData> d_substractor; ///< vector to substract to input
+    Data<VecData> d_substractor; ///< vector to subtract to input
     Data<VecData> d_output; ///< output vector = input-substractor
 
 };
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.inl b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.inl
index e4403707d8a..a62a9f12e40 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.inl
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DifferenceEngine.inl
@@ -30,7 +30,7 @@ namespace sofa::component::engine::transform
 template <class DataTypes>
 DifferenceEngine<DataTypes>::DifferenceEngine()
     : d_input ( initData (&d_input, "input", "input vector") )
-    , d_substractor ( initData (&d_substractor, "substractor", "vector to substract to input") )
+    , d_substractor ( initData (&d_substractor, "substractor", "vector to subtract to input") )
     , d_output( initData (&d_output, "output", "output vector = input-substractor") )
 {
     addInput(&d_input);
@@ -60,7 +60,7 @@ void DifferenceEngine<DataType>::doUpdate()
 
     if(in.size() != sub.size())
     {
-        msg_warning() << "Input vector and vector to substract should have same size. Abort.";
+        msg_warning() << "Input vector and vector to subtract should have same size. Abort.";
         return;
     }
 
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp
index ab9fae4a9e7..6b2f625b70d 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/QuatToRigidEngine.cpp
@@ -31,7 +31,7 @@ namespace sofa::component::engine::transform
 
 void registerQuatToRigidEngine(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Transform a vector of Rigids into two independant vectors for positions (Vec3) and orientations (Quat).")
+    factory->registerObjects(core::ObjectRegistrationData("Transform a vector of Rigids into two independent vectors for positions (Vec3) and orientations (Quat).")
         .add< QuatToRigidEngine<sofa::defaulttype::Vec3Types> >());
 }
 
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl
index 46c5fe11e63..89c2dfa3106 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl
@@ -164,7 +164,7 @@ void TransformPosition<DataTypes>::reinit()
 
 /**************************************************
  * .tfm spec:
- * 12 values in the lines begining by "Parameters"
+ * 12 values in the lines beginning by "Parameters"
  **************************************************/
 template <class DataTypes>
 void TransformPosition<DataTypes>::getTransfoFromTfm()
diff --git a/Sofa/Component/Engine/Transform/tests/Engine.Transform_DataUpdate_test.cpp b/Sofa/Component/Engine/Transform/tests/Engine.Transform_DataUpdate_test.cpp
index c28e4330003..743b8971651 100644
--- a/Sofa/Component/Engine/Transform/tests/Engine.Transform_DataUpdate_test.cpp
+++ b/Sofa/Component/Engine/Transform/tests/Engine.Transform_DataUpdate_test.cpp
@@ -60,9 +60,9 @@ TestDataEngine< component::engine::transform::TransformEngine<defaulttype::Vec3T
 TestDataEngine< component::engine::transform::TransformPosition<defaulttype::Vec3Types> >,
 TestDataEngine< component::engine::transform::TranslateTransformMatrixEngine >,
 TestDataEngine< component::engine::transform::Vertex2Frame<defaulttype::Rigid3Types> >
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
-//// ========= Tests to run for each instanciated type
+//// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(DataEngine_test, TestTypes);
 
 //// test number of call to DataEngine::update
diff --git a/Sofa/Component/Engine/Transform/tests/TransformEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/TransformEngine_test.cpp
index 0dce38b09f2..704c9d751d8 100644
--- a/Sofa/Component/Engine/Transform/tests/TransformEngine_test.cpp
+++ b/Sofa/Component/Engine/Transform/tests/TransformEngine_test.cpp
@@ -131,7 +131,7 @@ class TransformEngine_test_uninitialized : public TransformEngine_test < _DataTy
 namespace
 {
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec1Types,
@@ -139,9 +139,9 @@ typedef Types<
     defaulttype::Vec3Types,
     defaulttype::Rigid2Types,
     defaulttype::Rigid3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(TransformEngine_test, DataTypes);
 TYPED_TEST_SUITE(TransformEngine_test_uninitialized, DataTypes);
 
diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h
index 75b9e00b8d3..3b8494339b8 100644
--- a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h
+++ b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h
@@ -118,7 +118,7 @@ class LCPForceFeedback : public MechanicalStateForceFeedback<TDataTypes>
         return core::objectmodel::BaseObject::canCreate(obj, context, arg);
     }
 
-    /// Overide method to lock or unlock the force feedback computation. According to parameter, value == true (resp. false) will lock (resp. unlock) mutex @sa lockForce
+    /// Override method to lock or unlock the force feedback computation. According to parameter, value == true (resp. false) will lock (resp. unlock) mutex @sa lockForce
     void setLock(bool value) override;
 
 protected:
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BaseVTKReader.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BaseVTKReader.h
index 5c005141f94..3e66049734c 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BaseVTKReader.h
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BaseVTKReader.h
@@ -122,7 +122,7 @@ class BaseVTKReader : public BaseObject
 namespace sofa::component::io::mesh
 {
 /// Importing the names defined in the per-file namespace into the classical
-/// sofa namespace structre so that the classes are accessible with
+/// sofa namespace structure so that the classes are accessible with
 /// sofa::component::loader::BaseVTKReader instead of
 /// sofa::component::loader::basevtkreader::BaseVTKReader which is a bit longer to read and write.
 using basevtkreader::VTKDatasetFormat ;
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.h
index 36aba9eadfe..b84246a5ad5 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.h
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.h
@@ -50,7 +50,7 @@ class BTDLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver
     SOFA_CLASS(SOFA_TEMPLATE2(BTDLinearSolver, Matrix, Vector), SOFA_TEMPLATE2(sofa::component::linearsolver::MatrixLinearSolver, Matrix, Vector));
 
     Data<bool> d_verbose; ///< Dump system state at each iteration
-    Data<bool> d_problem; ///< display debug informations about subpartSolve computation
+    Data<bool> d_problem; ///< display debug information about subpartSolve computation
     Data<bool> d_subpartSolve; ///< Allows for the computation of a subpart of the system
     Data<bool> d_verification; ///< verification of the subpartSolve
 
@@ -82,7 +82,7 @@ class BTDLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver
     Vector _rh_buf;		 //				// buf the right hand term
     //Vector _df_buf;		 //
     SubVector _acc_rh_bloc;		// accumulation of rh through the browsing of the structure
-    SubVector _acc_lh_bloc;		// accumulation of lh through the browsing of the strucutre
+    SubVector _acc_lh_bloc;		// accumulation of lh through the browsing of the structure
     Index	current_bloc, first_block;
     std::vector<SubVector> Vec_dRH;			// buf the dRH on block that are not current_bloc...
     ////////////////////////////
@@ -92,7 +92,7 @@ class BTDLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver
 protected:
     BTDLinearSolver()
         : d_verbose( initData(&d_verbose,false,"verbose","Dump system state at each iteration") )
-        , d_problem(initData(&d_problem, false,"showProblem", "display debug informations about subpartSolve computation") )
+        , d_problem(initData(&d_problem, false,"showProblem", "display debug information about subpartSolve computation") )
         , d_subpartSolve(initData(&d_subpartSolve, false,"subpartSolve", "Allows for the computation of a subpart of the system") )
         , d_verification(initData(&d_verification, false,"verification", "verification of the subpartSolve"))
     {
@@ -168,7 +168,7 @@ class BTDLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver
     void fwdAccumulateRHGlobal(Index indMinBloc);
 
 
-    /// step4=> compute solution for the indices in the bloc
+    /// step4=> compute solution for the indices in the block
     /// (and accumulate the potential local dRH (set in Vec_dRH) [set in step1] that have not been yet taken into account by the global bwd and fwd
     void fwdComputeLHinBloc(Index indMaxBloc);
 
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.inl b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.inl
index 50ad8fa3a27..5628a90ab71 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.inl
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.inl
@@ -211,9 +211,9 @@ void BTDLinearSolver<Matrix,Vector>::computeMinvBlock(Index i, Index j)
     // we need to compute all the Minv[i0][i0] (with i0>=i) till i0=i
     while (i0 > i)
     {
-        if (nBlockComputedMinv[i0] == 1) // only the bloc on the diagonal is computed : need of the bloc [i0][i0-1]
+        if (nBlockComputedMinv[i0] == 1) // only the block on the diagonal is computed : need of the block [i0][i0-1]
         {
-            // compute bloc (i0,i0-1)
+            // compute block (i0,i0-1)
             //Minv[i0][i0-1] = Minv[i0][i0]*-L[i0-1].t()
             Minv.asub((i0  ),(i0-1),bsize,bsize) = Minv.asub((i0  ),(i0  ),bsize,bsize)*(-(lambda[i0-1].t()));
             ++nBlockComputedMinv[i0];
@@ -224,14 +224,14 @@ void BTDLinearSolver<Matrix,Vector>::computeMinvBlock(Index i, Index j)
                 SubMatrix iHi_1;
                 iHi_1 = - lambda[i0-1].t();
                 H.insert( make_pair(  IndexPair(i0, i0-1), iHi_1  ) );
-                // compute bloc (i0,i0-1) :  the upper diagonal blocks Minv[i0-1][i0]
+                // compute block (i0,i0-1) :  the upper diagonal blocks Minv[i0-1][i0]
                 Minv.asub((i0-1),(i0),bsize,bsize) = -lambda[i0-1] * Minv.asub((i0  ),(i0  ),bsize,bsize);
             }
 
         }
 
 
-        // compute bloc (i0-1,i0-1)  : //Minv[i0-1][i0-1] = inv(M[i0-1][i0-1]) + L[i0-1] * Minv[i0][i0-1]
+        // compute block (i0-1,i0-1)  : //Minv[i0-1][i0-1] = inv(M[i0-1][i0-1]) + L[i0-1] * Minv[i0][i0-1]
         Minv.asub((i0-1),(i0-1),bsize,bsize) = alpha_inv[i0-1] - lambda[i0-1]*Minv.asub((i0  ),(i0-1),bsize,bsize);
 
         if(d_subpartSolve.getValue() )
@@ -254,7 +254,7 @@ void BTDLinearSolver<Matrix,Vector>::computeMinvBlock(Index i, Index j)
 
 
     /////////////// ADD : Calcul pour faire du partial_solve //////////
-    // first iHj is initiallized to iHj0+1 (that is supposed to be already computed)
+    // first iHj is initialized to iHj0+1 (that is supposed to be already computed)
     SubMatrix iHj ;
     if(d_subpartSolve.getValue() )
     {
@@ -277,7 +277,7 @@ void BTDLinearSolver<Matrix,Vector>::computeMinvBlock(Index i, Index j)
 
     while (j0 >= j)
     {
-        // compute bloc (i0,j0)
+        // compute block (i0,j0)
         // Minv[i][j0] = Minv[i][j0+1] * (-L[j0].t)
         Minv.asub((i0  ),(j0  ),bsize,bsize) = Minv.asub((i0  ),(j0+1),bsize,bsize)*(-lambda[j0].t());
         if(d_subpartSolve.getValue() )
@@ -286,7 +286,7 @@ void BTDLinearSolver<Matrix,Vector>::computeMinvBlock(Index i, Index j)
             iHj = iHj * -lambda[j0].t();
             H.insert(make_pair(IndexPair(i0,j0),iHj));
 
-            // compute bloc (j0,i0)  the upper diagonal blocks Minv[j0][i0]
+            // compute block (j0,i0)  the upper diagonal blocks Minv[j0][i0]
             Minv.asub((j0  ),(i0  ),bsize,bsize) = -lambda[j0]*Minv.asub((j0+1),(i0),bsize,bsize);
         }
         ++nBlockComputedMinv[i0];
@@ -409,7 +409,7 @@ void BTDLinearSolver<Matrix,Vector>::init_partial_solve()
     _acc_lh_bloc=0;
     _acc_lh_bloc.resize(bsize);
 
-    // Bloc that is currently being proceed => start from the end (so that we use step2 bwdAccumulateLHGlobal and accumulate potential initial forces)
+    // Block that is currently being proceed => start from the end (so that we use step2 bwdAccumulateLHGlobal and accumulate potential initial forces)
     current_bloc = nb-1;
 
 
@@ -455,14 +455,14 @@ void BTDLinearSolver<Matrix,Vector>::bwdAccumulateRHinBloc(Index indMaxBloc)
     while(b > current_bloc )
     {
 
-        // evaluate the Right Hand Term for the bloc b
+        // evaluate the Right Hand Term for the block b
         RHbloc = this->getSystemRHVector()->asub(b,bsize) ;
 
         // compute the contribution on LH created by RH
         _acc_lh_bloc  += Minv.asub(b,b,bsize,bsize) * RHbloc;
 
         b--;
-        // accumulate this contribution on LH on the lower blocs
+        // accumulate this contribution on LH on the lower blocks
         _acc_lh_bloc =  -(lambda[b]*_acc_lh_bloc);
 
         dmsg_info_when(showProblem) << "bwdLH[" << b << "] = H[" << b << "][" << b + 1 << "] * (Minv[" << b + 1 << "][" << b + 1 << "] * RH[" << b + 1 << "] + bwdLH[" << b + 1 << "])";
@@ -473,7 +473,7 @@ void BTDLinearSolver<Matrix,Vector>::bwdAccumulateRHinBloc(Index indMaxBloc)
     }
 
     b = current_bloc;
-    // compute the bloc which indice is current_bloc
+    // compute the block which indice is current_bloc
     this->getSystemLHVector()->asub(b,bsize) = Minv.asub( b, b ,bsize,bsize) * ( fwdContributionOnRH.asub(b, bsize) + this->getSystemRHVector()->asub(b,bsize) ) +
             bwdContributionOnLH.asub(b, bsize);
 
@@ -555,7 +555,7 @@ void BTDLinearSolver<Matrix,Vector>::fwdAccumulateRHGlobal(Index indMinBloc)
 
 
     Index b = current_bloc;
-    // compute the bloc which indice is _indMaxFwdLHComputed
+    // compute the block which indice is _indMaxFwdLHComputed
     this->getSystemLHVector()->asub(b,bsize) = Minv.asub( b, b ,bsize,bsize) * ( fwdContributionOnRH.asub(b, bsize) + this->getSystemRHVector()->asub(b,bsize) ) +
             bwdContributionOnLH.asub(b, bsize);
 
@@ -589,7 +589,7 @@ void BTDLinearSolver<Matrix,Vector>::fwdComputeLHinBloc(Index indMaxBloc)
 
         _indMaxFwdLHComputed++; b++;
 
-        // compute the bloc which indice is _indMaxFwdLHComputed
+        // compute the block which indice is _indMaxFwdLHComputed
         this->getSystemLHVector()->asub(b,bsize) = Minv.asub( b, b ,bsize,bsize) * ( fwdContributionOnRH.asub(b, bsize) + this->getSystemRHVector()->asub(b,bsize) ) +
                 bwdContributionOnLH.asub(b, bsize);
 
@@ -616,7 +616,7 @@ void BTDLinearSolver<Matrix,Vector>::partial_solve(ListIndex&  Iout, ListIndex&
         Index MinIdBloc_IN = Iin.front(); //  Iin needs to be sorted
         Index MaxIdBloc_IN = Iin.back();  //
         //debug
-        dmsg_info_when(showProblem) << "STEP1: new force on bloc between dofs "<< MinIdBloc_IN<< "  and "<<MaxIdBloc_IN;
+        dmsg_info_when(showProblem) << "STEP1: new force on block between dofs "<< MinIdBloc_IN<< "  and "<<MaxIdBloc_IN;
 
         if (MaxIdBloc_IN > this->_indMaxNonNullForce)
             this->_indMaxNonNullForce = MaxIdBloc_IN;
@@ -691,7 +691,7 @@ void BTDLinearSolver<Matrix,Vector>::partial_solve(ListIndex&  Iout, ListIndex&
         if (normDR > ((1.0e-7)*normR + 1.0e-20) )
         {
             std::ostringstream oss;
-            oss <<"++++++++++++++++ WARNING +++++++++++\n \n Found solution for bloc OUT :";
+            oss <<"++++++++++++++++ WARNING +++++++++++\n \n Found solution for block OUT :";
             for (Index i=MinIdBloc_OUT; i<=MaxIdBloc_OUT; i++)
             {
                 oss <<"     ["<<i<<"] "<< Result_partial_Solve->asub(i,bsize);
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSolverFactory.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSolverFactory.h
index dbfc96590ca..a0076cf817b 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSolverFactory.h
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenSolverFactory.h
@@ -66,7 +66,7 @@ struct SOFA_COMPONENT_LINEARSOLVER_DIRECT_API BaseEigenSolverProxy
 
 
 /**
- * This class is the bridge between an Eigen solver class and the abstact
+ * This class is the bridge between an Eigen solver class and the abstract
  * class BaseEigenSolverProxy.
  *
  * Using this class, all Eigen solvers can inherit from the same base class,
diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h
index d808bad9bfb..2332678be23 100644
--- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h
+++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h
@@ -34,7 +34,7 @@
 namespace sofa::component::linearsolver::direct
 {
 
-//defaut structure for a LDL factorization
+//default structure for a LDL factorization
 template<class VecInt,class VecReal>
 class SparseLDLImplInvertData : public MatrixInvertData {
 public :
@@ -333,7 +333,7 @@ protected :
             }
         }
 
-        // split the bloc diag in data->Bdiag
+        // split the block diag in data->Bdiag
 
         if (data->new_factorization_needed  || !d_precomputeSymbolicDecomposition.getValue() )
         {
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h
index a70367e4e74..ad279d38828 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h
@@ -274,7 +274,7 @@ class MatrixLinearSolver<Matrix,Vector,NoThreadManager> : public BaseMatrixLinea
         v->execute( this->getContext() );
     }
 
-    /// Implementing the GetCustomTemplateName is mandatory to have a custom template name paremters
+    /// Implementing the GetCustomTemplateName is mandatory to have a custom template name parameters
     /// instead of the default one generated automatically by the SOFA_CLASS() macro.
     static std::string GetCustomTemplateName()
     {
@@ -462,8 +462,8 @@ void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector,NoThreadManage
 
 #if !defined(SOFA_COMPONENT_LINEARSOLVER_MATRIXLINEARSOLVER_CPP)
 extern template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API MatrixLinearSolver< GraphScatteredMatrix, GraphScatteredVector, NoThreadManager >;
-/// Extern template declarations don't prevent implicit instanciation in the case
-/// of explicitely specialized classes.  (See section 14.3.7 of the C++ standard
+/// Extern template declarations don't prevent implicit instantiation in the case
+/// of explicitly specialized classes.  (See section 14.3.7 of the C++ standard
 /// [temp.expl.spec]). We have to declare non-specialized member functions by
 /// hand to prevent MSVC from complaining that it doesn't find their definition.
 extern template SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector,NoThreadManager>::MatrixLinearSolver();
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.inl b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.inl
index 87519110284..d4d87e13f6f 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.inl
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MinResLinearSolver.inl
@@ -164,7 +164,7 @@ void MinResLinearSolver<TMatrix,TVector>::solve(Matrix& A, Vector& x, Vector& b)
             alpha = v.dot( y );	// alphak
             y.peq( *r2, -alpha/beta ); // y += -a/b * r2
 
-            std::swap( r1, r2 ); // save a copy by swaping pointers
+            std::swap( r1, r2 ); // save a copy by swapping pointers
 
             oldb = beta; //oldb = betak
             beta = y.dot( y );
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h
index 3c2db6c6b97..a77daf51db7 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h
@@ -67,7 +67,7 @@ class ShewchukPCGLinearSolver : public sofa::component::linearsolver::MatrixLine
     Data<double> d_tolerance; ///< Desired accuracy of the Conjugate Gradient solution evaluating: |r|²/|b|² (ratio of current residual norm over initial residual norm)
     Data<bool> d_use_precond; ///< Use a preconditioner
     SingleLink<ShewchukPCGLinearSolver, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_preconditioner; ///< Link towards the linear solver used to precondition the conjugate gradient
-    Data<unsigned> d_update_step; ///< Number of steps before the next refresh of precondtioners
+    Data<unsigned> d_update_step; ///< Number of steps before the next refresh of preconditioners
     Data<bool> d_build_precond; ///< Build the preconditioners, if false build the preconditioner only at the initial step
     Data<std::map < std::string, sofa::type::vector<double> > > d_graph; ///< Graph of residuals at each iteration
 
diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl
index 941c74b6465..68eb09ae9d0 100644
--- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl
+++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl
@@ -40,7 +40,7 @@ ShewchukPCGLinearSolver<TMatrix,TVector>::ShewchukPCGLinearSolver()
     , d_tolerance(initData(&d_tolerance, 1e-5, "tolerance", "Desired accuracy of the Conjugate Gradient solution evaluating: |r|²/|b|² (ratio of current residual norm over initial residual norm)") )
     , d_use_precond(initData(&d_use_precond, true, "use_precond", "Use a preconditioner") )
     , l_preconditioner(initLink("preconditioner", "Link towards the linear solver used to precondition the conjugate gradient"))
-    , d_update_step(initData(&d_update_step, (unsigned)1, "update_step", "Number of steps before the next refresh of precondtioners") )
+    , d_update_step(initData(&d_update_step, (unsigned)1, "update_step", "Number of steps before the next refresh of preconditioners") )
     , d_build_precond(initData(&d_build_precond, true, "build_precond", "Build the preconditioners, if false build the preconditioner only at the initial step") )
     , d_graph(initData(&d_graph, "graph", "Graph of residuals at each iteration") )
     , next_refresh_step(0)
diff --git a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/OrderingMethodAccessor.h b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/OrderingMethodAccessor.h
index 7ac9d3e59ef..cf11f05571d 100644
--- a/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/OrderingMethodAccessor.h
+++ b/Sofa/Component/LinearSolver/Ordering/src/sofa/component/linearsolver/ordering/OrderingMethodAccessor.h
@@ -94,7 +94,7 @@ class OrderingMethodAccessor : public TBase
         //To remove for v24.12:
         if (arg->getAttribute("ordering"))
         {
-            //map storing the correspondance between the ordering method name
+            //map storing the correspondence between the ordering method name
             //as a Data, and its associated component
             static const std::map<std::string, std::string> orderingMethodComponentsMap
             {
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.h b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.h
index b686da3ac14..d0ca34ebf3e 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.h
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/BlockJacobiPreconditioner.h
@@ -40,7 +40,7 @@ class BlockJacobiPreconditionerInternalData
 };
 
 
-/// Linear solver based on a NxN bloc diagonal matrix (i.e. block Jacobi preconditioner)
+/// Linear solver based on a NxN block diagonal matrix (i.e. block Jacobi preconditioner)
 template<class TMatrix, class TVector>
 class BlockJacobiPreconditioner : public sofa::component::linearsolver::MatrixLinearSolver<TMatrix,TVector>
 {
diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp
index a4e249d56f0..55d8ae138f1 100644
--- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp
+++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp
@@ -99,7 +99,7 @@ void SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3,3
         typename Matrix::Range rowRange = M.getRowRange(jb);
         Index xi = rowRange.begin();
         while (xi < rowRange.end() && static_cast<Index>(colsIndex[xi]) < jb) ++xi;
-        // bloc on the diagonal
+        // block on the diagonal
         const typename Matrix::Block& bdiag = colsValue[xi];
         // upper triangle matrix
         for (++xi; xi < rowRange.end(); ++xi)
diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.h b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.h
index 468ac200aa6..544c6a6fc32 100644
--- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.h
+++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.h
@@ -27,7 +27,7 @@ namespace sofa::component::linearsystem
 {
 
 /**
- * Matrix prjection method computing the matrix projection taking advantage of the constant sparsity pattern
+ * Matrix projection method computing the matrix projection taking advantage of the constant sparsity pattern
  */
 template<class TMatrix>
 class ConstantSparsityProjectionMethod : public MatrixProjectionMethod<TMatrix>
diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/CreateMatrixDispatcher.h b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/CreateMatrixDispatcher.h
index 7bbf9512091..df3cfb6968e 100644
--- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/CreateMatrixDispatcher.h
+++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/CreateMatrixDispatcher.h
@@ -28,7 +28,7 @@ namespace sofa::component::linearsystem
 
 /**
  * Helper class used in matrix assembly, containing some factory methods that
- * must be overriden to define the type of local matrices.
+ * must be overridden to define the type of local matrices.
  */
 template <core::matrixaccumulator::Contribution c>
 struct CreateMatrixDispatcher
diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MappingGraph.h b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MappingGraph.h
index 70dd5428d14..482b716e3ae 100644
--- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MappingGraph.h
+++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MappingGraph.h
@@ -31,7 +31,7 @@ namespace sofa::component::linearsystem
 using core::behavior::BaseMechanicalState;
 
 /**
- * Connexions betweeen objects through mappings
+ * Connexions between objects through mappings
  *
  * Graph must be built with the build() function.
  */
diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.h b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.h
index f5503716579..484aeeac145 100644
--- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.h
+++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.h
@@ -170,7 +170,7 @@ class MatrixLinearSystem : public TypedMatrixLinearSystem<TMatrix, TVector>
 
 
     /// Associate a local matrix to the provided component. The type of the local matrix depends on
-    /// the situtation of the component: type of the component, mapped vs non-mapped
+    /// the situation of the component: type of the component, mapped vs non-mapped
     template<Contribution c>
     void associateLocalMatrixTo(sofa::core::matrixaccumulator::get_component_type<c>* component,
                                 const core::MechanicalParams* mparams);
diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl
index e1285a3a771..2549c7bfb1f 100644
--- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl
+++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl
@@ -142,7 +142,7 @@ void MatrixLinearSystem<TMatrix, TVector>::assembleSystem(const core::Mechanical
 {
     if (this->getSystemMatrix()->rowSize() == 0 || this->getSystemMatrix()->colSize() == 0)
     {
-        msg_error() << "Global system matrix is not resized appropriatly (" << this->getPathName() << ")";
+        msg_error() << "Global system matrix is not resized appropriately (" << this->getPathName() << ")";
         return;
     }
 
@@ -1122,7 +1122,7 @@ void MatrixLinearSystem<TMatrix, TVector>::assembleMappedMatrices(const core::Me
 {
     if (this->getSystemMatrix()->rowSize() == 0 || this->getSystemMatrix()->colSize() == 0)
     {
-        msg_error() << "Global system matrix is not resized appropriatly";
+        msg_error() << "Global system matrix is not resized appropriately";
         return;
     }
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.inl
index 7330a12a798..014cb8780a0 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.inl
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.inl
@@ -384,7 +384,7 @@ void BarycentricMapping<TIn, TOut>::applyJT(const core::ConstraintParams * cpara
 template <class TIn, class TOut>
 void BarycentricMapping<TIn, TOut>::handleTopologyChange ( core::topology::Topology* t )
 {
-    //foward topological modifications to the mapper
+    //forward topological modifications to the mapper
     if (this->d_mapper.get()){
         this->d_mapper->processTopologicalChanges(((const core::State<Out> *)this->toModel)->read(core::ConstVecCoordId::position())->getValue(),
                                                   ((const core::State<In> *)this->fromModel)->read(core::ConstVecCoordId::position())->getValue(),
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h
index b612a35d5cf..857303b7686 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h
@@ -145,12 +145,12 @@ extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperHexahed
 namespace _topologybarycentricmapper_
 {
     extern template class SOFA_COMPONENT_MAPPING_LINEAR_API TopologyBarycentricMapper< defaulttype::Vec3Types, defaulttype::Rigid3Types >;
-} // namesapce _topologybarycentricmapper_
+} // namespace _topologybarycentricmapper_
 
 namespace _barycentricmapper_
 {
     extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapper< defaulttype::Vec3Types, defaulttype::Rigid3Types >;
-} // namesapce _barycentricmapper_
+} // namespace _barycentricmapper_
 
 } // namespace sofa::component::mapping::linear
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.inl
index b87e80279e3..8d55b8eebc3 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.inl
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.inl
@@ -200,7 +200,7 @@ void BeamLinearMapping<TIn, TOut>::applyJT(const core::MechanicalParams * /*mpar
 // if one constraint along (vector n) with a value (v) is applied on the childModel (like collision model)
 // then this constraint is transformed by (Jt.n) with value (v) for the rigid model
 // There is a specificity of this propagateConstraint: we have to find the application point on the childModel
-// in order to compute the right constaint on the rigidModel.
+// in order to compute the right constraint on the rigidModel.
 template <class TIn, class TOut>
 void BeamLinearMapping<TIn, TOut>::applyJT(const core::ConstraintParams * /*cparams*/, Data< typename In::MatrixDeriv >& _out, const Data< typename Out::MatrixDeriv >& _in)
 {
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h
index b3979d6f4e0..aa4fb521355 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h
@@ -131,7 +131,7 @@ class DeformableOnRigidFrameMapping : public LinearMulti2Mapping<TIn, TInRoot, T
 
     /// Return true if the destination model has the same topology as the source model.
     ///
-    /// This is the case for mapping keeping a one-to-one correspondance between
+    /// This is the case for mapping keeping a one-to-one correspondence between
     /// input and output DOFs (mostly identity or data-conversion mappings).
     bool sameTopology() const override { return true; }
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.inl
index b48f167e397..3c4f2e8a4cb 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.inl
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.inl
@@ -53,14 +53,14 @@ DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::DeformableOnRigidFrameMapping
 template <class TIn, class TInRoot, class TOut>
 int DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::addPoint(const OutCoord& /*c*/)
 {
-    msg_info() << "addPoint should be supressed" ;
+    msg_info() << "addPoint should be suppressed" ;
     return 0;
 }
 
 template <class TIn, class TInRoot, class TOut>
 int DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::addPoint(const OutCoord& /*c*/, int /*indexFrom*/)
 {
-    msg_info() << "addPoint should be supressed" ;
+    msg_info() << "addPoint should be suppressed" ;
     return 0;
 }
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.h
index 189e66c3447..19f37bf1ff7 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.h
@@ -92,7 +92,7 @@ class IdentityMapping : public LinearMapping<TIn, TOut>
 public:
     /// Return true if the destination model has the same topology as the source model.
     ///
-    /// This is the case for mapping keeping a one-to-one correspondance between
+    /// This is the case for mapping keeping a one-to-one correspondence between
     /// input and output DOFs (mostly identity or data-conversion mappings).
     bool sameTopology() const override { return true; }
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.h
index da27da5fd52..8f5b998cd95 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.h
@@ -70,7 +70,7 @@ class IdentityMultiMapping : public LinearMultiMapping<TIn, TOut>
     void apply(const core::MechanicalParams* mparams, const type::vector<OutDataVecCoord*>& dataVecOutPos, const type::vector<const InDataVecCoord*>& dataVecInPos) override;
     void applyJ(const core::MechanicalParams* mparams, const type::vector<OutDataVecDeriv*>& dataVecOutVel, const type::vector<const InDataVecDeriv*>& dataVecInVel) override;
     void applyJT(const core::MechanicalParams* mparams, const type::vector<InDataVecDeriv*>& dataVecOutForce, const type::vector<const OutDataVecDeriv*>& dataVecInForce) override;
-    void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
+    void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*enforce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
     void applyJT( const core::ConstraintParams* cparams, const type::vector< InDataMatrixDeriv* >& dataMatOutConst, const type::vector< const OutDataMatrixDeriv* >& dataMatInConst ) override;
 
     virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.inl
index 2019a7236bd..a9c9d82910b 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.inl
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.inl
@@ -338,14 +338,14 @@ void LineSetSkinningMapping<TIn, TOut>::applyJT( const sofa::core::ConstraintPar
                 const OutDeriv data = colIt.val();
                 const unsigned int verticeIndex = colIt.index();
 
-                //printf(" normale : %f %f %f",d.x(), d.y(), d.z());
+                //printf(" normal : %f %f %f",d.x(), d.y(), d.z());
                 for (unsigned int lineInfluencedIndex = 0; lineInfluencedIndex < linesInfluencedByVertice[verticeIndex].size(); lineInfluencedIndex++)
                 {
                     influencedLineType iline = linesInfluencedByVertice[verticeIndex][lineInfluencedIndex];
                     type::Vec<3,Real> IP = xfrom[m_topology->getLine(iline.lineIndex)[0]].getOrientation().rotate(iline.position);
                     InDeriv direction;
                     getVCenter(direction) = data * iline.weight;
-                    //printf("\n Weighted normale : %f %f %f",direction.getVCenter().x(), direction.getVCenter().y(), direction.getVCenter().z());
+                    //printf("\n Weighted normal : %f %f %f",direction.getVCenter().x(), direction.getVCenter().y(), direction.getVCenter().z());
                     getVOrientation(direction) = IP.cross(data) * iline.weight;
 
                     o.addCol(m_topology->getLine(iline.lineIndex)[0], direction);
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.h
index 9d944969cfe..8e31908079d 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.h
@@ -37,7 +37,7 @@ namespace sofa::component::mapping::linear
  * This class, called SimpleTesselatedTetraTopologicalMapping, is a specific implementation of the interface TopologicalMapping where :
  *
  * INPUT TOPOLOGY = TetrahedronSetTopology
- * OUTPUT TOPOLOGY = TetrahedronSetTopology which is a finer tesselated version of the INPUT TOPOLOGY
+ * OUTPUT TOPOLOGY = TetrahedronSetTopology which is a finer tessellated version of the INPUT TOPOLOGY
  *
  * Each tetrahedron in the input Topology will be divided in eight tetrahedra in the output topology
  *
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h
index 95c02f33556..21d97b01071 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h
@@ -37,7 +37,7 @@
 namespace sofa::component::mapping::linear
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class InDataTypes, class OutDataTypes>
 class SubsetMappingInternalData
 {
@@ -82,7 +82,7 @@ class SubsetMapping : public LinearMapping<TIn, TOut>
     typedef type::Mat<NOut, NIn, Real> MBloc;
     typedef sofa::linearalgebra::CompressedRowSparseMatrix<MBloc> MatrixType;
 
-    /// Correspondance array
+    /// Correspondence array
     using IndexArray = sofa::type::rebind_to<InVecCoord, Index>;
     typedef sofa::core::topology::PointSubsetData< IndexArray > SetIndex;
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.inl
index be31563afc6..813757c5b47 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.inl
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.inl
@@ -98,7 +98,7 @@ void SubsetMapping<TIn, TOut>::init()
     else if (d_indices.getValue().empty())
     {
 
-        // We have to construct the correspondance index
+        // We have to construct the correspondence index
         const InVecCoord& in   =this->fromModel->read(core::ConstVecCoordId::position())->getValue();
         const OutVecCoord& out =this->toModel->read(core::ConstVecCoordId::position())->getValue();
         IndexArray& indices = *d_indices.beginEdit();
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h
index a26188b6d85..066888c34e5 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h
@@ -70,7 +70,7 @@ class SubsetMultiMapping : public LinearMultiMapping<TIn, TOut>
     typedef Data<OutVecDeriv> OutDataVecDeriv;
     typedef Data<OutMatrixDeriv> OutDataMatrixDeriv;
 
-    /// Correspondance array
+    /// Correspondence array
     typedef core::topology::BaseMeshTopology::SetIndex IndexArray;
 
     void init() override;
diff --git a/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp b/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp
index 74414afe16b..668d3719f58 100644
--- a/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp
+++ b/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp
@@ -101,10 +101,10 @@ struct BarycentricMapperTriangleSetTopologyTest :  public BaseTest, public Baryc
         const Node::SPtr nodeMapping = node->createChild("nodeToMap");
         const TriangleSetTopologyContainer::SPtr triangleContainer = New<TriangleSetTopologyContainer>();
         const TetrahedronSetTopologyContainer::SPtr tetraContainer = New<TetrahedronSetTopologyContainer>();
-        const MechanicalObject<Vec3Types>::SPtr mecanical = New<MechanicalObject<Vec3Types>>();
+        const MechanicalObject<Vec3Types>::SPtr mechanical = New<MechanicalObject<Vec3Types>>();
 
         node->addObject(tetraContainer);
-        node->addObject(mecanical);
+        node->addObject(mechanical);
         node->addChild(nodeMapping);
         nodeMapping->addObject(triangleContainer);
         nodeMapping->addObject(thisObject);
diff --git a/Sofa/Component/Mapping/Linear/tests/SubsetMultiMapping_test.cpp b/Sofa/Component/Mapping/Linear/tests/SubsetMultiMapping_test.cpp
index 8fc7ea84327..b70504770a6 100644
--- a/Sofa/Component/Mapping/Linear/tests/SubsetMultiMapping_test.cpp
+++ b/Sofa/Component/Mapping/Linear/tests/SubsetMultiMapping_test.cpp
@@ -111,14 +111,14 @@ struct SubsetMultiMappingTest : public MultiMapping_test<_SubsetMultiMapping>
 };
 
 
-// Define the list of types to instanciate. We do not necessarily need to test all combinations.
+// Define the list of types to instantiate. We do not necessarily need to test all combinations.
 using ::testing::Types;
 typedef Types<
 mapping::linear::SubsetMultiMapping<defaulttype::Rigid3Types,defaulttype::Rigid3Types>,
 mapping::linear::SubsetMultiMapping<defaulttype::Vec3Types,defaulttype::Vec3Types>
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(SubsetMultiMappingTest, DataTypes);
 // first test case
 TYPED_TEST( SubsetMultiMappingTest , two_parents_one_child )
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h
index 9c226f13918..3731851cd3a 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h
@@ -35,7 +35,7 @@
 namespace sofa::component::mapping::nonlinear
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class InDataTypes, class OutDataTypes>
 class DistanceFromTargetMappingInternalData
 {
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h
index 949fb8fa5d3..df197ab65d9 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h
@@ -68,7 +68,7 @@ class DistanceMapping : public BaseNonLinearMapping<TIn, TOut, true>
     sofa::core::objectmodel::RenamedData<type::vector<Real>> f_restLengths;
 
 
-    Data<bool> d_computeDistance; ///< if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial lenght of each of them
+    Data<bool> d_computeDistance; ///< if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them
     Data<type::vector<Real>> d_restLengths; ///< Rest lengths of the connections
     Data<Real> d_showObjectScale; ///< Scale for object display
     Data<sofa::type::RGBAColor> d_color; ///< Color for object display. (default=[1.0,1.0,0.0,1.0])
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
index 6c90d4616fe..75e3f12cd89 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
@@ -38,7 +38,7 @@ namespace sofa::component::mapping::nonlinear
 
 template <class TIn, class TOut>
 DistanceMapping<TIn, TOut>::DistanceMapping()
-    : d_computeDistance(initData(&d_computeDistance, false, "computeDistance", "if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial lenght of each of them"))
+    : d_computeDistance(initData(&d_computeDistance, false, "computeDistance", "if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them"))
     , d_restLengths(initData(&d_restLengths, "restLengths", "Rest lengths of the connections"))
     , d_showObjectScale(initData(&d_showObjectScale, Real(0), "showObjectScale", "Scale for object display"))
     , d_color(initData(&d_color, sofa::type::RGBAColor::yellow(), "showColor", "Color for object display. (default=[1.0,1.0,0.0,1.0])"))
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h
index 505058aa83c..b10cd4a93ab 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h
@@ -33,7 +33,7 @@ namespace sofa::component::mapping::nonlinear
 {
 
 
-/** Maps point positions from serveral mstates to distances (in distance unit).
+/** Maps point positions from several mstates to distances (in distance unit).
  * @tparam TIn parent point positions
  * @tparam TOut corresponds to a scalar value: distance between point pairs, minus a rest distance.
  * The pairs are given in a topology with edges in the same node.
@@ -82,7 +82,7 @@ class DistanceMultiMapping : public core::MultiMapping<TIn, TOut>, public NonLin
     SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR()
     sofa::core::objectmodel::RenamedData<type::vector<Real>>  f_restLengths;
 
-    Data<bool> d_computeDistance; ///< if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial lenght of each of them
+    Data<bool> d_computeDistance; ///< if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them
     Data<type::vector<Real>> d_restLengths; ///< Rest lengths of the connections
     Data<Real> d_showObjectScale; ///< Scale for object display
     Data<sofa::type::RGBAColor> d_color; ///< Color for object display. (default=[1.0,1.0,0.0,1.0])
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl
index 29b6cb83818..4ad968aa54b 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl
@@ -34,7 +34,7 @@ namespace sofa::component::mapping::nonlinear
 template <class TIn, class TOut>
 DistanceMultiMapping<TIn, TOut>::DistanceMultiMapping()
     : Inherit()
-    , d_computeDistance(initData(&d_computeDistance, false, "computeDistance", "if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial lenght of each of them"))
+    , d_computeDistance(initData(&d_computeDistance, false, "computeDistance", "if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them"))
     , d_restLengths(initData(&d_restLengths, "restLengths", "Rest lengths of the connections"))
     , d_showObjectScale(initData(&d_showObjectScale, Real(0), "showObjectScale", "Scale for object display"))
     , d_color(initData(&d_color, sofa::type::RGBAColor::yellow(), "showColor", "Color for object display. (default=[1.0,1.0,0.0,1.0])"))
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.h
index 1bb3d6cb0eb..316b04215fd 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.h
@@ -37,7 +37,7 @@
 namespace sofa::component::mapping::nonlinear
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class InDataTypes, class OutDataTypes>
 class RigidMappingInternalData
 {
diff --git a/Sofa/Component/Mapping/NonLinear/tests/DistanceMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/DistanceMapping_test.cpp
index 94a8e678849..6482b3fa758 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/DistanceMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/DistanceMapping_test.cpp
@@ -71,14 +71,14 @@ struct DistanceMappingTest : public sofa::mapping_test::Mapping_test<DistanceMap
 };
 
 
-// Define the list of types to instanciate.
+// Define the list of types to instantiate.
 using ::testing::Types;
 typedef Types<
 component::mapping::nonlinear::DistanceMapping<defaulttype::Vec3Types,defaulttype::Vec1Types>,
 component::mapping::nonlinear::DistanceMapping<defaulttype::Rigid3Types,defaulttype::Vec1Types>
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE( DistanceMappingTest, DataTypes );
 
 // test case
diff --git a/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp
index b2d56489282..46a53cb53ef 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp
@@ -200,15 +200,15 @@ void RigidMappingTest<mapping::nonlinear::RigidMapping<defaulttype::Rigid3Types,
 }
 
 
-// Define the list of types to instanciate. We do not necessarily need to test all combinations.
+// Define the list of types to instantiate. We do not necessarily need to test all combinations.
 using ::testing::Types;
 typedef Types<
 mapping::nonlinear::RigidMapping<defaulttype::Rigid2Types,defaulttype::Vec2Types>,
 mapping::nonlinear::RigidMapping<defaulttype::Rigid3Types,defaulttype::Vec3Types>,
 mapping::nonlinear::RigidMapping<defaulttype::Rigid3Types,defaulttype::Rigid3Types>
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(RigidMappingTest, DataTypes);
 // first test case
 TYPED_TEST( RigidMappingTest , oneRigid_fourParticles_localCoords )
diff --git a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp
index eccd9286198..833363657c9 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp
@@ -108,14 +108,14 @@ struct SquareDistanceMappingTest : public sofa::mapping_test::Mapping_test<Squar
 };
 
 
-// Define the list of types to instanciate.
+// Define the list of types to instantiate.
 using ::testing::Types;
 typedef Types<
 component::mapping::nonlinear::SquareDistanceMapping<defaulttype::Vec3Types,defaulttype::Vec1Types>
 , component::mapping::nonlinear::SquareDistanceMapping<defaulttype::Rigid3Types,defaulttype::Vec1Types>
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE( SquareDistanceMappingTest, DataTypes );
 
 // test case
diff --git a/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp
index 66479a8c324..c47beb136e2 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp
+++ b/Sofa/Component/Mapping/NonLinear/tests/SquareMapping_test.cpp
@@ -69,13 +69,13 @@ struct SquareMappingTest : public sofa::mapping_test::Mapping_test<SquareMapping
 };
 
 
-// Define the list of types to instanciate.
+// Define the list of types to instantiate.
 using ::testing::Types;
 typedef Types<
 component::mapping::nonlinear::SquareMapping<defaulttype::Vec1Types,defaulttype::Vec1Types>
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE( SquareMappingTest, DataTypes );
 
 // test case
diff --git a/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MappingTestCreation.h b/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MappingTestCreation.h
index 2c2b2163760..3a430a8deed 100644
--- a/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MappingTestCreation.h
+++ b/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MappingTestCreation.h
@@ -109,8 +109,8 @@ struct Mapping_test: public BaseSimulationTest, NumericTest<typename _Mapping::I
     simulation::Node::SPtr root;         ///< Root of the scene graph, created by the constructor an re-used in the tests
     simulation::Simulation* simulation;  ///< created by the constructor an re-used in the tests
     std::pair<Real,Real> deltaRange; ///< The minimum and maximum magnitudes of the change of each scalar value of the small displacement is perturbation * numeric_limits<Real>::epsilon. This epsilon is 1.19209e-07 for float and 2.22045e-16 for double.
-    Real errorMax;     ///< The test is successfull if the (infinite norm of the) difference is less than  errorMax * numeric_limits<Real>::epsilon
-    Real errorFactorDJ;     ///< The test for geometric stiffness is successfull if the (infinite norm of the) difference is less than  errorFactorDJ * errorMax * numeric_limits<Real>::epsilon
+    Real errorMax;     ///< The test is successful if the (infinite norm of the) difference is less than  errorMax * numeric_limits<Real>::epsilon
+    Real errorFactorDJ;     ///< The test for geometric stiffness is successful if the (infinite norm of the) difference is less than  errorFactorDJ * errorMax * numeric_limits<Real>::epsilon
 
 
     static constexpr unsigned char TEST_getJs = 1; ///< testing getJs used in assembly API
@@ -181,7 +181,7 @@ struct Mapping_test: public BaseSimulationTest, NumericTest<typename _Mapping::I
     }
 
 
-    /** Returns OutCoord substraction a-b */
+    /** Returns OutCoord subtraction a-b */
     virtual OutDeriv difference( const OutCoord& a, const OutCoord& b )
     {
         return Out::coordDifference(a,b);
diff --git a/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/Multi2MappingTestCreation.h b/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/Multi2MappingTestCreation.h
index 14512cace21..2b52c3ea1f4 100644
--- a/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/Multi2MappingTestCreation.h
+++ b/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/Multi2MappingTestCreation.h
@@ -113,7 +113,7 @@ struct Multi2Mapping_test : public BaseSimulationTest, NumericTest<typename _Mul
     simulation::Node::SPtr parentsIn1, parentsIn2; ///< Parent nodes, created by setupScene
     simulation::Simulation* simulation; ///< created by the constructor an re-used in the tests
     std::pair<Real, Real> deltaRange; ///< The minimum and maximum magnitudes of the change of each scalar value of the small displacement is deltaRange * numeric_limits<Real>::epsilon. This epsilon is 1.19209e-07 for float and 2.22045e-16 for double.
-    Real errorMax; ///< The test is successfull if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
+    Real errorMax; ///< The test is successful if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
 
 
     /// Constructor
@@ -131,7 +131,7 @@ struct Multi2Mapping_test : public BaseSimulationTest, NumericTest<typename _Mul
             sofa::simulation::node::unload(root);
     }
 
-    /** Returns OutCoord substraction a-b (should return a OutDeriv, but???)
+    /** Returns OutCoord subtraction a-b (should return a OutDeriv, but???)
     */
     OutDeriv difference(const OutCoord& c1, const OutCoord& c2)
     {
@@ -168,7 +168,7 @@ struct Multi2Mapping_test : public BaseSimulationTest, NumericTest<typename _Mul
     * the resulting child position is compared with the expected one.
     * Additionally, the Jacobian-related methods are tested using finite differences.
     *
-    * The parent coordinates are transfered in the parent states, then the scene is initialized, then various mapping functions are applied.
+    * The parent coordinates are transferred in the parent states, then the scene is initialized, then various mapping functions are applied.
     * The parent states are resized based on the size of the parentCoords vectors. The child state is not resized. Its should be already sized,
     * or its size set automatically during initialization.
     *
diff --git a/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MultiMappingTestCreation.h b/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MultiMappingTestCreation.h
index 60787a3117a..1b020d4b8ae 100644
--- a/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MultiMappingTestCreation.h
+++ b/Sofa/Component/Mapping/Testing/src/sofa/component/mapping/testing/MultiMappingTestCreation.h
@@ -89,7 +89,7 @@ struct MultiMapping_test : public BaseSimulationTest, NumericTest<typename _Mult
     type::vector<simulation::Node::SPtr> parents; ///< Parent nodes, created by setupScene
     simulation::Simulation* simulation;  ///< created by the constructor an re-used in the tests
     std::pair<Real,Real> deltaRange; ///< The minimum and maximum magnitudes of the change of each scalar value of the small displacement is deltaRange * numeric_limits<Real>::epsilon. This epsilon is 1.19209e-07 for float and 2.22045e-16 for double.
-    Real errorMax;     ///< The test is successfull if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
+    Real errorMax;     ///< The test is successful if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
 
 
     MultiMapping_test()
@@ -133,7 +133,7 @@ struct MultiMapping_test : public BaseSimulationTest, NumericTest<typename _Mult
 
 
 
-    /** Returns OutCoord substraction a-b (should return a OutDeriv, but???)
+    /** Returns OutCoord subtraction a-b (should return a OutDeriv, but???)
       */
     OutDeriv difference( const OutCoord& c1, const OutCoord& c2 )
     {
@@ -147,7 +147,7 @@ struct MultiMapping_test : public BaseSimulationTest, NumericTest<typename _Mult
      * the resulting child position is compared with the expected one.
      * Additionally, the Jacobian-related methods are tested using finite differences.
      *
-     * The parent coordinates are transfered in the parent states, then the scene is initialized, then various mapping functions are applied.
+     * The parent coordinates are transferred in the parent states, then the scene is initialized, then various mapping functions are applied.
      * The parent states are resized based on the size of the parentCoords vectors. The child state is not resized. Its should be already sized,
      * or its size set automatically during initialization.
      *
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp
index 96b636c18cd..964d86f3e7e 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp
@@ -156,9 +156,9 @@ void DiagonalMass<RigidTypes, GeometricalTypes>::initRigidImpl()
         
     if(!l_topology)
     {
-        msg_error(this) << "Unable to retreive a valid MeshTopology component in the current context. \n"
+        msg_error(this) << "Unable to retrieve a valid MeshTopology component in the current context. \n"
                              "The component cannot be initialized and thus is de-activated. \n "
-                             "To supress this warning you can add a Topology component in the parent node of'<"<< this->getName() <<">'.\n" ;
+                             "To suppress this warning you can add a Topology component in the parent node of'<"<< this->getName() <<">'.\n" ;
         this->d_componentState.setValue(ComponentState::Invalid) ;
     }
     else
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.h b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.h
index 025149bf9f2..47c53f8f8b8 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.h
+++ b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.h
@@ -262,7 +262,7 @@ class DiagonalMass : public core::behavior::Mass<DataTypes>
     SReal getTotalMass() const { return d_totalMass.getValue(); }
     std::size_t getMassCount() { return d_vertexMass.getValue().size(); }
 
-    /// Print key mass informations (totalMass, vertexMass and massDensity)
+    /// Print key mass information (totalMass, vertexMass and massDensity)
     void printMass();
 
     /// @name Read and write access functions in mass information
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.inl b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.inl
index 806c58ccb5a..9c8de528f84 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.inl
+++ b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.inl
@@ -896,7 +896,7 @@ void DiagonalMass<DataTypes, GeometricalTypes>::massInitialization()
     //Mass initialization process
     if(d_vertexMass.isSet() || d_massDensity.isSet() || d_totalMass.isSet() )
     {
-        //totalMass data is prioritary on vertexMass and massDensity
+        //totalMass data has priority on vertexMass and massDensity
         if (d_totalMass.isSet())
         {
             if(d_vertexMass.isSet() || d_massDensity.isSet())
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.h b/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.h
index bddcc0ce966..e67680dbcb4 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.h
+++ b/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.h
@@ -105,7 +105,7 @@ class MeshMatrixMass : public core::behavior::Mass<DataTypes>
     Data< Real >         d_showAxisSize;  ///< factor length of the axis displayed (only used for rigids)
     /// if mass lumping should be performed (only compute mass on vertices)
     Data< bool >         d_lumping;
-    /// if specific mass information should be outputed
+    /// if specific mass information should be outputted
     Data< bool >         d_printMass; ///< Boolean to print the mass
     Data< std::map < std::string, sofa::type::vector<double> > > f_graph; ///< Graph of the controlled potential
 
@@ -154,7 +154,7 @@ class MeshMatrixMass : public core::behavior::Mass<DataTypes>
         return d_vertexMass.getValue().size();
     }
 
-    /// Print key mass informations (totalMass, vertexMass and massDensity)
+    /// Print key mass information (totalMass, vertexMass and massDensity)
     void printMass();
 
     /// Compute the mass from input values
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.inl b/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.inl
index 8f0336e38f0..0581dce726d 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.inl
+++ b/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.inl
@@ -113,7 +113,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassDestruction(Index
 // -------------------------------------------------------
 //{
 
-/// Creation fonction for mass stored on vertices
+/// Creation function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTriangleCreation(const sofa::type::vector< Index >& triangleAdded,
@@ -171,7 +171,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTriangleCreatio
     }
 }
 
-/// Creation fonction for mass stored on edges
+/// Creation function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTriangleCreation(const sofa::type::vector< Index >& triangleAdded,
@@ -220,13 +220,13 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTriangleCreation(
             // update total mass
             if (!this->isLumped())
             {
-                totalMass += 3.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass += 3.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
 }
 
-/// Destruction fonction for mass stored on vertices
+/// Destruction function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTriangleDestruction(const sofa::type::vector< Index >& triangleRemoved)
@@ -273,7 +273,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTriangleDestruc
     }
 }
 
-/// Destruction fonction for mass stored on edges
+/// Destruction function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTriangleDestruction(const sofa::type::vector< Index >& triangleRemoved)
@@ -311,7 +311,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTriangleDestructi
             // update total mass
             if (!this->isLumped())
             {
-                totalMass -= 3.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass -= 3.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
@@ -324,7 +324,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTriangleDestructi
 // ---------------------------------------------------
 //{
 
-/// Creation fonction for mass stored on vertices
+/// Creation function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassQuadCreation(const sofa::type::vector< Index >& quadAdded,
@@ -383,7 +383,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassQuadCreation(co
     }
 }
 
-/// Creation fonction for mass stored on edges
+/// Creation function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassQuadCreation(const sofa::type::vector< Index >& quadAdded,
@@ -433,13 +433,13 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassQuadCreation(cons
             // update total mass
             if (!this->isLumped())
             {
-                totalMass += 4.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass += 4.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
 }
 
-/// Destruction fonction for mass stored on vertices
+/// Destruction function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassQuadDestruction(const sofa::type::vector< Index >& quadRemoved)
@@ -487,7 +487,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassQuadDestruction
     }
 }
 
-/// Destruction fonction for mass stored on edges
+/// Destruction function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 2, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassQuadDestruction(const sofa::type::vector< Index >& quadRemoved)
@@ -526,7 +526,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassQuadDestruction(c
             // update total mass
             if (!this->isLumped())
             {
-                totalMass -= 4.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass -= 4.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
@@ -541,7 +541,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassQuadDestruction(c
 // ----------------------------------------------------------
 //{
 
-/// Creation fonction for mass stored on vertices
+/// Creation function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
@@ -601,7 +601,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTetrahedronCrea
     }
 }
 
-/// Creation fonction for mass stored on edges
+/// Creation function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTetrahedronCreation(const sofa::type::vector< Index >& tetrahedronAdded,
@@ -651,13 +651,13 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTetrahedronCreati
             // update total mass
             if (!this->isLumped())
             {
-                totalMass += 6.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass += 6.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
 }
 
-/// Destruction fonction for mass stored on vertices
+/// Destruction function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTetrahedronDestruction(const sofa::type::vector< Index >& tetrahedronRemoved)
@@ -705,7 +705,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassTetrahedronDest
     }
 }
 
-/// Destruction fonction for mass stored on edges
+/// Destruction function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTetrahedronDestruction(const sofa::type::vector< Index >& tetrahedronRemoved)
@@ -744,7 +744,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTetrahedronDestru
             // update total mass
             if (!this->isLumped())
             {
-                totalMass -= 6.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass -= 6.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
@@ -758,7 +758,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassTetrahedronDestru
 // ---------------------------------------------------------
 //{
 
-/// Creation fonction for mass stored on vertices
+/// Creation function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassHexahedronCreation(const sofa::type::vector< Index >& hexahedronAdded,
@@ -821,7 +821,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassHexahedronCreat
     }
 }
 
-/// Creation fonction for mass stored on edges
+/// Creation function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassHexahedronCreation(const sofa::type::vector< Index >& hexahedronAdded,
@@ -875,13 +875,13 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassHexahedronCreatio
             // update total mass
             if (!this->isLumped())
             {
-                totalMass += 12.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass += 12.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
 }
 
-/// Destruction fonction for mass stored on vertices
+/// Destruction function for mass stored on vertices
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassHexahedronDestruction(const sofa::type::vector< Index >& hexahedronRemoved)
@@ -933,7 +933,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyVertexMassHexahedronDestr
     }
 }
 
-/// Destruction fonction for mass stored on edges
+/// Destruction function for mass stored on edges
 template <class DataTypes, class GeometricalTypes>
 template <typename T, typename std::enable_if_t<T::spatial_dimensions >= 3, int > >
 void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassHexahedronDestruction(const sofa::type::vector< Index >& hexahedronRemoved)
@@ -976,7 +976,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::applyEdgeMassHexahedronDestruc
             // update total mass
             if (!this->isLumped())
             {
-                totalMass -= 12.0 * mass * 2.0; // x 2 because mass is actually splitted over half-edges
+                totalMass -= 12.0 * mass * 2.0; // x 2 because mass is actually split over half-edges
             }
         }
     }
@@ -1115,7 +1115,7 @@ sofa::geometry::ElementType MeshMatrixMass<DataTypes, GeometricalTypes>::checkTo
 template <class DataTypes, class GeometricalTypes>
 void MeshMatrixMass<DataTypes, GeometricalTypes>::initTopologyHandlers(sofa::geometry::ElementType topologyType)
 {
-    // add the functions to handle topology changes for Vertex informations
+    // add the functions to handle topology changes for Vertex information
     d_vertexMass.createTopologyHandler(l_topology);
     d_vertexMass.setCreationCallback([this](Index pointIndex, MassType& m,
         const core::topology::BaseMeshTopology::Point& point,
@@ -1129,7 +1129,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::initTopologyHandlers(sofa::geo
         applyVertexMassDestruction(pointIndex, m);
     });
 
-    // add the functions to handle topology changes for Edge informations
+    // add the functions to handle topology changes for Edge information
     d_edgeMass.createTopologyHandler(l_topology);
     d_edgeMass.setCreationCallback([this](Index edgeIndex, MassType& EdgeMass,
         const core::topology::BaseMeshTopology::Edge& edge,
@@ -1143,7 +1143,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::initTopologyHandlers(sofa::geo
         applyEdgeMassDestruction(edgeIndex, m);
     });
 
-    // register engines to the corresponding toplogy containers depending on current topology type
+    // register engines to the corresponding topology containers depending on current topology type
     bool hasTriangles = false;
     bool hasQuads = false;
 
@@ -1268,7 +1268,7 @@ void MeshMatrixMass<DataTypes, GeometricalTypes>::massInitialization()
     //Mass initialization process
     if(d_vertexMass.isSet() || d_massDensity.isSet() || d_totalMass.isSet() )
     {
-        //totalMass data is prioritary on vertexMass and massDensity
+        //totalMass data is priority on vertexMass and massDensity
         if (d_totalMass.isSet())
         {
             if(d_vertexMass.isSet() || d_massDensity.isSet())
@@ -1666,7 +1666,7 @@ bool MeshMatrixMass<DataTypes, GeometricalTypes>::checkEdgeMass()
 template <class DataTypes, class GeometricalTypes>
 void MeshMatrixMass<DataTypes, GeometricalTypes>::initFromVertexAndEdgeMass()
 {
-    msg_info() << "verteMass and edgeMass informations are used";
+    msg_info() << "verteMass and edgeMass information are used";
 
     const sofa::type::vector<MassType> vertexMass = d_vertexMass.getValue();
     const sofa::type::vector<MassType> edgeMass = d_edgeMass.getValue();
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
index 023051cdd36..ceabfd1e890 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
@@ -187,7 +187,7 @@ void UniformMass<RigidTypes>::loadFromFileRigidImpl(const string& filename)
                         else		// it's an unknown keyword
                         {
                             msg_error(this) << "error reading file '" << filename << "'. \n"
-                                              << "Unable to decode an unknow command '"<< cmd << "'. \n" ;
+                                              << "Unable to decode an unknown command '"<< cmd << "'. \n" ;
                             skipToEOL(file);
                         }
                     }
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
index b43fe61b28b..258eb345e10 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
@@ -73,7 +73,7 @@ class UniformMass : public core::behavior::Mass<DataTypes>
 
     /// optional range of local DOF indices. Any computation involving only
     /// indices outside of this range are discarded (useful for parallelization
-    /// using mesh partitionning)
+    /// using mesh partitioning)
     Data< type::Vec<2,int> > d_localRange;
     DataSetIndex     d_indices; ///< optional local DOF indices. Any computation involving only indices outside of this list are discarded
     Data<bool> d_preserveTotalMass; ///< Prevent totalMass from decreasing when removing particles.
@@ -99,7 +99,7 @@ class UniformMass : public core::behavior::Mass<DataTypes>
 
     ~UniformMass();
 
-    /// @internal fonction called in the constructor that can be specialized
+    /// @internal function called in the constructor that can be specialized
     void constructor_message() ;
 
 public:
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
index c8a23bdf9a2..2916700048b 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
@@ -72,7 +72,7 @@ UniformMass<DataTypes>::UniformMass()
     , d_showX0 ( initData ( &d_showX0, false, "showX0", "display the rest positions" ) )
     , d_localRange ( initData ( &d_localRange, Vec<2,int> ( -1,-1 ), "localRange", "optional range of local DOF indices. \n"
                                                                                    "Any computation involving only indices outside of this range \n"
-                                                                                   "are discarded (useful for parallelization using mesh partitionning)" ) )
+                                                                                   "are discarded (useful for parallelization using mesh partitioning)" ) )
     , d_indices ( initData ( &d_indices, "indices", "optional local DOF indices. Any computation involving only indices outside of this list are discarded" ) )
     , d_preserveTotalMass( initData ( &d_preserveTotalMass, false, "preserveTotalMass", "Prevent totalMass from decreasing when removing particles."))
     , l_topology(initLink("topology", "link to the topology container"))
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConicalForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConicalForceField.h
index 70aae7726ea..849d0e80b48 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConicalForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConicalForceField.h
@@ -31,7 +31,7 @@
 namespace sofa::component::mechanicalload
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class ConicalForceFieldInternalData
 {
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.h
index 4cc2bfbae6d..5a6ca2b55db 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.h
@@ -30,7 +30,7 @@
 namespace sofa::component::mechanicalload
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class EllipsoidForceFieldInternalData
 {
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.h
index d73706574af..0a9cccd4b7b 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.h
@@ -32,7 +32,7 @@
 namespace sofa::component::mechanicalload
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes1, class DataTypes2>
 class InteractionEllipsoidForceFieldInternalData
 {
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.h
index c338329b09e..4114be3b96e 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.h
@@ -31,7 +31,7 @@
 namespace sofa::component::mechanicalload
 {
 
-/// This class can be overridden if needed for additionnal storage within
+/// This class can be overridden if needed for additional storage within
 /// template specializations.
 template<class DataTypes>
 class PlaneForceFieldInternalData
@@ -77,7 +77,7 @@ class PlaneForceField : public core::behavior::ForceField<DataTypes>
     Data<bool> d_bilateral;
 
     /// optional range of local DOF indices. Any computation involving indices outside of this
-    /// range are discarded (useful for parallelization using mesh partitionning)
+    /// range are discarded (useful for parallelization using mesh partitioning)
     Data< type::Vec<2,int> > d_localRange;
 
     Data<bool>                   d_drawIsEnabled; ///< enable/disable drawing of plane. (default=false)
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.inl
index 125c736403b..abbd6ec1e03 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.inl
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/PlaneForceField.inl
@@ -79,7 +79,7 @@ PlaneForceField<DataTypes>::PlaneForceField() :
     , d_damping(initData(&d_damping, (Real)5, "damping", "force damping. (default=5)"))
     , d_maxForce(initData(&d_maxForce, (Real)0, "maxForce", "if non-null , the max force that can be applied to the object. (default=0)"))
     , d_bilateral( initData(&d_bilateral, false, "bilateral", "if true the plane force field is applied on both sides. (default=false)"))
-    , d_localRange( initData(&d_localRange, type::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitionning)" ) )
+    , d_localRange( initData(&d_localRange, type::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitioning)" ) )
     , d_drawIsEnabled(initData(&d_drawIsEnabled, false, "showPlane", "enable/disable drawing of plane. (default=false)"))
     , d_drawColor(initData(&d_drawColor, sofa::type::RGBAColor(0.0f,.5f,.2f,1.0f), "planeColor", "plane color. (default=[0.0,0.5,0.2,1.0])"))
     , d_drawSize(initData(&d_drawSize, (Real)10.0f, "showPlaneSize", "plane display size if draw is enabled. (default=10)"))
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h
index 433816d5c7d..91ab0c73428 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h
@@ -34,7 +34,7 @@
 namespace sofa::component::mechanicalload
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class SphereForceFieldInternalData
 {
@@ -121,7 +121,7 @@ class SphereForceField : public core::behavior::ForceField<DataTypes>
     Data<Real> d_damping; ///< force damping
     Data<sofa::type::RGBAColor> d_color; ///< sphere color. (default=[0,0,1,1])
 
-    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)
+    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)
     Data< type::Vec<2,int> > d_localRange;
     /// option bilateral : if true, the force field is applied on both side of the plane
     Data<bool> d_bilateral;
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.inl
index 432db057643..b447186793a 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.inl
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.inl
@@ -57,7 +57,7 @@ SphereForceField<DataTypes>::SphereForceField()
     , d_stiffness(initData(&d_stiffness, (Real)500, "stiffness", "force stiffness"))
     , d_damping(initData(&d_damping, (Real)5, "damping", "force damping"))
     , d_color(initData(&d_color, sofa::type::RGBAColor(0.0f, 0.0f, 1.0f, 1.0f), "color", "sphere color. (default=[0,0,1,1])"))
-    , d_localRange(initData(&d_localRange, type::Vec<2,int>(-1, -1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)" ) )
+    , d_localRange(initData(&d_localRange, type::Vec<2,int>(-1, -1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)" ) )
     , d_bilateral(initData(&d_bilateral, false, "bilateral", "if true the sphere force field is applied on both sides"))
 {
     contacts.setOriginalData(&d_contacts);
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h
index fe69aa16445..dc41b36c794 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h
@@ -141,7 +141,7 @@ class TaitSurfacePressureForceField : public core::behavior::ForceField<DataType
     Data< Real > d_currentPressure; ///< OUT: Current pressure, as computed from the last surface position
     Data< Real > d_currentStiffness; ///< OUT: dP/dV at current volume and pressure
 
-    Data< SeqTriangles > d_pressureTriangles; ///< OUT: list of triangles where a pressure is applied (mesh triangles + tesselated quads)
+    Data< SeqTriangles > d_pressureTriangles; ///< OUT: list of triangles where a pressure is applied (mesh triangles + tessellated quads)
 
     Data< Real > d_initialSurfaceArea; ///< OUT: Initial surface area, as computed from the surface rest position
     Data< Real > d_currentSurfaceArea; ///< OUT: Current surface area, as computed from the last surface position
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl
index fd6090accd0..e75e8d0fd27 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl
@@ -49,7 +49,7 @@ TaitSurfacePressureForceField<DataTypes>::TaitSurfacePressureForceField():
     d_currentVolume(initData(&d_currentVolume, (Real)0.0, "currentVolume", "OUT: Current volume, as computed from the last surface position")),
     d_currentPressure(initData(&d_currentPressure, (Real)0.0, "currentPressure", "OUT: Current pressure, as computed from the last surface position")),
     d_currentStiffness(initData(&d_currentStiffness, (Real)0.0, "currentStiffness", "OUT: dP/dV at current volume and pressure")),
-    d_pressureTriangles(initData(&d_pressureTriangles, "pressureTriangles", "OUT: list of triangles where a pressure is applied (mesh triangles + tesselated quads)")),
+    d_pressureTriangles(initData(&d_pressureTriangles, "pressureTriangles", "OUT: list of triangles where a pressure is applied (mesh triangles + tessellated quads)")),
     d_initialSurfaceArea(initData(&d_initialSurfaceArea, (Real)0.0, "initialSurfaceArea", "OUT: Initial surface area, as computed from the surface rest position")),
     d_currentSurfaceArea(initData(&d_currentSurfaceArea, (Real)0.0, "currentSurfaceArea", "OUT: Current surface area, as computed from the last surface position")),
     d_drawForceScale(initData(&d_drawForceScale, (Real)0.001, "drawForceScale", "DEBUG: scale used to render force vectors")),
diff --git a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
index ba0c439a646..83f763d9c40 100644
--- a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
@@ -227,7 +227,7 @@ struct ConstantForceField_test : public BaseSimulationTest, NumericTest<typename
     }
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
 TypeTuple<Rigid2Types, Rigid2Mass>
@@ -240,7 +240,7 @@ TypeTuple<Rigid2Types, Rigid2Mass>
 
 > DataTypes;
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(ConstantForceField_test, DataTypes);// first test case
 TYPED_TEST( ConstantForceField_test , testBasicAttributes )
 {
diff --git a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
index bab1bd89732..5459c9291a9 100644
--- a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
@@ -220,7 +220,7 @@ struct PlaneForceField_test : public BaseSimulationTest
         return true;
     }
 
-    /// This kind of test is important as it enforce the developper to take a wider range of
+    /// This kind of test is important as it enforce the developer to take a wider range of
     /// input values and check that they are gracefully handled.
     bool testMonkeyValuesForAttributes()
     {
@@ -339,7 +339,7 @@ struct PlaneForceField_test : public BaseSimulationTest
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
               TypeTuple<Rigid3Types, Rigid3Mass>
@@ -349,7 +349,7 @@ typedef Types<
               ,TypeTuple<Vec6Types, SReal>
 > DataTypes;
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(PlaneForceField_test, DataTypes);// first test case
 TYPED_TEST( PlaneForceField_test , testPlaneForceField )
 {
diff --git a/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp b/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp
index f6a846d532b..35e39dff75f 100644
--- a/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp
@@ -177,13 +177,13 @@ struct SkeletalMotionProjectiveConstraint_test : public BaseSimulationTest, Nume
  };
 
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Rigid3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(SkeletalMotionProjectiveConstraint_test, DataTypes);
 // first test case
 TYPED_TEST( SkeletalMotionProjectiveConstraint_test , twoConstrainedBones )
diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp
index c624b9e2a30..173b2523a89 100644
--- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp
+++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp
@@ -91,7 +91,7 @@ void VariationalSymplecticSolver::solve(const core::ExecParams* params, SReal dt
 
     MultiVecDeriv newp(&vop);
     MultiVecDeriv vel_1(&vop, vResult); // vector of final  velocity
-    MultiVecDeriv p(&vop); // vector of momemtum
+    MultiVecDeriv p(&vop); // vector of momentum
     // dx is no longer allocated by default (but it will be deleted automatically by the mechanical objects)
     MultiVecDeriv dx(&vop, core::VecDerivId::dx()); dx.realloc(&vop, !d_threadSafeVisitor.getValue(), true);
 
@@ -101,10 +101,10 @@ void VariationalSymplecticSolver::solve(const core::ExecParams* params, SReal dt
 
     if (cpt == 0 || this->getContext()->getTime()==0.0)
     {
-		vop.v_alloc(pID); // allocate a new vector in Mechanical Object to store the momemtum
-		MultiVecDeriv pInit(&vop, pID); // initialize the first value of the momemtum to M*v
+		vop.v_alloc(pID); // allocate a new vector in Mechanical Object to store the momentum
+		MultiVecDeriv pInit(&vop, pID); // initialize the first value of the momentum to M*v
 		pInit.clear();
-		mop.addMdx(pInit,vel_1,1.0); // momemtum is initialized to M*vinit (assume 0 acceleration)
+		mop.addMdx(pInit,vel_1,1.0); // momentum is initialized to M*vinit (assume 0 acceleration)
 
         // Compute potential energy at time t=0
         SReal KineticEnergy;
@@ -122,8 +122,8 @@ void VariationalSymplecticSolver::solve(const core::ExecParams* params, SReal dt
     }
 
 	cpt++;
-    MultiVecDeriv pPrevious(&vop, pID); // get previous momemtum value
-    p.eq(pPrevious); // set p to previous momemtum
+    MultiVecDeriv pPrevious(&vop, pID); // get previous momentum value
+    p.eq(pPrevious); // set p to previous momentum
 
     typedef core::behavior::BaseMechanicalState::VMultiOp VMultiOp;
  
@@ -357,7 +357,7 @@ void VariationalSymplecticSolver::solve(const core::ExecParams* params, SReal dt
         mop.solveConstraint(x_1,core::ConstraintOrder::POS);
     }
 
-	// update the previous momemtum as the current one for next step
+	// update the previous momentum as the current one for next step
     pPrevious.eq(newp);
 }
 
diff --git a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverDynamic_test.cpp
index 430f99fea34..bec03c1f10f 100644
--- a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverDynamic_test.cpp
@@ -145,13 +145,13 @@ struct EulerImplicitDynamic_test : public component::odesolver::testing::ODESolv
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(EulerImplicitDynamic_test, DataTypes);
 
 // Test case: h=0.1 k=100 m =10 rm=0 rk=0
diff --git a/Sofa/Component/ODESolver/Backward/tests/NewmarkImplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/NewmarkImplicitSolverDynamic_test.cpp
index f2739479f4a..092a5e781fc 100644
--- a/Sofa/Component/ODESolver/Backward/tests/NewmarkImplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Backward/tests/NewmarkImplicitSolverDynamic_test.cpp
@@ -159,13 +159,13 @@ struct NewmarkImplicitDynamic_test : public component::odesolver::testing::ODESo
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(NewmarkImplicitDynamic_test, DataTypes);
 
 // Test case: h=0.001
diff --git a/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp
index b0864941f38..ce4ab459c71 100644
--- a/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp
@@ -117,13 +117,13 @@ struct SpringSolverDynamic_test : public NumericTest<typename _DataTypes::Real>
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     defaulttype::Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(SpringSolverDynamic_test, DataTypes);
 
 // Test case EulerImplicit Solver
diff --git a/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticExplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticExplicitSolverDynamic_test.cpp
index 85f4eb7914c..5164f0a4d92 100644
--- a/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticExplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticExplicitSolverDynamic_test.cpp
@@ -151,13 +151,13 @@ struct VariationalSymplecticExplicitSolverDynamic_test : public component::odeso
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(VariationalSymplecticExplicitSolverDynamic_test, DataTypes);
 
 // Test case: h=0.001
diff --git a/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverDynamic_test.cpp
index 62cdb907b67..dfed7294f3e 100644
--- a/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverDynamic_test.cpp
@@ -185,13 +185,13 @@ struct VariationalSymplecticImplicitSolverDynamic_test : public component::odeso
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(VariationalSymplecticImplicitSolverDynamic_test, DataTypes);
 
 // Test case: h=0.1 k=100 m =1 rm=0.1 rk=0.1
diff --git a/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverNonLinearForceDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverNonLinearForceDynamic_test.cpp
index 125923f3d66..2c729cc8bb8 100644
--- a/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverNonLinearForceDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Backward/tests/VariationalSymplecticImplicitSolverNonLinearForceDynamic_test.cpp
@@ -239,13 +239,13 @@ struct VariationalSymplecticImplicitSolverNonLinearForceDynamic_test : public Ba
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(VariationalSymplecticImplicitSolverNonLinearForceDynamic_test, DataTypes);
 
 // Test case: h=0.001
diff --git a/Sofa/Component/ODESolver/Forward/tests/CentralDifferenceExplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Forward/tests/CentralDifferenceExplicitSolverDynamic_test.cpp
index ad02ae561e3..54728aa702e 100644
--- a/Sofa/Component/ODESolver/Forward/tests/CentralDifferenceExplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Forward/tests/CentralDifferenceExplicitSolverDynamic_test.cpp
@@ -177,13 +177,13 @@ struct CentralDifferenceExplicitSolverDynamic_test : public component::odesolver
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(CentralDifferenceExplicitSolverDynamic_test, DataTypes);
 
 // Test case: h=0.01 k=100 m =10 rm=0.1 rk=0.1
diff --git a/Sofa/Component/ODESolver/Forward/tests/EulerExplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Forward/tests/EulerExplicitSolverDynamic_test.cpp
index 5a025b0eaee..13b9996e99f 100644
--- a/Sofa/Component/ODESolver/Forward/tests/EulerExplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Forward/tests/EulerExplicitSolverDynamic_test.cpp
@@ -145,13 +145,13 @@ struct EulerExplicitDynamic_test : public component::odesolver::testing::ODESolv
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(EulerExplicitDynamic_test, DataTypes);
 
 // Test case: h=0.001 k=100 m=10
diff --git a/Sofa/Component/ODESolver/Forward/tests/RungeKutta2ExplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Forward/tests/RungeKutta2ExplicitSolverDynamic_test.cpp
index b8218c020d0..a14d872f70c 100644
--- a/Sofa/Component/ODESolver/Forward/tests/RungeKutta2ExplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Forward/tests/RungeKutta2ExplicitSolverDynamic_test.cpp
@@ -159,13 +159,13 @@ struct RungeKutta2ExplicitSolverDynamic_test : public component::odesolver::test
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(RungeKutta2ExplicitSolverDynamic_test, DataTypes);
 
 // Test case: h=0.1 k=100 m =10 rm=0.1 rk=0.1
diff --git a/Sofa/Component/ODESolver/Forward/tests/RungeKutta4ExplicitSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Forward/tests/RungeKutta4ExplicitSolverDynamic_test.cpp
index f3c2543ffb8..6324580e9b5 100644
--- a/Sofa/Component/ODESolver/Forward/tests/RungeKutta4ExplicitSolverDynamic_test.cpp
+++ b/Sofa/Component/ODESolver/Forward/tests/RungeKutta4ExplicitSolverDynamic_test.cpp
@@ -195,13 +195,13 @@ struct RungeKutta4ExplicitSolverDynamic_test : public component::odesolver::test
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(RungeKutta4ExplicitSolverDynamic_test, DataTypes);
 
 // Test case: h=0.1 k=100 m =10 rm=0.1 rk=0.1
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/CompareState.cpp b/Sofa/Component/Playback/src/sofa/component/playback/CompareState.cpp
index cff6913810e..124d86d4d21 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/CompareState.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/CompareState.cpp
@@ -55,7 +55,7 @@ look for potential CompareStateFile formatted likewise
 with
 - %0 the current scene name
 - %1 the current comparestate counter value
-- %2 the name of the mstate which will undergo comparizons.
+- %2 the name of the mstate which will undergo comparisons.
 */
 std::string lookForValidCompareStateFile( const std::string& sceneName,
         const std::string& mstateName,
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/CompareTopology.cpp b/Sofa/Component/Playback/src/sofa/component/playback/CompareTopology.cpp
index 18e8ffbf6a4..b6a20b6fe7f 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/CompareTopology.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/CompareTopology.cpp
@@ -69,7 +69,7 @@ void CompareTopology::processCompareTopology()
 
     if (!topo)
     {
-        msg_error() << "CompareTopology can't acces to the Topology.";
+        msg_error() << "CompareTopology can't access to the Topology.";
         return;
     }
 
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.cpp b/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.cpp
index 330aaf600d4..bf284c9da8c 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.cpp
@@ -41,8 +41,8 @@ void registerInputEventReader(sofa::core::ObjectFactory* factory)
 
 InputEventReader::InputEventReader()
     : d_filename(initData(&d_filename, std::string("/dev/input/mouse2"), "filename", "input events file name"))
-    , d_inverseSense(initData(&d_inverseSense, false, "inverseSense", "inverse the sense of the mouvement"))
-    , d_printEvent(initData(&d_printEvent, false, "printEvent", "Print event informations"))
+    , d_inverseSense(initData(&d_inverseSense, false, "inverseSense", "inverse the sense of the movement"))
+    , d_printEvent(initData(&d_printEvent, false, "printEvent", "Print event information"))
 //, timeout( initData(&timeout, 0, "timeout", "time out to get an event from file" ))
     , d_key1(initData(&d_key1, '0', "key1", "Key event generated when the left pedal is pressed"))
     , d_key2(initData(&d_key2, '1', "key2", "Key event generated when the right pedal is pressed"))
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h b/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h
index aa1b8431ea4..6eb0e713c4f 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h
+++ b/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h
@@ -96,8 +96,8 @@ class InputEventReader : public core::objectmodel::BaseObject
     sofa::core::objectmodel::DataFileName p_outputFilename;
 
     sofa::core::objectmodel::DataFileName d_filename; ///< file in which the events are read.
-    Data<bool> d_inverseSense; ///< inverse the sense of the mouvement
-    Data<bool> d_printEvent; ///< Print event informations
+    Data<bool> d_inverseSense; ///< inverse the sense of the movement
+    Data<bool> d_printEvent; ///< Print event information
     Data<char> d_key1; ///< Key event generated when the left pedal is pressed
     Data<char> d_key2; ///< Key event generated when the right pedal is pressed
     Data<bool> d_writeEvents; ///< If true, write incoming events ; if false, read events from that file (if an output filename is provided)
@@ -106,7 +106,7 @@ class InputEventReader : public core::objectmodel::BaseObject
     std::ofstream* outFile;
 
 //	Data<double> timeout;
-    int fd; ///< desciptor to open and read the file.
+    int fd; ///< descriptor to open and read the file.
 
     int deplX, deplY; ///< mouse relative deplacements.
 
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp
index 0939d67140f..14012330204 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp
@@ -30,7 +30,7 @@ using namespace defaulttype;
 
 void registerReadTopology(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Read topology containers informations from file at each timestep.")
+    factory->registerObjects(core::ObjectRegistrationData("Read topology containers information from file at each timestep.")
         .add< ReadTopology >());
 }
 
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h
index 9a0a2c5f12a..abd7f4e23f4 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h
+++ b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h
@@ -39,7 +39,7 @@
 namespace sofa::component::playback
 {
 
-/** Read Topology containers informations from file at each timestep
+/** Read Topology containers information from file at each timestep
 */
 class SOFA_COMPONENT_PLAYBACK_API ReadTopology: public core::objectmodel::BaseObject
 {
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/WriteState.h b/Sofa/Component/Playback/src/sofa/component/playback/WriteState.h
index c3db8c36fb4..fe78b4c38d9 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/WriteState.h
+++ b/Sofa/Component/Playback/src/sofa/component/playback/WriteState.h
@@ -42,7 +42,7 @@ namespace sofa::component::playback
 {
 
 /** Write State vectors to file at a given set of time instants
- * A period can be etablished at the last time instant
+ * A period can be established at the last time instant
  * The DoFs to print can be chosen using DOFsX and DOFsV
  * Stop to write the state if the kinematic energy reach a given threshold (stopAt)
  * The energy will be measured at each period determined by keperiod
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp
index b2d92a8c12b..65b70489ae9 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp
@@ -31,7 +31,7 @@ using namespace defaulttype;
 
 void registerWriteTopology(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Write topology containers informations to file at each timestep.")
+    factory->registerObjects(core::ObjectRegistrationData("Write topology containers information to file at each timestep.")
         .add< WriteTopology >());
 }
 
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h
index 796d6508b49..77706b00a7a 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h
+++ b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h
@@ -43,9 +43,9 @@
 namespace sofa::component::playback
 {
 
-/** Write Topology containers informations into a file at a given set of time instants
- * A period can be etablished at the last time instant.
- * The informations to write can be choosen. by default there will be only commun containers.
+/** Write Topology containers information into a file at a given set of time instants
+ * A period can be established at the last time instant.
+ * The information to write can be chosen. by default there will be only commun containers.
  * An option is available to write shells containers.
  *
  * This part is not handle yet:
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.h b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.h
index 06ffcd97986..fab657df4fc 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.h
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.h
@@ -29,12 +29,12 @@ namespace sofa::component::sceneutility::infocomponent
 {
 
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace. When closing this namespace
+/// fearing it will leak names into the global namespace. When closing this namespace
 /// selected object from this per-file namespace are then imported into their parent namespace.
 /// for ease of use
 using sofa::core::objectmodel::BaseObject ;
 
-/// Despite this component does absolutely nothin... it is very usefull as it can be used to
+/// Despite this component does absolutely nothing... it is very useful as it can be used to
 /// retain information scene graph.
 class SOFA_COMPONENT_SCENEUTILITY_API InfoComponent : public BaseObject
 {
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.h b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.h
index 5b806484072..96ccab239de 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.h
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.h
@@ -33,7 +33,7 @@ namespace sofa::component::sceneutility::makealiascomponent
 {
 
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace. When closing this namespace
+/// fearing it will leak names into the global namespace. When closing this namespace
 /// selected object from this per-file namespace are then imported into their parent namespace.
 /// for ease of use
 /// 
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.h b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.h
index 557ff7d0f3c..eee41a045da 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.h
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.h
@@ -32,7 +32,7 @@
 namespace sofa::component::sceneutility::makedataaliascomponent
 {
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace. When closing this namespace
+/// fearing it will leak names into the global namespace. When closing this namespace
 /// selected object from this per-file namespace are then imported into their parent namespace.
 /// for ease of use
 
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp
index 71c57151b40..f3cab5870db 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp
@@ -89,7 +89,7 @@ void MessageHandlerComponent::parse ( core::objectmodel::BaseObjectDescription*
     }else{
         msg_info(this) << " the following handler '" << stype << "' is not a supported. "
                           "The default sofa style will be used. "
-                          "To supress this message you need to specify a valid attribute "
+                          "To suppress this message you need to specify a valid attribute "
                           "among [clang, log, silent, sofa]." ;
         return ;
     }
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h
index 7a33c866944..cc68dbf18a5 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h
@@ -39,7 +39,7 @@ namespace sofa::component::solidmechanics::fem::elastic
 template<class DataTypes>
 class FastTetrahedralCorotationalForceField;
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class FastTetrahedralCorotationalForceFieldData
 {
@@ -154,7 +154,7 @@ class FastTetrahedralCorotationalForceField : public BaseLinearElasticityFEMForc
     core::topology::EdgeData<VecMat3x3 > d_edgeInfo; ///< Internal edge data
     core::topology::TetrahedronData<VecTetrahedronRestInformation > d_tetrahedronInfo; ///< Internal tetrahedron data
 
-    VecCoord  _initialPoints;///< the intial positions of the points
+    VecCoord  _initialPoints;///< the initial positions of the points
     Data<std::string> d_method; ///<  method for rotation computation :"qr" (by QR) or "polar" or "polar2" or "none" (Linear elastic)
     RotationDecompositionMethod m_decompositionMethod;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
index f9deaa3d318..5c1f4fe5d05 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
@@ -308,7 +308,7 @@ const typename HexahedronFEMForceField<DataTypes>::Transformation& HexahedronFEM
 /////////////////////////////////////////////////
 // enable to use generic matrix computing code instead of the original optimized code specific to parallelepipeds
 #define GENERIC_STIFFNESS_MATRIX
-// enable to use the full content of the MaterialStiffness matrix, instead of only the 3x3 upper bloc
+// enable to use the full content of the MaterialStiffness matrix, instead of only the 3x3 upper block
 #define MAT_STIFFNESS_USE_W
 // enable to use J when computing qx/qy/qz, instead of computing the matrix relative to (x1,x2,x3) and pre/post multiply by J^-1 afterward.
 // note that this does not matter if the element is a cube.
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h
index f94d7b06541..0c26029c00d 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h
@@ -229,7 +229,7 @@ protected :
 
 public:
 
-    /// Forcefield intern paramaters
+    /// Forcefield intern parameters
     int method;
 
     SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC()
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl
index 0bd730ee2c4..add56877b76 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl
@@ -321,7 +321,7 @@ void QuadBendingFEMForceField<DataTypes>::computeBendingStrainDisplacement(Strai
 }
   
 // ------------------------------------------------------------------------------------------------------------
-// --- Compute the strain-displacement matrix (Shear componenent) where (a, b, c, d) are the coordinates of the 4 nodes of a rectangular
+// --- Compute the strain-displacement matrix (Shear component) where (a, b, c, d) are the coordinates of the 4 nodes of a rectangular
 // ------------------------------------------------------------------------------------------------------------
 template <class DataTypes>
 void QuadBendingFEMForceField<DataTypes>::computeShearStrainDisplacement(StrainDisplacement &Js, /*Index elementIndex*/ Real l, Real h/*Coord a, Coord b, Coord c, Coord d*/  )
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
index 9f0c5171598..b80db2e698f 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
@@ -395,7 +395,7 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::computeMaterialStiffness(i
     }
     //	materialMatrix  /= (volumes6);//*6 christian
     // @TODO: in TetrahedronFEMForceField, the stiffness matrix is divided by 6 compared to the code in TetrahedralCorotationalFEMForceField. Check which is the correct one...
-    // FF:  there is normally  a factor 1/6v in the strain-displacement matrix. Times transpose makes 1/36v². Integrating accross the volume multiplies by v, so the factor is 1/36v
+    // FF:  there is normally  a factor 1/6v in the strain-displacement matrix. Times transpose makes 1/36v². Integrating across the volume multiplies by v, so the factor is 1/36v
     materialMatrix  /= (volumes6*6);
 
 }
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h
index 50c441429da..10652e50b37 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h
@@ -54,7 +54,7 @@ namespace sofa::component::solidmechanics::fem::elastic
 template<class DataTypes>
 class TetrahedronFEMForceField;
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class TetrahedronFEMForceFieldInternalData
 {
@@ -304,7 +304,7 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField<DataTy
 
     Data<Real> d_showElementGapScale; ///< draw gap between elements (when showWireFrame is disabled) [0,1]: 0: no gap, 1: no element
 
-    Data<bool>  d_updateStiffness; ///< udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1)
+    Data<bool>  d_updateStiffness; ///< update structures (precomputed in init) using stiffness parameters in each iteration (set listening=1)
 
     using Inherit1::l_topology;
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl
index ab58dd6875a..4a5ce9bfb61 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl
@@ -64,7 +64,7 @@ TetrahedronFEMForceField<DataTypes>::TetrahedronFEMForceField()
     , d_showVonMisesStressPerNodeColorMap(initData(&d_showVonMisesStressPerNodeColorMap,false,"showVonMisesStressPerNodeColorMap","draw elements showing vonMises stress interpolated in nodes"))
     , d_showVonMisesStressPerElement(initData(&d_showVonMisesStressPerElement, false, "showVonMisesStressPerElement", "draw triangles showing vonMises stress interpolated in elements"))
     , d_showElementGapScale(initData(&d_showElementGapScale, (Real)0.333, "showElementGapScale", "draw gap between elements (when showWireFrame is disabled) [0,1]: 0: no gap, 1: no element"))
-    , d_updateStiffness(initData(&d_updateStiffness, false, "updateStiffness", "udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1)"))
+    , d_updateStiffness(initData(&d_updateStiffness, false, "updateStiffness", "update structures (precomputed in init) using stiffness parameters in each iteration (set listening=1)"))
 {
     data.initPtrData(this);
     this->addAlias(&d_assembling, "assembling");
@@ -696,7 +696,7 @@ inline SReal TetrahedronFEMForceField<DataTypes>::getPotentialEnergy(const core:
                 Displacement F;
 
                 // ComputeForce without the case of  plasticity simulation when  d_plasticMaxThreshold.getValue() > 0
-                // This case actually modifies  the member plasticStrain and getPotentialEnergy is a const fonction.
+                // This case actually modifies  the member plasticStrain and getPotentialEnergy is a const function.
                 MaterialStiffness K = materialsStiffnesses[i];
                 StrainDisplacement J = strainDisplacements[i];
 
@@ -1303,7 +1303,7 @@ void TetrahedronFEMForceField<DataTypes>::init()
         this->f_listening.setValue(true);
     }
 
-    // ParallelDataThrd is used to build the matrix asynchronusly (when listening = true)
+    // ParallelDataThrd is used to build the matrix asynchronously (when listening = true)
     // This feature is activated when callin handleEvent with ParallelizeBuildEvent
     // At init parallelDataSimu == parallelDataThrd (and it's the case since handleEvent is called)
 
@@ -1363,7 +1363,7 @@ void TetrahedronFEMForceField<DataTypes>::init()
             }
         }
 
-        // Tesselation of each cube into 6 tetrahedra
+        // Tessellation of each cube into 6 tetrahedra
         tetrahedra->reserve(size_t(nbcubes)*6);
         for (sofa::Size i=0; i<nbcubes; i++)
         {
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl
index b72afc40e28..a05b2ba75a0 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl
@@ -471,7 +471,7 @@ void TriangleFEMForceField<DataTypes>::accumulateForceLarge(VecCoord& f, const V
         f[b] += R_2_0 * Coord(F[2], F[3], 0);
         f[c] += R_2_0 * Coord(F[4], F[5], 0);
 
-        // store for re-use in matrix-vector products
+        // store for reuse in matrix-vector products
         if (implicit)
         {
             _strainDisplacements[elementIndex] = J;
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h
index 1608c261fae..4a178998e1f 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h
@@ -252,7 +252,7 @@ protected :
 
 public:
 
-    /// Forcefield intern paramaters
+    /// Forcefield intern parameters
     int method;
 
     SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC()
@@ -295,7 +295,7 @@ protected :
     Data< sofa::type::vector<Transformation> > d_initialTransformation; ///< Flag activating rendering of stress directions within each triangle
 
     /// Fracture parameters
-    Data<Real> d_hosfordExponant; ///< Exponant in the Hosford yield criteria
+    Data<Real> d_hosfordExponant; ///< Exponent in the Hosford yield criteria
     Data<Real> d_criteriaValue; ///< Fracturable threshold used to draw fracturable triangles
 
     /// Display parameters
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl
index e2cd641e92c..408adaab380 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl
@@ -48,7 +48,7 @@ TriangularFEMForceField<DataTypes>::TriangularFEMForceField()
     , d_method(initData(&d_method, std::string("large"), "method", "large: large displacements, small: small displacements"))
     , d_rotatedInitialElements(initData(&d_rotatedInitialElements, "rotatedInitialElements", "Flag activating rendering of stress directions within each triangle"))
     , d_initialTransformation(initData(&d_initialTransformation, "initialTransformation", "Flag activating rendering of stress directions within each triangle"))
-    , d_hosfordExponant(initData(&d_hosfordExponant, (Real)1.0, "hosfordExponant", "Exponant in the Hosford yield criteria"))
+    , d_hosfordExponant(initData(&d_hosfordExponant, (Real)1.0, "hosfordExponant", "Exponent in the Hosford yield criteria"))
     , d_criteriaValue(initData(&d_criteriaValue, (Real)1e15, "criteriaValue", "Fracturable threshold used to draw fracturable triangles"))
     , d_showStressValue(initData(&d_showStressValue, true, "showStressValue", "Flag activating rendering of stress values as a color in each triangle"))
     , d_showStressVector(initData(&d_showStressVector, false, "showStressVector", "Flag activating rendering of stress directions within each triangle"))
@@ -791,7 +791,7 @@ void TriangularFEMForceField<DataTypes>::computeStress(type::Vec<3, Real>& stres
         // then compute displacement in this frame
         m_triangleUtils.computeDisplacementLarge(D, R_0_2, triangleInf[elementIndex].rotatedInitialElements, p[a], p[b], p[c]);
 
-        // and compute postions of a, b, c in the co-rotational frame
+        // and compute positions of a, b, c in the co-rotational frame
         Coord A = Coord(0, 0, 0); SOFA_UNUSED(A);
         Coord B = R_0_2 * (p[b] - p[a]);
         Coord C = R_0_2 * (p[c] - p[a]);
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.h
index a8b3af2cc49..23ea6aa0a20 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.h
@@ -35,7 +35,7 @@ namespace sofa::component::solidmechanics::fem::elastic
 template<class DataTypes>
 class TriangularFEMForceFieldOptim;
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class TriangularFEMForceFieldOptimInternalData
 {
@@ -234,7 +234,7 @@ class TriangularFEMForceFieldOptim : public BaseLinearElasticityFEMForceField<Da
 
 public:
 
-    /// Forcefield intern paramaters
+    /// Forcefield intern parameters
     Data<Real> d_damping; ///< Ratio damping/stiffness
     Data<Real> d_restScale; ///< Scale factor applied to rest positions (to simulate pre-stretched materials)
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl
index 302380320d1..3259d22b7dd 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl
@@ -143,7 +143,7 @@ void TriangularFEMForceFieldOptim<DataTypes>::initTriangleInfo(Index i, Triangle
         ab *= restScale;
         ac *= restScale;
     }
-    // equivalent to computeRotationLarge but in 2D == do not store the ortogonal vector are framex ^ framey
+    // equivalent to computeRotationLarge but in 2D == do not store the orthogonal vector are framex ^ framey
     computeTriangleRotation(ti.init_frame, ab, ac);
 
     // compute initial position in local space A[0, 0] B[x, 0] C[x, y]
@@ -265,7 +265,7 @@ void TriangularFEMForceFieldOptim<DataTypes>::addForce(const core::MechanicalPar
         // | 0      gamma1  0      gamma2   0      gamma3 | / (2 * A)
         // | gamma1 beta1   gamma2 beta2    gamma3 beta3 |
 
-        // As no displacement for Pa nor in Pb[y], Beta1, gamma1 and beta3 are not considered. Therefor we obtain:
+        // As no displacement for Pa nor in Pb[y], Beta1, gamma1 and beta3 are not considered. Therefore we obtain:
         // | beta2  0        beta3  0      |
         // | 0      gamma2   0      gamma3 | / (2 * A)
         // | gamma2 beta2    gamma3 beta3 |
@@ -309,7 +309,7 @@ void TriangularFEMForceFieldOptim<DataTypes>::addForce(const core::MechanicalPar
         f[t[1]] += fb;
         f[t[2]] += fc;
 
-        // store data for re-use
+        // store data for reuse
         ts.stress = stress;
     }
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/HexahedronFEMForceField_test.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/HexahedronFEMForceField_test.cpp
index 7db71294a30..c95c360ef3f 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/HexahedronFEMForceField_test.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/HexahedronFEMForceField_test.cpp
@@ -122,15 +122,15 @@ struct HexahedronFEMForceField_test : public ForceField_test<_HexahedronFEMForce
     }
 };
 
-// ========= Define the list of types to instanciate.
+// ========= Define the list of types to instantiate.
 //using ::testing::Types;
 typedef ::testing::Types<
 sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField<defaulttype::Vec3Types>
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(HexahedronFEMForceField_test, TestTypes);
 
 // test case
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TetrahedronFEMForceField_stepTest.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TetrahedronFEMForceField_stepTest.cpp
index bc6863a6f51..70de4804c86 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TetrahedronFEMForceField_stepTest.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TetrahedronFEMForceField_stepTest.cpp
@@ -96,15 +96,15 @@ struct TetrahedronFEMForceField_stepTest : public ForceField_test<_TetrahedronFE
 };
 
 
-// ========= Define the list of types to instanciate.
+// ========= Define the list of types to instantiate.
 //using ::testing::Types;
 typedef ::testing::Types<
 sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField<defaulttype::Vec3Types>
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(TetrahedronFEMForceField_stepTest, TestTypes);
 
 // test case
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_stepTest.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_stepTest.cpp
index 26f5ecd51b2..c29bf739f08 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_stepTest.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_stepTest.cpp
@@ -85,7 +85,7 @@ typedef ::testing::Types<
 
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(TriangleFEMForceField_stepTest, TestTypes);
 
 TYPED_TEST(TriangleFEMForceField_stepTest, test )
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.h
index e9d72e80123..fc111a7b248 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.h
@@ -41,7 +41,7 @@ namespace sofa::component::solidmechanics::fem::hyperelastic
 //***************** Tetrahedron FEM code for several elastic models: StandardTetrahedralFEMForceField*******************************************************************
 //********************************** Based on classical discretization : Fi=-Bi^T S V and Kij=Bi^T N Bj +Di^T S Dj **********************************************
 //***************************************** where Bi is the strain displacement (6*3 matrix), S SPK tensor N=dS/dC, Di shape vector ************************************
-//**************************** Code dependant on HyperelasticMatrialFEM and inherited classes *********************************************************************
+//**************************** Code dependent on HyperelasticMatrialFEM and inherited classes *********************************************************************
 
 /** Compute Finite Element forces based on tetrahedral elements.
 */
@@ -105,7 +105,7 @@ public :
 	  //Matrix63 matB[4];
 	  Real strainEnergy;
 
-      //Tetrahedron Points Indicies for CUDA
+      //Tetrahedron Points Indices for CUDA
       float tetraIndices[4]{};
       //Tetrahedron Edges for CUDA
       float tetraEdges[6]{};
@@ -140,7 +140,7 @@ public :
 
  protected :
    core::topology::BaseMeshTopology* m_topology;
-   VecCoord  _initialPoints;	/// the intial positions of the points
+   VecCoord  _initialPoints;	/// the initial positions of the points
    bool updateMatrix;
    bool  _meshSaved ;
    Data<std::string> f_materialName; ///< the name of the material to be used
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl
index 084fea26034..c7ce2017fa6 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl
@@ -291,7 +291,7 @@ void StandardTetrahedralFEMForceField<DataTypes>::addForce(const core::Mechanica
 
     if (mparams->implicit()) {
         // if implicit solver recompute the stiffness matrix stored at each edge
-        // starts by reseting each matrix to 0
+        // starts by resetting each matrix to 0
         for(l=0; l<nbEdges; l++ )edgeInf[l].DfDx.clear();
     }
     Matrix3 deformationGradient;
@@ -627,7 +627,7 @@ void StandardTetrahedralFEMForceField<DataTypes>::testDerivatives()
     VecCoord &pos = *d_pos.beginEdit();
     pos =  this->mstate->read(core::ConstVecCoordId::position())->getValue();
 
-    // perturbate original state:
+    // perturb original state:
     srand( 0 );
     for (unsigned int idx=0; idx<pos.size(); idx++) {
         for (unsigned int d=0; d<3; d++) pos[idx][d] += (Real)0.01 * ((Real)rand()/(Real)(RAND_MAX - 0.5));
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.h
index e734d8f2cb1..f089c097572 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.h
@@ -130,7 +130,7 @@ class TetrahedronHyperelasticityFEMForceField : public core::behavior::ForceFiel
  protected :
 
     core::topology::BaseMeshTopology* m_topology;
-    VecCoord m_initialPoints;	/// the intial positions of the points
+    VecCoord m_initialPoints;	/// the initial positions of the points
     bool m_updateMatrix;
 
 public:
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl
index 43dd45698bf..adc26351f83 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl
@@ -601,7 +601,7 @@ void TetrahedronHyperelasticityFEMForceField<DataTypes>::testDerivatives()
     VecCoord &pos = *d_pos.beginEdit();
     pos =  this->mstate->read(core::ConstVecCoordId::position())->getValue();
 
-    // perturbate original state:
+    // perturb original state:
     srand( 0 );
     for (unsigned int idx=0; idx<pos.size(); idx++) {
             for (unsigned int d=0; d<3; d++) pos[idx][d] += (Real)0.01 * ((Real)rand()/(Real)(RAND_MAX - 0.5));
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h
index 0c9e7c3cb4f..552ab1af8f8 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h
@@ -33,7 +33,7 @@ namespace sofa::component::solidmechanics::fem::hyperelastic::material
 {
 
 
-/** a Class that describe a generic hyperelastic material : exemple of Boyce and Arruda
+/** a Class that describe a generic hyperelastic material : example of Boyce and Arruda
 The material is described based on continuum mechanics and the description is independent
 to any discretization method like the finite element method. 
 A material is generically described by a strain energy function and its first and second derivatives.
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h
index 81bedb80598..d334712b8c3 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h
@@ -32,7 +32,7 @@
 namespace sofa::component::solidmechanics::fem::hyperelastic::material
 {
 
-/** a Class that describe a generic hyperelastic material : exemple of Boyce and Arruda
+/** a Class that describe a generic hyperelastic material : example of Boyce and Arruda
 The material is described based on continuum mechanics and the description is independent
 to any discretization method like the finite element method. 
 A material is generically described by a strain energy function and its first and second derivatives.
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h
index 5007478243b..bab2cf34451 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h
@@ -32,7 +32,7 @@
 
 namespace sofa::component::solidmechanics::fem::hyperelastic::material
 {
-/** a Class that describe a generic hyperelastic material : exemple of Boyce and Arruda
+/** a Class that describe a generic hyperelastic material : example of Boyce and Arruda
 The material is described based on continuum mechanics and the description is independent
 to any discretization method like the finite element method.
 A material is generically described by a strain energy function and its first and second derivatives.
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h
index 29b16da9055..19dc7f947a9 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h
@@ -36,7 +36,7 @@
 namespace sofa::component::solidmechanics::fem::hyperelastic::material
 {
 
-/** a Class that describe a generic hyperelastic material : exemple of Boyce and Arruda
+/** a Class that describe a generic hyperelastic material : example of Boyce and Arruda
 The material is described based on continuum mechanics and the description is independent
 to any discretization method like the finite element method.
 A material is generically described by a strain energy function and its first and second derivatives.
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h
index 3f6eaa209ab..78649290c6d 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h
@@ -31,7 +31,7 @@
 
 namespace sofa::component::solidmechanics::fem::hyperelastic::material
 {
-/** a Class that describe a generic hyperelastic material : exemple of Boyce and Arruda
+/** a Class that describe a generic hyperelastic material : example of Boyce and Arruda
 The material is described based on continuum mechanics and the description is independent
 to any discretization method like the finite element method.
 A material is generically described by a strain energy function and its first and second derivatives.
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp
index 75538ecc013..cc3e31494ea 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp
@@ -223,7 +223,7 @@ void testApplyElasticityTensor(
     sofa::testing::LinearCongruentialRandomGenerator lcg(96547);
     strain.deformationTensor = generatePositiveDefiniteMatrix(lcg);
 
-    //another random-generated symetric second-order tensor
+    //another random-generated symmetric second-order tensor
     const StrainInformation<defaulttype::Vec3Types>::MatrixSym e =
             generatePositiveDefiniteMatrix(lcg);
     sofa::type::Vec<6, SReal> eVec;
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp
index 7c2c4da6cc1..7845bbe38e8 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp
@@ -131,12 +131,12 @@ struct TetrahedronHyperelasticityFEMForceField_params_test : public BaseSimulati
 };
 
 
-// ========= Define the list of types to instanciate.
+// ========= Define the list of types to instantiate.
 //using ::testing::Types;
-typedef ::testing::Types<sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField<defaulttype::Vec3Types> > TestTypes; // the types to instanciate.
+typedef ::testing::Types<sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField<defaulttype::Vec3Types> > TestTypes; // the types to instantiate.
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(TetrahedronHyperelasticityFEMForceField_params_test, TestTypes);
 
 // test case
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp
index 8c77b8382b8..f68e680790f 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp
@@ -143,12 +143,12 @@ struct TetrahedronHyperelasticityFEMForceField_scene_test : public BaseSimulatio
 };
 
 
-// ========= Define the list of types to instanciate.
+// ========= Define the list of types to instantiate.
 //using ::testing::Types;
-typedef ::testing::Types<sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField<defaulttype::Vec3Types> > TestTypes; // the types to instanciate.
+typedef ::testing::Types<sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField<defaulttype::Vec3Types> > TestTypes; // the types to instantiate.
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(TetrahedronHyperelasticityFEMForceField_scene_test, TestTypes);
 
 // test case
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl
index 2838aafc996..f4040250526 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl
@@ -662,7 +662,7 @@ void HexahedronCompositeFEMForceFieldAndMass<T>::computeMechanicalMatricesDirect
 
 
     EigenMatrix Kg = EigenMatrix::Zero(sizeass * 3, 8 * 3); // stiffness of contrained nodes
-    EigenMatrix A = EigenMatrix::Zero(sizeass * 3, sizeass * 3); // [Kf -G] ==  Kf (stiffness of free nodes) with the constaints
+    EigenMatrix A = EigenMatrix::Zero(sizeass * 3, sizeass * 3); // [Kf -G] ==  Kf (stiffness of free nodes) with the constraints
 
     for ( std::size_t i=0; i<sizeass; ++i)
     {
@@ -946,7 +946,7 @@ void HexahedronCompositeFEMForceFieldAndMass<T>::computeMechanicalMatricesRecurs
 
 
         type::Mat<27*3, 8*3, Real> Kg; // stiffness of contrained nodes
-        type::Mat<27*3, 27*3, Real> A; // [Kf -G]  Kf (stiffness of free nodes) with the constaints
+        type::Mat<27*3, 27*3, Real> A; // [Kf -G]  Kf (stiffness of free nodes) with the constraints
         type::Mat<27*3, 27*3, Real> Ainv;
 
 
@@ -1332,7 +1332,7 @@ void HexahedronCompositeFEMForceFieldAndMass<T>::computeMechanicalMatricesRecurs
         }
 
         EigenMatrix Kg = EigenMatrix::Zero(sizeass * 3, idxcutasscoarse * 3);// stiffness of contrained nodes
-        EigenMatrix A = EigenMatrix::Zero(sizeass * 3, sizeass * 3); // [Kf -G] ==  Kf (stiffness of free nodes) with the constaints
+        EigenMatrix A = EigenMatrix::Zero(sizeass * 3, sizeass * 3); // [Kf -G] ==  Kf (stiffness of free nodes) with the constraints
         
         for( auto it = map_idxq_idxcutass.begin(); it!=map_idxq_idxcutass.end(); ++it)
         {
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.h b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.h
index e103b4ea162..6a1d853a15c 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.h
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.h
@@ -121,8 +121,8 @@ protected :
     // in order to treat large dispacements in translation (rotation is given by the corotational force field)
 // 	  InVecCoord _baycenters0;
 // 	  InCoord computeTranslation( const SparseGridTopologyT::Hexa& hexa, unsigned idx );
-    OutVecCoord _p0; // intial position of the interpolated vertices
-    InVecCoord _qCoarse0, _qFine0; // intial position of the element nodes
+    OutVecCoord _p0; // initial position of the interpolated vertices
+    InVecCoord _qCoarse0, _qFine0; // initial position of the element nodes
     InVecCoord _qFine; // only for drawing
 
 // 	  type::vector< type::Quat<Real> > _rotations;
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.h b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.h
index cf6ffcc6688..243f9cc0b8d 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.h
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.h
@@ -173,7 +173,7 @@ class NonUniformHexahedralFEMForceFieldAndMass : virtual public component::solid
 
 protected:
 
-    // ---------------  Modified method: compute and re-use MBK
+    // ---------------  Modified method: compute and reuse MBK
     typedef component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass<DataTypes> Inherited;
     typedef typename Inherited::HexahedronInformation HexahedronInformation;
     typedef typename Inherited::Mat33 Mat33;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h
index 5ac5385ca38..3677cf59b68 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h
@@ -171,7 +171,7 @@ class FrameSpringForceField : public core::behavior::PairInteractionForceField<D
     VecCoord springRef;
     /// bool to allow the display of the 2 parts of springs torsions
     Data<bool> d_showLawfulTorsion;
-    Data<bool> d_showExtraTorsion; ///< dislpay the illicit part of the joint rotation
+    Data<bool> d_showExtraTorsion; ///< display the illicit part of the joint rotation
 
     FrameSpringForceFieldInternalData<DataTypes> data;
 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.h
index ae1dbc08177..f46df5c7d5c 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.h
@@ -62,7 +62,7 @@ class MeshSpringForceField : public virtual SpringForceField<DataTypes>
     Data< Real >  d_drawMaxElongationRange; ///< Max range of elongation (red eongation - blue neutral - green compression)
     Data< Real >  d_drawSpringSize; ///< Size of drawed lines
 
-    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)
+    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)
     Data< type::Vec<2, sofa::Index> > d_localRange;
 
     /// Link to be set to the topology container in the component graph.
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.inl
index a2017891736..b36565e01c9 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/MeshSpringForceField.inl
@@ -46,7 +46,7 @@ MeshSpringForceField<DataTypes>::MeshSpringForceField()
     , d_drawMinElongationRange(initData(&d_drawMinElongationRange, Real(8.), "drawMinElongationRange","Min range of elongation (red eongation - blue neutral - green compression)"))
     , d_drawMaxElongationRange(initData(&d_drawMaxElongationRange, Real(15.), "drawMaxElongationRange","Max range of elongation (red eongation - blue neutral - green compression)"))
     , d_drawSpringSize(initData(&d_drawSpringSize, Real(8.), "drawSpringSize","Size of drawed lines"))
-    , d_localRange( initData(&d_localRange, type::Vec<2, sofa::Index>(sofa::InvalidID, sofa::InvalidID), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)" ) )
+    , d_localRange( initData(&d_localRange, type::Vec<2, sofa::Index>(sofa::InvalidID, sofa::InvalidID), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)" ) )
     , l_topology(initLink("topology", "link to the topology container"))
 {
 	this->d_ks.setDisplayed(false);
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.h
index 2ae928e3f70..0186434fb40 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.h
@@ -65,7 +65,7 @@ class PolynomialRestShapeSpringsForceField : public core::behavior::ForceField<D
 
 
     Data< type::vector<sofa::Index> > d_points; ///< points controlled by the rest shape springs
-    Data< type::vector<sofa::Index> > d_external_points; ///< points from the external Mechancial State that define the rest shape springs
+    Data< type::vector<sofa::Index> > d_external_points; ///< points from the external Mechanical State that define the rest shape springs
 
     /// polynomial data
     /// Describe set of polynomial coefficients combines in one array.
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.inl
index 63b75450260..1cabdaea4b2 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialRestShapeSpringsForceField.inl
@@ -37,7 +37,7 @@ namespace sofa::component::solidmechanics::spring
 template<class DataTypes>
 PolynomialRestShapeSpringsForceField<DataTypes>::PolynomialRestShapeSpringsForceField()
     : d_points(initData(&d_points, "points", "points controlled by the rest shape springs"))
-    , d_external_points(initData(&d_external_points, "external_points", "points from the external Mechancial State that define the rest shape springs"))
+    , d_external_points(initData(&d_external_points, "external_points", "points from the external Mechanical State that define the rest shape springs"))
     , d_polynomialStiffness(initData(&d_polynomialStiffness, "polynomialStiffness", "coefficients for all spring polynomials"))
     , d_polynomialDegree(initData(&d_polynomialDegree, "polynomialDegree", "vector of values that show polynomials degrees"))
     , d_recomputeIndices(initData(&d_recomputeIndices, false, "recompute_indices", "Recompute indices (should be false for BBOX)"))
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.inl
index 547a69fa4c5..0e4031c1dce 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/PolynomialSpringsForceField.inl
@@ -161,7 +161,7 @@ void PolynomialSpringsForceField<DataTypes>::recomputeIndices()
 
     if (m_firstObjectIndices.size() > m_secondObjectIndices.size())
     {
-        msg_error() << "Error : the dimention of the source and the targeted points are different ";
+        msg_error() << "Error : the dimension of the source and the targeted points are different ";
         m_firstObjectIndices.clear();
         m_secondObjectIndices.clear();
     }
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h
index dcd49430065..aa121a98879 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h
@@ -49,7 +49,7 @@ class QuadBendingSprings : public SpringForceField<DataTypes>
     SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING()
     sofa::core::objectmodel::RenamedData<type::Vec<2,int>> localRange;
 
-    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)
+    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)
     Data< type::Vec<2,int> > d_localRange;
 
     /// Link to be set to the topology container in the component graph. 
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.inl
index 057d48aa7b3..58681013c2c 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.inl
@@ -33,7 +33,7 @@ namespace sofa::component::solidmechanics::spring
 template<class DataTypes>
 QuadBendingSprings<DataTypes>::QuadBendingSprings()
     : SpringForceField<DataTypes>()
-    , d_localRange( initData(&d_localRange, type::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)" ) )
+    , d_localRange( initData(&d_localRange, type::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)" ) )
     , l_topology(initLink("topology", "link to the topology container"))
 {
     localRange.setOriginalData(&d_localRange);
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h
index c08facb46d4..bba03aad7c0 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h
@@ -74,7 +74,7 @@ class RestShapeSpringsForceField : public core::behavior::ForceField<DataTypes>
     Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position
     Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points
     Data< type::vector< CPos > > d_pivotPoints; ///< global pivot points used when translations instead of the rigid mass centers
-    Data< VecIndex > d_external_points; ///< points from the external Mechancial State that define the rest shape springs
+    Data< VecIndex > d_external_points; ///< points from the external Mechanical State that define the rest shape springs
     Data< bool > d_recompute_indices; ///< Recompute indices (should be false for BBOX)
     Data< bool > d_drawSpring; ///< draw Spring
     Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0])
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl
index 2c677371551..557ee0b39d7 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl
@@ -55,7 +55,7 @@ RestShapeSpringsForceField<DataTypes>::RestShapeSpringsForceField()
     , d_stiffness(initData(&d_stiffness, "stiffness", "stiffness values between the actual position and the rest shape position"))
     , d_angularStiffness(initData(&d_angularStiffness, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points"))
     , d_pivotPoints(initData(&d_pivotPoints, "pivot_points", "global pivot points used when translations instead of the rigid mass centers"))
-    , d_external_points(initData(&d_external_points, "external_points", "points from the external Mechancial State that define the rest shape springs"))
+    , d_external_points(initData(&d_external_points, "external_points", "points from the external Mechanical State that define the rest shape springs"))
     , d_recompute_indices(initData(&d_recompute_indices, true, "recompute_indices", "Recompute indices (should be false for BBOX)"))
     , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring"))
     , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])"))
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h
index 21e7b88c687..10917030043 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.h
@@ -37,7 +37,7 @@
 namespace sofa::component::solidmechanics::spring
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class SpringForceFieldInternalData
 {
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl
index bb723f5f012..3d188ddb981 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl
@@ -464,7 +464,7 @@ void SpringForceField<DataTypes>::initializeTopologyHandler(sofa::core::topology
                     d_springs.cleanDirty();
                     //Clean the indices list of the unmodified topology to match the size of the newly modified one
                     updateTopologyIndicesFromSprings();
-                    //Clean dirtyness of springs because we just updated the indices lists from the spring data itself
+                    //Clean dirtiness of springs because we just updated the indices lists from the spring data itself
                     d_springs.cleanDirty();
                     areSpringIndicesDirty = false;
                 }
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h
index 78958b129ba..b57362f1233 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h
@@ -165,7 +165,7 @@ class TriangularBendingSprings : public core::behavior::ForceField<DataTypes>
     sofa::core::topology::EdgeData<type::vector<EdgeInformation> >& getEdgeInfo() { return d_edgeInfo; }
 
 protected:
-    /// poential energy accumulate in method @sa addForce
+    /// potential energy accumulate in method @sa addForce
     SReal m_potentialEnergy;
 
     /// Pointer to the linked topology used to create this spring forcefield
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h
index 9ecaa14c21c..c8f7660ca1e 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h
@@ -121,7 +121,7 @@ class VectorSpringForceField: public core::behavior::PairInteractionForceField<D
     /// By default, assume that all edges have the same viscosity
     Data<SReal> d_viscosity;
 
-    Data<bool> d_useTopology; ///< Activate/Desactivate topology mode of the component (springs on each edge)
+    Data<bool> d_useTopology; ///< Activate/Deactivate topology mode of the component (springs on each edge)
 
     /// Link to be set to the topology container in the component graph.
     SingleLink<VectorSpringForceField<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.inl
index 87ae4305466..83dced16b03 100644
--- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.inl
+++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.inl
@@ -125,10 +125,10 @@ VectorSpringForceField<DataTypes>::VectorSpringForceField(MechanicalState* _obje
     : Inherit(_object1, _object2)
     , m_potentialEnergy( 0.0 ), useTopology( false )
     , d_springArray(initData(&d_springArray, "springs", "springs data"))
-    , d_filename(initData(&d_filename, std::string(""), "filename", "File name from which the spring informations are loaded") )
+    , d_filename(initData(&d_filename, std::string(""), "filename", "File name from which the spring information are loaded") )
     , d_stiffness(initData(&d_stiffness, SReal(1.0), "stiffness", "Default edge stiffness used in absence of file information") )
     , d_viscosity(initData(&d_viscosity, SReal(1.0), "viscosity", "Default edge viscosity used in absence of file information") )
-    , d_useTopology(initData(&d_useTopology, false, "useTopology", "Activate/Desactivate topology mode of the component (springs on each edge)"))
+    , d_useTopology(initData(&d_useTopology, false, "useTopology", "Activate/Deactivate topology mode of the component (springs on each edge)"))
     , l_topology(initLink("topology", "link to the topology container"))    
     , m_topology(nullptr)
 {
diff --git a/Sofa/Component/SolidMechanics/Spring/tests/SpringForceField_test.cpp b/Sofa/Component/SolidMechanics/Spring/tests/SpringForceField_test.cpp
index 3b9fbe0a629..9a557f49a77 100644
--- a/Sofa/Component/SolidMechanics/Spring/tests/SpringForceField_test.cpp
+++ b/Sofa/Component/SolidMechanics/Spring/tests/SpringForceField_test.cpp
@@ -204,16 +204,16 @@ struct SpringForceField_test : public ForceField_test<_SpringForceField>
 
 
 
-// ========= Define the list of types to instanciate.
+// ========= Define the list of types to instantiate.
 //using ::testing::Types;
 typedef ::testing::Types<
 component::solidmechanics::spring::SpringForceField<defaulttype::Vec2Types>,  // 2D
 component::solidmechanics::spring::SpringForceField<defaulttype::Vec3Types>   // 3D
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
 
 
-// ========= Tests to run for each instanciated type
+// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(SpringForceField_test, TestTypes);
 
 // first test case: extension, no velocity
diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h
index 202158ef3e7..4734b3db415 100644
--- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h
+++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h
@@ -84,7 +84,7 @@ class TetrahedralTensorMassForceField : public core::behavior::ForceField<DataTy
     };
     using edgeRestInfoVector = type::rebind_to<VecCoord, EdgeRestInformation>;
 
-    VecCoord  _initialPoints;///< the intial positions of the points
+    VecCoord  _initialPoints;///< the initial positions of the points
 
     bool updateMatrix;
 
diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h
index 359cdabaa78..8593d337670 100644
--- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h
+++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h
@@ -119,7 +119,7 @@ class TriangularTensorMassForceField : public core::behavior::ForceField<DataTyp
     void applyTriangleDestruction(const sofa::type::vector<Index>& triangleRemoved);
 
     
-    VecCoord  _initialPoints;///< the intial positions of the points
+    VecCoord  _initialPoints;///< the initial positions of the points
 
     bool updateMatrix;
 
diff --git a/Sofa/Component/SolidMechanics/Testing/src/sofa/component/solidmechanics/testing/ForceFieldTestCreation.h b/Sofa/Component/SolidMechanics/Testing/src/sofa/component/solidmechanics/testing/ForceFieldTestCreation.h
index 6f78003a972..afd471b510b 100644
--- a/Sofa/Component/SolidMechanics/Testing/src/sofa/component/solidmechanics/testing/ForceFieldTestCreation.h
+++ b/Sofa/Component/SolidMechanics/Testing/src/sofa/component/solidmechanics/testing/ForceFieldTestCreation.h
@@ -50,7 +50,7 @@ namespace sofa {
 
 
 /** @brief Helper for writing ForceField tests.
- * The constructor creates a root node and adds it a State and a ForceField (of the paremeter type of this template class).
+ * The constructor creates a root node and adds it a State and a ForceField (of the parameter type of this template class).
  * Pointers to node, state and force are available.
  * Deriving the ForceField test from this class makes it easy to write: just call function run_test with positions, velocities and the corresponding expected forces.
  * This function automatically checks not only the forces (function addForce), but also the stiffness (methods addDForce and addKToMatrix), using finite differences.
@@ -81,7 +81,7 @@ struct ForceField_test : public BaseSimulationTest, NumericTest<typename _ForceF
     /// @name Precision and control parameters
     /// {
     SReal errorMax;       ///< tolerance in precision test. The actual value is this one times the epsilon of the Real numbers (typically float or double)
-    SReal errorFactorPotentialEnergy;  ///< The test for potential energy is successfull if the (infinite norm of the) difference is less than  errorFactorPotentialEnergy * errorMax *epsilon (default = 1)
+    SReal errorFactorPotentialEnergy;  ///< The test for potential energy is successful if the (infinite norm of the) difference is less than  errorFactorPotentialEnergy * errorMax *epsilon (default = 1)
     /**
      * @brief Minimum/Maximum amplitudes of the random perturbation used to check the stiffness using finite differences
      * @warning Should be more than errorMax/stiffness. This is not checked automatically.
diff --git a/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp b/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp
index a72d8fa78fd..fb4a9ad7286 100644
--- a/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp
+++ b/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp
@@ -266,13 +266,13 @@ struct AffinePatch_sofa_test : public sofa::testing::BaseSimulationTest, sofa::t
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(AffinePatch_sofa_test, DataTypes);
 
 // first test case
diff --git a/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp b/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp
index de8f46f405f..cfe9e1d3e23 100644
--- a/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp
+++ b/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp
@@ -289,13 +289,13 @@ struct LinearElasticity_test : public sofa::testing::BaseSimulationTest, sofa::t
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(LinearElasticity_test, DataTypes);
 
 // first test topology
diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h
index aafb585be88..6993dbf0f23 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h
@@ -32,7 +32,7 @@ namespace sofa::component::statecontainer
 {
 //using core::objectmodel::Data;
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class MappedObjectInternalData
 {
diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h
index 58aabafb9f2..e1327eaee63 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h
@@ -38,7 +38,7 @@
 namespace sofa::component::statecontainer
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template <class DataTypes>
 class MechanicalObject;
 
diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
index 0c745244dc6..c31a21c7c1e 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
@@ -112,7 +112,7 @@ bool applyPredicateIfCoordOrDeriv(sofa::core::VecType vtype_a, sofa::core::VecTy
     {
         if (vtype_b == sofa::core::V_COORD)
         {
-            // predicate cannot be applied because vtype_a and vtype_b are imcompatible:
+            // predicate cannot be applied because vtype_a and vtype_b are incompatible:
             // it is not permitted to perform operations such as [DERIV] += [COORD]
             return false;
         }
@@ -1277,7 +1277,7 @@ SReal MechanicalObject<DataTypes>::compareVec(core::ConstVecId v, std::istream &
         error += fabs(value_ref-value_cur);
         count ++;
     }
-    if( count == 0 ) return 0; //both vector are empy, so we return 0;
+    if( count == 0 ) return 0; //both vector are empty, so we return 0;
 
     return error/count;
 }
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
index f8384eca4a1..5ae461075e0 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
@@ -2362,7 +2362,7 @@ bool MeshTopology::checkConnexity()
 
     if (elemAll.size() != nbr)
     {
-        msg_error() << "CheckConnexity: elements are missings. There is more than one connexe component.";
+        msg_error() << "CheckConnexity: elements are missing. There is more than one connexe component.";
         return false;
     }
 
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h
index e9be09e6716..d4b0d37e717 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h
@@ -288,13 +288,13 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API MeshTopology : public core:
 
 
     // test whether p0p1 has the same orientation as triangle t
-    // opposite dirction: return -1
+    // opposite direction: return -1
     // same direction: return 1
     // otherwise: return 0
     int computeRelativeOrientationInTri(const PointID ind_p0, const PointID ind_p1, const PointID ind_t);
 
     // test whether p0p1 has the same orientation as triangle t
-    // opposite dirction: return -1
+    // opposite direction: return -1
     // same direction: return 1
     // otherwise: return 0
     int computeRelativeOrientationInQuad(const PointID ind_p0, const PointID ind_p1, const PointID ind_q);
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp
index 3f88626577c..c36a9b14d3c 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyModifier.cpp
@@ -53,7 +53,7 @@ void DynamicSparseGridTopologyModifier::init()
 
 
 //TODO// find a solution for this case !!!! Modifier can not access to the DOF and can not compute the indices of the added hexahedra.
-// We have to find a way to automaticaly compute the indices of the added hexahedra to update the map 'm_m_DynContainer->idInRegularGrid2Hexa'
+// We have to find a way to automatically compute the indices of the added hexahedra to update the map 'm_m_DynContainer->idInRegularGrid2Hexa'
 void DynamicSparseGridTopologyModifier::addHexahedraProcess ( const sofa::type::vector< Hexahedron > &hexahedra )
 {
     HexahedronSetTopologyModifier::addHexahedraProcess ( hexahedra );
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp
index 6d3de29e77f..15ddadbc529 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp
@@ -196,7 +196,7 @@ const EdgeSetTopologyContainer::Edge EdgeSetTopologyContainer::getEdge (EdgeID i
 }
 
 
-// Return the number of connected components from the graph containing all edges and give, for each vertex, which component it belongs to  (use BOOST GRAPH LIBRAIRY)
+// Return the number of connected components from the graph containing all edges and give, for each vertex, which component it belongs to  (use BOOST GRAPH LIBRARY)
 int EdgeSetTopologyContainer::getNumberConnectedComponents(sofa::type::vector<EdgeID>& components)
 {
     using namespace boost;
@@ -274,7 +274,7 @@ bool EdgeSetTopologyContainer::checkConnexity()
 
     if (elemAll.size() != nbr)
     {
-		msg_warning() << "CheckConnexity: Edges are missings. There is more than one connexe component.";
+		msg_warning() << "CheckConnexity: Edges are missing. There is more than one connexe component.";
         return false;
     }
 
@@ -396,7 +396,7 @@ const EdgeSetTopologyContainer::VecEdgeID EdgeSetTopologyContainer::getElementAr
     {
         const EdgesAroundVertex& edgeAV = this->getEdgesAroundVertex(the_edge[i]);
         if (edgeAV.empty()) {
-            msg_error() << "No edge found aroud of vertex id: " << the_edge[i] << ". Should at least found edge id: " << elem;
+            msg_error() << "No edge found around vertex id: " << the_edge[i] << ". Should at least found edge id: " << elem;
             continue;
         }
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h
index 43832563915..2cf809bbe3a 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h
@@ -99,7 +99,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetTopologyContainer : p
 
     /// Dynamic Topology API
     /// @{
-    /// Method called by component Init method. Will create all the topology neighboorhood buffers.
+    /// Method called by component Init method. Will create all the topology neighborhood buffers.
     void initTopology();
 
     /** \brief Checks if the topology is coherent
@@ -125,7 +125,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetTopologyContainer : p
     Size getNumberOfElements() const override;
 
 
-    /** \brief Returns the number of connected components from the graph containing all edges and give, for each vertex, which component it belongs to  (use BOOST GRAPH LIBRAIRY)
+    /** \brief Returns the number of connected components from the graph containing all edges and give, for each vertex, which component it belongs to  (use BOOST GRAPH LIBRARY)
      *
      * @param components the array containing the optimal vertex permutation according to the Reverse CuthillMckee algorithm
      * @return The number of components connected together.
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp
index 0edd32a39a0..eb65e87a9aa 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.cpp
@@ -232,7 +232,7 @@ void EdgeSetTopologyModifier::removeEdgesProcess(const sofa::type::vector<EdgeID
     size_t lastEdgeIndex = m_container->getNumberOfEdges() - 1;
     for (size_t i=0; i<indices.size(); ++i, --lastEdgeIndex)
     {
-        // now updates the shell information of the edge formely at the end of the array
+        // now updates the shell information of the edge formerly at the end of the array
         if(m_container->hasEdgesAroundVertex())
         {
 
@@ -270,7 +270,7 @@ void EdgeSetTopologyModifier::removeEdgesProcess(const sofa::type::vector<EdgeID
 
         // removes the edge from the edgelist
         m_edge[ indices[i] ] = m_edge[ lastEdgeIndex ]; // overwriting with last valid value.
-        m_edge.resize( lastEdgeIndex ); // resizing to erase multiple occurence of the edge.
+        m_edge.resize( lastEdgeIndex ); // resizing to erase multiple occurrence of the edge.
     }
 
     if (! vertexToBeRemoved.empty())
@@ -779,7 +779,7 @@ void EdgeSetTopologyModifier::splitEdges( sofa::type::vector<EdgeID> &indices,
     m_container->checkTopology();
 }
 
-// Give the optimal vertex permutation according to the Reverse CuthillMckee algorithm (use BOOST GRAPH LIBRAIRY)
+// Give the optimal vertex permutation according to the Reverse CuthillMckee algorithm (use BOOST GRAPH LIBRARY)
 void EdgeSetTopologyModifier::resortCuthillMckee(sofa::type::vector<int>& inverse_permutation)
 {
     using namespace boost;
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h
index 6935d7e4062..9a559bb51e0 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h
@@ -154,7 +154,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetTopologyModifier : pu
             const sofa::type::vector< sofa::type::vector< SReal > >& baryCoefs,
             const bool removeIsolatedPoints = true);
 
-    /** \brief Gives the optimal vertex permutation according to the Reverse CuthillMckee algorithm (use BOOST GRAPH LIBRAIRY)
+    /** \brief Gives the optimal vertex permutation according to the Reverse CuthillMckee algorithm (use BOOST GRAPH LIBRARY)
     */
     virtual void resortCuthillMckee(sofa::type::vector<int>& inverse_permutation);
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp
index f9fa154edba..b8fb2b1c268 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp
@@ -917,7 +917,7 @@ bool HexahedronSetTopologyContainer::checkConnexity()
 
     if (elemAll.size() != nbr)
     {
-        msg_warning() << "CheckConnexity: Hexahedra are missings. There is more than one connexe component.";
+        msg_warning() << "CheckConnexity: Hexahedra are missing. There is more than one connexe component.";
         return false;
     }
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h
index 53593618e1d..65238e957a2 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h
@@ -222,7 +222,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API HexahedronSetTopologyContain
     /// Dynamic Topology API
     /// @{
 
-    /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see TriangleSetTopologyContainer::initTopology()
+    /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see TriangleSetTopologyContainer::initTopology()
     void initTopology();
 
     /** \brief Checks if the topology is coherent
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp
index 93f8c310868..d1c92d665a1 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyModifier.cpp
@@ -209,7 +209,7 @@ void HexahedronSetTopologyModifier::addHexahedronProcess(Hexahedron t)
             addEdgesWarning(sofa::Size(v.size()), v, edgeIndexList);
         }
 
-        // udpate m_edgesInHexahedron
+        // update m_edgesInHexahedron
         m_container->m_edgesInHexahedron[hexahedronIndex][edgeIdx]= edgeIndex;
 
         // update m_tetrahedraAroundEdge
@@ -343,7 +343,7 @@ void HexahedronSetTopologyModifier::removeHexahedraProcess( const sofa::type::ve
             }
         }
 
-        // now updates the shell information of the edge formely at the end of the array
+        // now updates the shell information of the edge formerly at the end of the array
         if( indices[i] < lastHexahedron )
         {
             if(m_container->hasHexahedraAroundVertex())
@@ -378,19 +378,19 @@ void HexahedronSetTopologyModifier::removeHexahedraProcess( const sofa::type::ve
         {
             // removes the quadsInHexahedrons from the quadsInHexahedronArray
             m_container->m_quadsInHexahedron[ indices[i] ] = m_container->m_quadsInHexahedron[ lastHexahedron ]; // overwriting with last valid value.
-            m_container->m_quadsInHexahedron.resize( lastHexahedron ); // resizing to erase multiple occurence of the hexa.
+            m_container->m_quadsInHexahedron.resize( lastHexahedron ); // resizing to erase multiple occurrence of the hexa.
         }
 
         if(m_container->hasEdgesInHexahedron())
         {
             // removes the edgesInHexahedrons from the edgesInHexahedronArray
             m_container->m_edgesInHexahedron[ indices[i] ] = m_container->m_edgesInHexahedron[ lastHexahedron ]; // overwriting with last valid value.
-            m_container->m_edgesInHexahedron.resize( lastHexahedron ); // resizing to erase multiple occurence of the hexa.
+            m_container->m_edgesInHexahedron.resize( lastHexahedron ); // resizing to erase multiple occurrence of the hexa.
         }
 
         // removes the hexahedron from the hexahedronArray
         m_hexahedron[ indices[i] ] = m_hexahedron[ lastHexahedron ]; // overwriting with last valid value.
-        m_hexahedron.resize( lastHexahedron ); // resizing to erase multiple occurence of the hexa.
+        m_hexahedron.resize( lastHexahedron ); // resizing to erase multiple occurrence of the hexa.
     }
 
     if( (!quadToBeRemoved.empty()) || (!edgeToBeRemoved.empty()))
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp
index 05d4641150b..b9434772f7f 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp
@@ -77,7 +77,7 @@ void QuadSetTopologyContainer::init()
 
 void QuadSetTopologyContainer::initTopology()
 {
-    // Force creation of Edge Neighboordhood buffers.
+    // Force creation of Edge Neighborhood buffers.
     EdgeSetTopologyContainer::initTopology();
 
     // Create triangle cross element buffers.
@@ -481,7 +481,7 @@ bool QuadSetTopologyContainer::checkConnexity()
 
     if (elemAll.size() != nbr)
     {
-        msg_warning() << "CheckConnexity: Quads are missings. There is more than one connexe component.";
+        msg_warning() << "CheckConnexity: Quads are missing. There is more than one connexe component.";
         return false;
     }
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h
index b25cba577c4..54a78981e3a 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h
@@ -144,7 +144,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API QuadSetTopologyContainer : p
 
     /// Dynamic Topology API
     /// @{
-    /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see EdgeSetTopologyContainer::initTopology()
+    /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see EdgeSetTopologyContainer::initTopology()
     void initTopology();
 
     /** \brief Checks if the topology is coherent
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp
index bee7780caa3..a66bcb61dcc 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyModifier.cpp
@@ -323,12 +323,12 @@ void QuadSetTopologyModifier::removeQuadsProcess(const sofa::type::vector<QuadID
         if(m_container->hasEdgesInQuad())
         {
             m_container->m_edgesInQuad[ indices[i] ] = m_container->m_edgesInQuad[ lastQuad ]; // overwriting with last valid value.
-            m_container->m_edgesInQuad.resize( lastQuad ); // resizing to erase multiple occurence of the quad.
+            m_container->m_edgesInQuad.resize( lastQuad ); // resizing to erase multiple occurrence of the quad.
         }
 
         // removes the quad from the quadArray
         m_quad[ indices[i] ] = m_quad[ lastQuad ]; // overwriting with last valid value.
-        m_quad.resize( lastQuad ); // resizing to erase multiple occurence of the quad.
+        m_quad.resize( lastQuad ); // resizing to erase multiple occurrence of the quad.
     }
 
     if(!edgeToBeRemoved.empty())
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.inl b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.inl
index 27b1395a6c0..95c11dd76af 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.inl
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetGeometryAlgorithms.inl
@@ -1021,7 +1021,7 @@ void TetrahedronSetGeometryAlgorithms<DataTypes>::subDivideTetrahedronsWithPlane
     //Number of to be added points
     const sofa::Size nbTobeAddedPoints = sofa::Size(intersectedEdgeID.size()*2);
 
-    //barycentric coodinates of to be added points
+    //barycentric coordinates of to be added points
     sofa::type::vector< sofa::type::vector<PointID> > ancestors;
     for(sofa::Index i=0; i<intersectedEdgeID.size(); i++)
     {
@@ -1124,7 +1124,7 @@ void TetrahedronSetGeometryAlgorithms<DataTypes>::subDivideTetrahedronsWithPlane
     //Number of to be added points
     const sofa::Size nbTobeAddedPoints = sofa::Size(intersectedEdgeID.size()*2);
 
-    //barycentric coodinates of to be added points
+    //barycentric coordinates of to be added points
     sofa::type::vector< sofa::type::vector<PointID> > ancestors;
     sofa::type::vector< sofa::type::vector<SReal> > coefs;
     for( size_t i=0; i<intersectedPoints.size(); i++)
@@ -2132,7 +2132,7 @@ void TetrahedronSetGeometryAlgorithms<DataTypes>::subDivideRestTetrahedronsWithP
     //Number of to be added points
     const sofa::Size nbTobeAddedPoints = sofa::Size(intersectedEdgeID.size()*2);
 
-    //barycentric coodinates of to be added points
+    //barycentric coordinates of to be added points
     sofa::type::vector< sofa::type::vector<PointID> > ancestors;
     for( size_t i=0; i<intersectedEdgeID.size(); i++)
     {
@@ -2235,7 +2235,7 @@ void TetrahedronSetGeometryAlgorithms<DataTypes>::subDivideRestTetrahedronsWithP
     //Number of to be added points
     const sofa::Size nbTobeAddedPoints = sofa::Size(intersectedEdgeID.size()*2);
 
-    //barycentric coodinates of to be added points
+    //barycentric coordinates of to be added points
     sofa::type::vector< sofa::type::vector<PointID> > ancestors;
     sofa::type::vector< sofa::type::vector<SReal> > coefs;
     for(sofa::Index i=0; i<intersectedPoints.size(); i++)
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp
index 5f9fedd0175..d8fbe58adcd 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp
@@ -851,7 +851,7 @@ bool TetrahedronSetTopologyContainer::checkConnexity()
 
     if (elemAll.size() != nbr)
     {
-        msg_warning() << "CheckConnexity: Tetrahedra are missings. There is more than one connexe component.";
+        msg_warning() << "CheckConnexity: Tetrahedra are missing. There is more than one connexe component.";
         return false;
     }
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h
index 852ceafdc3c..089d3e6f7f2 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h
@@ -193,7 +193,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TetrahedronSetTopologyContai
     /// Dynamic Topology API
     /// @{
 
-    /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see TriangleSetTopologyContainer::initTopology()
+    /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see TriangleSetTopologyContainer::initTopology()
     void initTopology();
 
     /** \brief Checks if the topology is coherent
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp
index faee40cbb0f..8736cfd0e52 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.cpp
@@ -154,7 +154,7 @@ void TetrahedronSetTopologyModifier::addTetrahedronProcess(Tetrahedron t)
 
         if(triangleIndex == sofa::InvalidID)
         {
-            // first create the traingle
+            // first create the triangle
             sofa::type::vector< Triangle > v;
             v.push_back(e1);
             addTrianglesProcess((const sofa::type::vector< Triangle > &) v);
@@ -229,7 +229,7 @@ void TetrahedronSetTopologyModifier::addTetrahedronProcess(Tetrahedron t)
             addEdgesWarning(sofa::Size(v.size()), v, edgeIndexList);
         }
 
-        // udpate m_edgesInTetrahedron
+        // update m_edgesInTetrahedron
         m_container->m_edgesInTetrahedron[tetrahedronIndex][j]= edgeIndex;
 
         // update m_tetrahedraAroundEdge
@@ -363,7 +363,7 @@ void TetrahedronSetTopologyModifier::removeTetrahedraProcess( const sofa::type::
             }
         }
 
-        // now updates the shell information of the edge formely at the end of the array
+        // now updates the shell information of the edge formerly at the end of the array
         if ( indices[i] < lastTetrahedron )
         {
             if (m_container->hasTetrahedraAroundVertex())
@@ -398,19 +398,19 @@ void TetrahedronSetTopologyModifier::removeTetrahedraProcess( const sofa::type::
         {
             // removes the trianglesInTetrahedrons from the trianglesInTetrahedronArray
             m_container->m_trianglesInTetrahedron[ indices[i] ] = m_container->m_trianglesInTetrahedron[ lastTetrahedron ]; // overwriting with last valid value.
-            m_container->m_trianglesInTetrahedron.resize( lastTetrahedron ); // resizing to erase multiple occurence of the tetrahedron.
+            m_container->m_trianglesInTetrahedron.resize( lastTetrahedron ); // resizing to erase multiple occurrence of the tetrahedron.
         }
 
         if (m_container->hasEdgesInTetrahedron())
         {
             // removes the edgesInTetrahedrons from the edgesInTetrahedronArray
             m_container->m_edgesInTetrahedron[ indices[i] ] = m_container->m_edgesInTetrahedron[ lastTetrahedron ]; // overwriting with last valid value.
-            m_container->m_edgesInTetrahedron.resize( lastTetrahedron ); // resizing to erase multiple occurence of the tetrahedron.
+            m_container->m_edgesInTetrahedron.resize( lastTetrahedron ); // resizing to erase multiple occurrence of the tetrahedron.
         }
 
         // removes the tetrahedron from the tetrahedronArray
         m_tetrahedron[ indices[i] ] = m_tetrahedron[ lastTetrahedron ]; // overwriting with last valid value.
-        m_tetrahedron.resize( lastTetrahedron ); // resizing to erase multiple occurence of the tetrahedron.
+        m_tetrahedron.resize( lastTetrahedron ); // resizing to erase multiple occurrence of the tetrahedron.
     }
 
     if ( (!triangleToBeRemoved.empty()) || (!edgeToBeRemoved.empty()))
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp
index 9953a160abc..7fc9fa74759 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.cpp
@@ -37,7 +37,7 @@ void registerTriangleSetGeometryAlgorithms(sofa::core::ObjectFactory* factory)
         .add< TriangleSetGeometryAlgorithms<Vec2Types> >());
 }
 
-// methods specilizations declaration
+// methods specializations declaration
 template<> SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API
 int TriangleSetGeometryAlgorithms<defaulttype::Vec2Types>::SplitAlongPath(PointID pa, Coord& a, PointID pb, Coord& b,
     sofa::type::vector< sofa::geometry::ElementType>& topoPath_list,
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.h
index a2808b0050e..b4f0541a94c 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.h
@@ -271,7 +271,7 @@ class TriangleSetGeometryAlgorithms : public EdgeSetGeometryAlgorithms<DataTypes
     /** \brief Computes the list of objects (points, edges, triangles) intersected by the segment from point a to point b and the triangular mesh.
      *
      * @return List of object intersect (type enum @see geometry::ElementType)
-     * @return List of indices of these objetcs
+     * @return List of indices of these objects
      * @return List of barycentric coordinate defining the position of the intersection in each object
      * (i.e 0 coord for a point, 1 for and edge and 3 for a triangle).
      */
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.inl b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.inl
index 4464f3e2c81..3aa76248417 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.inl
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.inl
@@ -2715,7 +2715,7 @@ void TriangleSetGeometryAlgorithms< DataTypes >::InciseAlongLinesList(
 
     Real is_snapping_b = is_snap_b0 || is_snap_b1 || is_snap_b2;
 
-    if (is_validated) // intersection successfull
+    if (is_validated) // intersection successful
     {
         /// force the creation of TrianglesAroundEdgeArray
         m_container->getTrianglesAroundEdgeArray();
@@ -3203,7 +3203,7 @@ int TriangleSetGeometryAlgorithms<DataTypes>::SplitAlongPath(PointID ind_A, Coor
 
     sofa::type::vector< sofa::type::vector<Real> > points2Snap;
 
-    //	Real epsilon = 0.25; // to change to an input for snaping
+    //	Real epsilon = 0.25; // to change to an input for snapping
 
     if (epsilonSnapPath != 0.0)
         SnapAlongPath(intersected_topoElements, intersected_indices, intersected_barycoefs, points2Snap, epsilonSnapPath);
@@ -3252,7 +3252,7 @@ int TriangleSetGeometryAlgorithms<DataTypes>::SplitAlongPath(PointID ind_A, Coor
             p_ancestors.resize(p_ancestors.size() - 1);
             p_baryCoefs.resize(p_baryCoefs.size() - 1);
 
-            // For snaping:
+            // For snapping:
             if ((epsilonSnapPath != 0.0) || (!points2Snap.empty()))
                 for (size_t j = 0; j < points2Snap.size(); j++)
                     if (points2Snap[j][0] == intersected_indices[i])
@@ -3277,7 +3277,7 @@ int TriangleSetGeometryAlgorithms<DataTypes>::SplitAlongPath(PointID ind_A, Coor
                             }
 
                             if (cptSnap != 3)
-                                msg_error() << "Error: In snaping border, missing elements to compute barycoefs!";
+                                msg_error() << "Error: In snapping border, missing elements to compute barycoefs!";
 
                             break;
                         }
@@ -3630,7 +3630,7 @@ int TriangleSetGeometryAlgorithms<DataTypes>::SplitAlongPath(PointID ind_A, Coor
                 new_triangles_id.push_back(next_triangle++);
 
 
-                // create two triangles linking p with the splitted edge
+                // create two triangles linking p with the split edge
                 new_triangles.emplace_back(p2, theTriangleSecond[(edgeInTriangle + 1) % 3], p1);
                 new_triangles_id.push_back(next_triangle++);
                 new_triangles.emplace_back(p2, p1, theTriangleSecond[(edgeInTriangle + 2) % 3]);
@@ -3707,7 +3707,7 @@ int TriangleSetGeometryAlgorithms<DataTypes>::SplitAlongPath(PointID ind_A, Coor
                 new_triangles_id.push_back(next_triangle++);
 
 
-                // create two triangles linking p with the splitted edge
+                // create two triangles linking p with the split edge
                 new_triangles.push_back(Triangle(p1, theTriangleFirst[(edgeInTriangle + 1) % 3], p2));
                 new_triangles_id.push_back(next_triangle++);
                 new_triangles.push_back(Triangle(p1, p2, theTriangleFirst[(edgeInTriangle + 2) % 3]));
@@ -4066,7 +4066,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
         {
             PointID Vertex2Snap;
 
-            if (intersected_barycoefs[i][0] < epsilon)  // This point has to be snaped
+            if (intersected_barycoefs[i][0] < epsilon)  // This point has to be snapped
             {
                 Vertex2Snap = m_container->getEdge(intersected_indices[i])[0];
                 it = map_point2snap.find(Vertex2Snap);
@@ -4097,7 +4097,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
 
             for (unsigned int j = 0; j < 3; j++)
             {
-                if (barycoord[j] > (1.0 - epsilon))  // This point has to be snaped
+                if (barycoord[j] > (1.0 - epsilon))  // This point has to be snapped
                 {
                     Vertex2Snap = m_container->getTriangleArray()[intersected_indices[i]][j];
                     it = map_point2snap.find(Vertex2Snap);
@@ -4119,7 +4119,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
         }
     }
 
-    //// STEP 2 - Test if snaping is needed
+    //// STEP 2 - Test if snapping is needed
     if (map_point2snap.empty())
     {
         return;
@@ -4128,7 +4128,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
     const typename DataTypes::VecCoord& coords = (this->getDOF()->read(core::ConstVecCoordId::position())->getValue());
 
 
-    //// STEP 3 - Second loop necessary to find object on the neighborhood of a snaped point
+    //// STEP 3 - Second loop necessary to find object on the neighborhood of a snapped point
     for (size_t i = 0; i < intersected_indices.size(); i++)
     {
         switch (intersected_topoElements[i])
@@ -4200,7 +4200,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
         }
     }
 
-    //Pre-treatment to avoid snaping near a border:
+    //Pre-treatment to avoid snapping near a border:
     sofa::type::vector<PointID> field2remove;
     for (it = map_point2snap.begin(); it != map_point2snap.end(); ++it)
     {
@@ -4221,7 +4221,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
     }
 
 
-    //// STEP 4 - Compute new coordinates of point to be snaped, and inform path that point has to be snaped
+    //// STEP 4 - Compute new coordinates of point to be snapped, and inform path that point has to be snapped
     field2remove.clear();
     points2Snap.resize(map_point2snap.size());
     unsigned int cpt = 0;
@@ -4243,7 +4243,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
         }
         cpt++;
 
-        // Change enum of the first object to snap to POINT, change id and label it as snaped
+        // Change enum of the first object to snap to POINT, change id and label it as snapped
         intersected_topoElements[((*it).second)[0]] = sofa::geometry::ElementType::POINT;
         intersected_indices[((*it).second)[0]] = (*it).first;
         intersected_barycoefs[((*it).second)[0]][0] = -1.0;
@@ -4254,7 +4254,7 @@ void TriangleSetGeometryAlgorithms<DataTypes>::SnapAlongPath(sofa::type::vector<
     }
 
     //// STEP 5 - Modify incision path
-    //TODO: verify that one object can't be snaped and considered at staying at the same time
+    //TODO: verify that one object can't be snapped and considered at staying at the same time
     sort(field2remove.begin(), field2remove.end());
 
     for (size_t i = 1; i <= field2remove.size(); i++) //Delete in reverse order
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp
index 871f7896046..cfc69119e8c 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp
@@ -78,7 +78,7 @@ void TriangleSetTopologyContainer::init()
 
 void TriangleSetTopologyContainer::initTopology()
 {
-    // Force creation of Edge Neighboordhood buffers.
+    // Force creation of Edge Neighborhood buffers.
     EdgeSetTopologyContainer::initTopology();
 
     // Create triangle cross element buffers.
@@ -759,7 +759,7 @@ bool TriangleSetTopologyContainer::checkConnexity()
 
     if (elemAll.size() != nbr)
     {
-        msg_warning() << "CheckConnexity: Triangles are missings. There is more than one connexe component.";
+        msg_warning() << "CheckConnexity: Triangles are missing. There is more than one connexe component.";
         return false;
     }
     return true;
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h
index 22710c5ce15..8c41f4a5ecd 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h
@@ -151,7 +151,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TriangleSetTopologyContainer
 
     /// Dynamic Topology API
     /// @{
-    /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see EdgeSetTopologyContainer::initTopology()
+    /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see EdgeSetTopologyContainer::initTopology()
     void initTopology();
 
     /** \brief Checks if the topology is coherent
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp
index f03f972b45c..23a95daa977 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.cpp
@@ -458,12 +458,12 @@ void TriangleSetTopologyModifier::removeTrianglesProcess(const sofa::type::vecto
         {
 
             m_container->m_edgesInTriangle[ indices[i] ] = m_container->m_edgesInTriangle[ lastTriangle ]; // overwriting with last valid value.
-            m_container->m_edgesInTriangle.resize( lastTriangle ); // resizing to erase multiple occurence of the triangle.
+            m_container->m_edgesInTriangle.resize( lastTriangle ); // resizing to erase multiple occurrence of the triangle.
         }
 
         // removes the triangle from the triangleArray
         m_triangle[ indices[i] ] = m_triangle[ lastTriangle ]; // overwriting with last valid value.
-        m_triangle.resize( lastTriangle ); // resizing to erase multiple occurence of the triangle.
+        m_triangle.resize( lastTriangle ); // resizing to erase multiple occurrence of the triangle.
     }
 
     removeTrianglesPostProcessing(edgeToBeRemoved, vertexToBeRemoved); // Arrange the current topology.
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.h
index f1d8189ef6e..7c4357837cb 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.h
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.h
@@ -255,25 +255,25 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TriangleSetTopologyModifier
 
 
 
-    /** \brief Precondition to fulfill before removing triangles. No preconditions are needed in this class. This function should be inplemented in children classes.
+    /** \brief Precondition to fulfill before removing triangles. No preconditions are needed in this class. This function should be implemented in children classes.
      *
      */
     virtual bool removeTrianglesPreconditions(const sofa::type::vector< TriangleID >& items);
 
 
-    /**\brief: Postprocessing to apply to topology triangles. Nothing to do in this class. This function should be inplemented in children classes.
+    /**\brief: Postprocessing to apply to topology triangles. Nothing to do in this class. This function should be implemented in children classes.
      *
      */
     virtual void removeTrianglesPostProcessing(const sofa::type::vector< TriangleID >& edgeToBeRemoved, const sofa::type::vector< TriangleID >& vertexToBeRemoved );
 
 
-    /** \brief Precondition to fulfill before adding triangles. No preconditions are needed in this class. This function should be inplemented in children classes.
+    /** \brief Precondition to fulfill before adding triangles. No preconditions are needed in this class. This function should be implemented in children classes.
      *
      */
     virtual bool addTrianglesPreconditions(const sofa::type::vector<Triangle>& triangles);
 
 
-    /**\brief: Postprocessing to apply to topology triangles. Nothing to do in this class. This function should be inplemented in children classes.
+    /**\brief: Postprocessing to apply to topology triangles. Nothing to do in this class. This function should be implemented in children classes.
      *
      */
     virtual void addTrianglesPostProcessing(const sofa::type::vector<Triangle>& triangles);
diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp
index 96eb5332297..249ebf220ef 100644
--- a/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp
@@ -188,7 +188,7 @@ bool HexahedronSetTopology_test::testQuadBuffers()
     EXPECT_EQ(elemAQuad[1], 1);
 
 
-    // check QuadsInHexahedron buffer acces
+    // check QuadsInHexahedron buffer access
     const sofa::type::vector< HexahedronSetTopologyContainer::QuadsInHexahedron > & quadInHexahedra = topoCon->getQuadsInHexahedronArray();
     EXPECT_EQ(quadInHexahedra.size(), nbrHexahedron);
 
@@ -283,7 +283,7 @@ bool HexahedronSetTopology_test::testEdgeBuffers()
     EXPECT_EQ(elemAEdge[1], 2);
 
 
-    // check EdgesInHexahedron buffer acces
+    // check EdgesInHexahedron buffer access
     const sofa::type::vector< HexahedronSetTopologyContainer::EdgesInHexahedron > & edgeInHexahedra = topoCon->getEdgesInHexahedronArray();
     EXPECT_EQ(edgeInHexahedra.size(), nbrHexahedron);
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/QuadSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/QuadSetTopology_test.cpp
index c0b3f5b1984..69412adf9f9 100644
--- a/Sofa/Component/Topology/Container/Dynamic/tests/QuadSetTopology_test.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/tests/QuadSetTopology_test.cpp
@@ -174,7 +174,7 @@ bool QuadSetTopology_test::testEdgeBuffers()
     EXPECT_EQ(elemAEdge[1], 1);
 
 
-    // check EdgesInQuad buffer acces
+    // check EdgesInQuad buffer access
     const sofa::type::vector< QuadSetTopologyContainer::EdgesInQuad > & edgeInQuads = topoCon->getEdgesInQuadArray();
     EXPECT_EQ(edgeInQuads.size(), nbrQuad);
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp
index 7439c68e3b2..19c4cde4a41 100644
--- a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp
@@ -143,13 +143,13 @@ struct TetrahedronNumericalIntegration_test : public NumericTest<typename _DataT
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(TetrahedronNumericalIntegration_test, DataTypes);
 
 // first test topology
diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp
index eba7fec8756..306e5e93eaa 100644
--- a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp
@@ -188,7 +188,7 @@ bool TetrahedronSetTopology_test::testTriangleBuffers()
     EXPECT_EQ(elemATriangle[1], 1);
 
 
-    // check TrianglesInTetrahedron buffer acces
+    // check TrianglesInTetrahedron buffer access
     const sofa::type::vector< TetrahedronSetTopologyContainer::TrianglesInTetrahedron > & triangleInTetrahedra = topoCon->getTrianglesInTetrahedronArray();
     EXPECT_EQ(triangleInTetrahedra.size(), nbrTetrahedron);
 
@@ -285,7 +285,7 @@ bool TetrahedronSetTopology_test::testEdgeBuffers()
     EXPECT_EQ(elemAEdge[3], 3);
 
 
-    // check EdgesInTetrahedron buffer acces
+    // check EdgesInTetrahedron buffer access
     const sofa::type::vector< TetrahedronSetTopologyContainer::EdgesInTetrahedron > & edgeInTetrahedra = topoCon->getEdgesInTetrahedronArray();
     EXPECT_EQ(edgeInTetrahedra.size(), nbrTetrahedron);
 
diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/TriangleNumericalIntegration_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/TriangleNumericalIntegration_test.cpp
index 65c9c4cd2ab..6afa7920a4b 100644
--- a/Sofa/Component/Topology/Container/Dynamic/tests/TriangleNumericalIntegration_test.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/tests/TriangleNumericalIntegration_test.cpp
@@ -143,13 +143,13 @@ struct TriangleNumericalIntegration_test : public NumericTest<typename _DataType
 
 };
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using ::testing::Types;
 typedef Types<
     Vec2Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(TriangleNumericalIntegration_test, DataTypes);
 
 // first test topology
diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/TriangleSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/TriangleSetTopology_test.cpp
index aa1b19659f4..559485ef6a2 100644
--- a/Sofa/Component/Topology/Container/Dynamic/tests/TriangleSetTopology_test.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/tests/TriangleSetTopology_test.cpp
@@ -173,7 +173,7 @@ bool TriangleSetTopology_test::testEdgeBuffers()
     EXPECT_EQ(triAEdge[1], 15);
 
 
-    // check EdgesInTriangle buffer acces
+    // check EdgesInTriangle buffer access
     const sofa::type::vector< TriangleSetTopologyContainer::EdgesInTriangle > & edgeInTriangles = topoCon->getEdgesInTriangleArray();
     EXPECT_EQ(edgeInTriangles.size(), nbrTriangle);
 
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp
index d2fadfe0bf8..9529d6b8de3 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.cpp
@@ -89,7 +89,7 @@ sofa::type::Vec3 CylinderGridTopology::getPointInGrid(int i, int j, int k) const
     const int nx = getNx();
     const int ny = getNy();
     const int nz = getNz();
-    // coordonate on a square
+    // coordinate on a square
     Vec3 p(i*2*r/(nx-1) - r, j*2*r/(ny-1) - r, 0_sreal);
     // scale it to be on a circle
     if (p.norm() > 0.0000001)
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.h
index 32f15653a07..6c5175d97cb 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.h
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/CylinderGridTopology.h
@@ -33,7 +33,7 @@ namespace
 }
 
 /** \brief Define a cylinder grid topology
- * Paramenters are its @sa d_radius and @sa d_length .
+ * Parameters are its @sa d_radius and @sa d_length .
  * Position and direction are set by @sa d_center and @sa d_axis
  * nz discretisation is along the cylinder axis
   */
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.h
index d066c5c5a7d..d50f7c8f247 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.h
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.h
@@ -102,7 +102,7 @@ using MeshTopology::getHexahedron;
     /// Method to compute Point list, called if \sa d_computePointList is true at init. Should be overwritten by children.
     virtual void computePointList();
 
-    /// Method that will check current grid resolution, if invalide, will set default value: [2; 2; 2]
+    /// Method that will check current grid resolution, if invalid, will set default value: [2; 2; 2]
     void checkGridResolution();
 
     /// Internal Method called by \sa checkGridResolution if resolution need to be changed. Should be overwritten by children.
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp
index b485ae44b92..cd3a49ba2c9 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.cpp
@@ -176,7 +176,7 @@ void SparseGridMultipleTopology::buildAsFinest()
 
         if(d_finestConnectivity.getValue() || this->isVirtual || d_nbVirtualFinerLevels.getValue() > 0 )
         {
-            // find the connexion graph between the finest hexahedra
+            // find the connection graph between the finest hexahedra
             findConnexionsAtFinestLevel();
         }
 
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.h
index 8dfe6e7aea6..2f3e6c75206 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.h
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridMultipleTopology.h
@@ -33,7 +33,7 @@ namespace sofa::component::topology::container::grid
 
 /**
 Build a SparseGridTopology for several given Triangular meshes.
-A stiffness coefficient has to be assigned for each mesh. The last found stiffness coefficient is used for an element shared by several meshes => The mesh ordering is important, and so, more specific stiffness informations must appear in last.
+A stiffness coefficient has to be assigned for each mesh. The last found stiffness coefficient is used for an element shared by several meshes => The mesh ordering is important, and so, more specific stiffness information must appear in last.
 */
 class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridMultipleTopology : public SparseGridRamificationTopology
 {
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h
index 1645a4bac4f..560cd3867f6 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h
@@ -30,7 +30,7 @@
 namespace sofa::component::topology::container::grid
 {
 
-/// a SparseGridTopology where each resulting cube contains only one independant connexe component (nodes can be multiplied by using virtual nodes)
+/// a SparseGridTopology where each resulting cube contains only one independent connexe component (nodes can be multiplied by using virtual nodes)
 class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridRamificationTopology : public SparseGridTopology
 {
 public:
@@ -49,7 +49,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridRamificationTopology
     /// as well as deplacements from its first corner in terms of dx, dy, dz (i.e. barycentric coordinates).
     Index findNearestCube(const type::Vec3& pos, SReal& fx, SReal &fy, SReal &fz) override;
 
-    /// one per connexion, in order to compute findCube by beginning by the finnest and by going up until the coarsest parent
+    /// one per connection, in order to compute findCube by beginning by the finnest and by going up until the coarsest parent
     void findCoarsestParents();
 
     /// when linking similar particules between neighbors, propagate changes to all the sames particles
@@ -60,9 +60,9 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridRamificationTopology
     void buildFromFiner() override;
     void buildVirtualFinerLevels() override;
 
-    /// find the connexion graph between the finest hexahedra
+    /// find the connection graph between the finest hexahedra
     void findConnexionsAtFinestLevel();
-    /// Once the finest connectivity is computed, some nodes can be dobled
+    /// Once the finest connectivity is computed, some nodes can be doubled
     void buildRamifiedFinestLevel();
     /// do 2 neighbors cubes share triangles ?
     bool sharingTriangle(helper::io::Mesh* mesh, Index cubeIdx, Index neighborIdx, unsigned where);
@@ -85,7 +85,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridRamificationTopology
     Data<bool> d_finestConnectivity; ///< Test for connectivity at the finest level? (more precise but slower by testing all intersections between the model mesh and the faces between boundary cubes)
 
 
-    /// a connexion corresponds to a connexe component in each regular hexa (each non-void hexa has at less one connexion)
+    /// a connection corresponds to a connexe component in each regular hexa (each non-void hexa has at less one connection)
     struct Connexion
     {
         Connexion():_parent(nullptr), _coarsestParent(0), _hexaIdx(0), _nonRamifiedHexaIdx(0), _tmp(0) {};
@@ -103,10 +103,10 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridRamificationTopology
 
         int _tmp; // warning: useful to several algos (as a temporary variable) but it is not an identification number
 
-        /// each similar connexion will have a number (saved in _tmp), this number must be given to all connected connexions)
+        /// each similar connection will have a number (saved in _tmp), this number must be given to all connected connexions)
         void propagateConnexionNumberToNeighbors( int connexionNumber, const type::vector<Connexion*>& allFineConnexions )
         {
-            if (_tmp!=-1) return; // already in an existing connexion number
+            if (_tmp!=-1) return; // already in an existing connection number
 
             _tmp = connexionNumber;
             for(int i=0; i<NUM_CONNECTED_NODES; ++i)
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp
index 43b5e136953..69e575383c9 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp
@@ -83,7 +83,7 @@ SparseGridTopology::SparseGridTopology(bool _isVirtual)
     , d_min(initData(&d_min, type::Vec3(0_sreal, 0_sreal, 0_sreal), "min", "Min"))
     , d_max(initData(&d_max, type::Vec3(0_sreal, 0_sreal, 0_sreal), "max", "Max"))
     , d_cellWidth(initData(&d_cellWidth, (SReal)0.0, "cellWidth", "if > 0 : dimension of each cell in the created grid"))
-    , d_nbVirtualFinerLevels(initData(&d_nbVirtualFinerLevels, 0, "nbVirtualFinerLevels", "create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (usefull to compute better mechanical properties for example)"))
+    , d_nbVirtualFinerLevels(initData(&d_nbVirtualFinerLevels, 0, "nbVirtualFinerLevels", "create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (useful to compute better mechanical properties for example)"))
     , d_dataResolution(initData(&d_dataResolution, type::Vec3i(0, 0, 0), "dataResolution", "Dimension of the voxel File"))
     , d_voxelSize(initData(&d_voxelSize, type::Vec3(1_sreal, 1_sreal, 1_sreal), "voxelSize", "Dimension of one voxel"))
     , d_marchingCubeStep(initData(&d_marchingCubeStep, (unsigned int) 1, "marchingCubeStep", "Step of the Marching Cube algorithm"))
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h
index 3a7976ad266..52f204d08ad 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h
@@ -46,7 +46,7 @@ class RegularGridTopology;
 
 /** A sparse grid topology. Like a sparse FFD building from the bounding box of the object. Starting from a RegularGrid, only valid cells containing matter (ie intersecting the original surface mesh or totally inside the object) are considered.
  * Valid cells are tagged by a Type BOUNDARY or INSIDE
- * WARNING: the corresponding node in the XML file has to be placed BEFORE the MechanicalObject node, in order to excute its init() before the MechanicalObject one in order to be able to give dofs
+ * WARNING: the corresponding node in the XML file has to be placed BEFORE the MechanicalObject node, in order to execute its init() before the MechanicalObject one in order to be able to give dofs
  */
 class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public container::constant::MeshTopology
 {
@@ -74,7 +74,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public con
     /// building from a mesh file
     virtual void buildAsFinest();
 
-    /// building by condensating a finer sparse grid (used if setFinerSparseGrid has initializated _finerSparseGrid before calling init() )
+    /// building by condensating a finer sparse grid (used if setFinerSparseGrid has initialized _finerSparseGrid before calling init() )
     virtual void buildFromFiner();
 
     /// building eventual virtual finer levels (cf d_nbVirtualFinerLevels)
@@ -82,7 +82,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public con
 
     typedef std::map<type::Vec3, Index> MapBetweenCornerPositionAndIndice;///< a vertex indice for a given vertex position in space
 
-    /// connexion between several coarsened levels
+    /// connection between several coarsened levels
     typedef std::vector<type::fixed_array<Index,8> > HierarchicalCubeMap; ///< a cube indice -> corresponding 8 child indices on the potential _finerSparseGrid
     HierarchicalCubeMap _hierarchicalCubeMap;
     typedef type::vector<Index> InverseHierarchicalCubeMap; ///< a fine cube indice -> corresponding coarser cube indice
@@ -233,7 +233,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public con
     Data< type::Vec3 > d_min; ///< Min
     Data< type::Vec3 > d_max; ///< Max
     Data< SReal > d_cellWidth; ///< if > 0 : dimension of each cell in the created grid
-    Data< int > d_nbVirtualFinerLevels; ///< create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (usefull to compute better mechanical properties for example)
+    Data< int > d_nbVirtualFinerLevels; ///< create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (useful to compute better mechanical properties for example)
 
 public:
 
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp
index 39ea54ec88e..6fe13bd1d13 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.cpp
@@ -91,7 +91,7 @@ sofa::type::Vec3 SphereGridTopology::getPointInGrid(int i, int j, int k) const
     const int nx = getNx();
     const int ny = getNy();
     const int nz = getNz();
-    // coordonate on a square
+    // coordinate on a square
     type::Vec3 p(i*2*r/(nx-1) - r, j*2*r/(ny-1) - r, k*2*r/(nz-1) - r);
     // scale it to be on a circle
     if (p.norm() > 0.0000001){
diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.h
index 4f1314ac8d0..db2921627c2 100644
--- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.h
+++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SphereGridTopology.h
@@ -28,7 +28,7 @@ namespace sofa::component::topology::container::grid
 {
 
 /** \brief Define a sphere grid topology
- * Paramenters are its @sa d_radius and discretisation .
+ * Parameters are its @sa d_radius and discretisation .
  * Position and direction are set by @sa d_center and @sa d_axis
  * nz discretisation is along the sphere axis
   */
diff --git a/Sofa/Component/Topology/Container/Grid/tests/RegularGridTopology_test.cpp b/Sofa/Component/Topology/Container/Grid/tests/RegularGridTopology_test.cpp
index 6876c86bdb7..61276f31e4d 100644
--- a/Sofa/Component/Topology/Container/Grid/tests/RegularGridTopology_test.cpp
+++ b/Sofa/Component/Topology/Container/Grid/tests/RegularGridTopology_test.cpp
@@ -86,7 +86,7 @@ bool RegularGridTopology_test::regularGridSize(const std::vector<int>& p, bool f
     int nbHexa = (nx - 1) * (ny - 1) * (nz - 1);
     int nbQuads = (nx - 1) * (ny - 1) * nz + (nx - 1) * ny * (nz - 1) + nx * (ny - 1) * (nz - 1);
 
-    /// Dimmension invariant assumption
+    /// Dimension invariant assumption
     EXPECT_EQ(regGrid->getNbPoints(), nx * ny * nz);
     if (fromTriangleList)
     {
@@ -99,8 +99,8 @@ bool RegularGridTopology_test::regularGridSize(const std::vector<int>& p, bool f
         EXPECT_EQ(regGrid->getNbEdges(), nbEgdes);
     }
 
-    /// Compute the dimmension.
-    const int d = (p[0] == 1) + (p[1] == 1) + (p[2] == 1); /// Check if there is reduced dimmension
+    /// Compute the dimension.
+    const int d = (p[0] == 1) + (p[1] == 1) + (p[2] == 1); /// Check if there is reduced dimension
     const int e = (p[0] <= 0) + (p[1] <= 0) + (p[2] <= 0); /// Check if there is an error
     if (e == 0)
     {
@@ -211,11 +211,11 @@ TEST_F(RegularGridTopology_test, regularGridFindPoint)
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 ///
-/// Test on various dimmensions
+/// Test on various dimensions
 ///
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 std::vector<std::vector<int>> dimvalues = {
-    /// The first three values are for the dimmension of the grid.
+    /// The first three values are for the dimension of the grid.
     /// The fourth is to encode if we need to catch a Warning message
     /// The fith is to indicate that the component should be initialized with
     /// the default values of
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp
index 3a0ff141ab2..5bb3e007d07 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp
@@ -113,7 +113,7 @@ void Hexa2TetraTopologicalMapping::init()
         }
     }
 
-    // Tesselation of each cube into 6 tetrahedra
+    // Tessellation of each cube into 6 tetrahedra
     for (size_t i=0; i<nbcubes; i++)
     {
         core::topology::BaseMeshTopology::Hexa c = fromModel->getHexahedron(i);
diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp
index 315dab425f9..d66221835b3 100644
--- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp
+++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.cpp
@@ -199,7 +199,7 @@ void Tetra2TriangleTopologicalMapping::updateTopologicalMappingTopDown()
                     unsigned int lastLocId = iter_last->second;
                     Glob2LocMap[oldGlobTriId] = lastLocId;
 
-                    if (lastLocId < Loc2GlobVec.size()) // could be maped to an already removed element in loc2Glob
+                    if (lastLocId < Loc2GlobVec.size()) // could be mapped to an already removed element in loc2Glob
                         Loc2GlobVec[lastLocId] = oldGlobTriId;
                 }
                 else
@@ -307,7 +307,7 @@ void Tetra2TriangleTopologicalMapping::updateTopologicalMappingTopDown()
             {
                 BaseMeshTopology::TriangleID lastGlobId = Loc2GlobVec.back();
 
-                // udpate loc2glob array
+                // update loc2glob array
                 Loc2GlobVec[triLocId] = lastGlobId;
                 Loc2GlobVec.pop_back();
 
diff --git a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h
index f513bba1b6d..bdd5bf4c915 100644
--- a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h
+++ b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h
@@ -122,7 +122,7 @@ class fake_TopologyScene
         return true;
     }
 
-    /// Method to get acces to node containing the meshLoader and the toplogy container.
+    /// Method to get access to node containing the meshLoader and the topology container.
     sofa::simulation::Node::SPtr getNode() { return m_root; }
 
 private:
diff --git a/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp b/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp
index 04edd9e5327..2bc9934cb6f 100644
--- a/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp
+++ b/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp
@@ -41,7 +41,7 @@ using namespace sofa::core::topology;
 using namespace sofa::simulation;
 using sofa::component::topology::utility::TopologyChecker;
 
-/**  Test TopologyChecker class on different valid and unvalid topology containers
+/**  Test TopologyChecker class on different valid and invalid topology containers
   */
 
 struct TopologyChecker_test: public BaseSimulationTest
@@ -203,7 +203,7 @@ struct EdgeTopologyChecker_test : TopologyChecker_test
         // mix edge
         edges[0][0] = edges[0][1];
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
 
         return checker->checkEdgeTopology() == false;
@@ -233,7 +233,7 @@ struct EdgeTopologyChecker_test : TopologyChecker_test
         // container should be ok
         EXPECT_EQ(checker->checkEdgeContainer(), true);
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         return checker->checkEdgeToVertexCrossContainer() == false;
     }
@@ -328,7 +328,7 @@ struct TriangleTopologyChecker_test : TopologyChecker_test
         // mix triangle
         triangles[0][0] = triangles[0][1];
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
 
         return checker->checkTriangleTopology() == false;
@@ -357,7 +357,7 @@ struct TriangleTopologyChecker_test : TopologyChecker_test
         // container should be ok
         EXPECT_EQ(checker->checkTriangleContainer(), true);
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkTriangleToEdgeCrossContainer(), false);
         // restore good container
@@ -423,7 +423,7 @@ struct TriangleTopologyChecker_test : TopologyChecker_test
         // container should be ok
         EXPECT_EQ(checker->checkTriangleContainer(), true);
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkTriangleToVertexCrossContainer(), false);
         // restore good container
@@ -550,7 +550,7 @@ struct QuadTopologyChecker_test : TopologyChecker_test
         // mix triangle
         quads[0][0] = quads[0][1];
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
 
         return checker->checkQuadTopology() == false;
@@ -579,7 +579,7 @@ struct QuadTopologyChecker_test : TopologyChecker_test
         // container should be ok
         EXPECT_EQ(checker->checkQuadContainer(), true);
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkQuadToEdgeCrossContainer(), false);
         // restore good container
@@ -642,7 +642,7 @@ struct QuadTopologyChecker_test : TopologyChecker_test
         // Add triangle without updating cross container
         quads.push_back(Topology::Quad(0, 2, 4, 8));
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkQuadToVertexCrossContainer(), false);
         // restore good container
@@ -771,7 +771,7 @@ struct TetrahedronTopologyChecker_test : TopologyChecker_test
         // mix triangle
         tetra[0][0] = tetra[0][1];
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
 
         return checker->checkTetrahedronTopology() == false;
@@ -799,7 +799,7 @@ struct TetrahedronTopologyChecker_test : TopologyChecker_test
         // container should be ok
         EXPECT_EQ(checker->checkTetrahedronContainer(), true);
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkTetrahedronToTriangleCrossContainer(), false);
         // restore good container
@@ -927,7 +927,7 @@ struct TetrahedronTopologyChecker_test : TopologyChecker_test
         // Add triangle without updating cross container
         tetra.push_back(Topology::Tetrahedron(0, 2, 8, 12));
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkTetrahedronToVertexCrossContainer(), false);
         // restore good container
@@ -1055,7 +1055,7 @@ struct HexahedronTopologyChecker_test : TopologyChecker_test
         // mix triangle
         hexahedra[0][0] = hexahedra[0][1];
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
 
         return checker->checkHexahedronTopology() == false;
@@ -1083,7 +1083,7 @@ struct HexahedronTopologyChecker_test : TopologyChecker_test
         // container should be ok
         EXPECT_EQ(checker->checkHexahedronContainer(), true);
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkHexahedronToQuadCrossContainer(), false);
         // restore good container
@@ -1150,7 +1150,7 @@ struct HexahedronTopologyChecker_test : TopologyChecker_test
         // Add triangle without updating cross container
         hexa.push_back(Topology::Hexahedron(0, 2, 4, 12, 14, 18, 20, 22));
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkHexahedronToEdgeCrossContainer(), false);
         // restore good container
@@ -1211,7 +1211,7 @@ struct HexahedronTopologyChecker_test : TopologyChecker_test
         // Add triangle without updating cross container
         hexa.push_back(Topology::Hexahedron(0, 2, 4, 12, 14, 18, 20, 22));
 
-        // Topology checher should detect an error
+        // Topology checker should detect an error
         EXPECT_MSG_EMIT(Error);
         EXPECT_EQ(checker->checkHexahedronToVertexCrossContainer(), false);
         // restore good container
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
index 2eaec4a0892..abfd5637626 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
@@ -861,7 +861,7 @@ bool BaseCameraXMLImportSingleParameter(tinyxml2::XMLElement* root, core::object
             }
             else
             {
-                msg_error(c) << "Unknown error occured for " << data.getName() << " field.";
+                msg_error(c) << "Unknown error occurred for " << data.getName() << " field.";
                 return false;
             }
         }
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.cpp
index 7ebc63a4909..eecafd203b8 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.cpp
@@ -303,7 +303,7 @@ void VisualModelImpl::setMesh(helper::io::Mesh &objLoader, bool tex)
 
     if (!objLoader.getGroups().empty())
     {
-        // Get informations about the multiple materials
+        // Get information about the multiple materials
         helper::WriteAccessor< Data< type::vector<Material> > > materials = this->d_materials;
         helper::WriteAccessor< Data< type::vector<FaceGroup> > > groups = this->d_groups;
         materials.resize(objLoader.getMaterials().size());
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h
index 5596963d1f8..a225821b27d 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h
+++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h
@@ -359,7 +359,7 @@ class SOFA_COMPONENT_VISUAL_API VisualModelImpl : public core::visual::VisualMod
     {
         if (!d_vertPosIdx.getValue().empty())
         {
-            // Splitted vertices for multiple texture or normal coordinates per vertex.
+            // Split vertices for multiple texture or normal coordinates per vertex.
             return d_vertices2.getValue();
         }
 
diff --git a/Sofa/Component/Visual/tests/VisualModelImpl_test.cpp b/Sofa/Component/Visual/tests/VisualModelImpl_test.cpp
index e021c96427e..9ed0c307e46 100644
--- a/Sofa/Component/Visual/tests/VisualModelImpl_test.cpp
+++ b/Sofa/Component/Visual/tests/VisualModelImpl_test.cpp
@@ -40,13 +40,13 @@ struct VisualModelImpl_test : public ::testing::Test
 
 struct StubVisualModelImpl : public component::visual::VisualModelImpl {};
 
-// Define the list of DataTypes to instanciate
+// Define the list of DataTypes to instantiate
 using testing::Types;
 typedef Types<
     defaulttype::Vec3Types
-> DataTypes; // the types to instanciate.
+> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(VisualModelImpl_test, DataTypes);
 
 template <class T>
diff --git a/Sofa/GL/Component/Engine/src/sofa/gl/component/engine/TextureInterpolation.h b/Sofa/GL/Component/Engine/src/sofa/gl/component/engine/TextureInterpolation.h
index 8fa1af5bc2f..fbed6dd718f 100644
--- a/Sofa/GL/Component/Engine/src/sofa/gl/component/engine/TextureInterpolation.h
+++ b/Sofa/GL/Component/Engine/src/sofa/gl/component/engine/TextureInterpolation.h
@@ -34,7 +34,7 @@ namespace sofa::gl::component::engine
 {
 
 /**
- * This class give texture coordinate in 1D according to an imput state vector.
+ * This class give texture coordinate in 1D according to an input state vector.
  */
 template <class DataTypes>
 class TextureInterpolation : public core::DataEngine
diff --git a/Sofa/GL/Component/Engine/tests/TextureInterpolation_DataUpdate.cpp b/Sofa/GL/Component/Engine/tests/TextureInterpolation_DataUpdate.cpp
index f2e1507e7de..0193961e44a 100644
--- a/Sofa/GL/Component/Engine/tests/TextureInterpolation_DataUpdate.cpp
+++ b/Sofa/GL/Component/Engine/tests/TextureInterpolation_DataUpdate.cpp
@@ -36,9 +36,9 @@ namespace sofa {
 
 typedef ::testing::Types<
 TestDataEngine< gl::component::engine::TextureInterpolation<defaulttype::Vec3Types> >
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
-//// ========= Tests to run for each instanciated type
+//// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE(DataEngine_test, TestTypes);
 
 //// test number of call to DataEngine::update
diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp
index bad8198229f..fa4c6a1f262 100644
--- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp
+++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp
@@ -45,8 +45,8 @@ OglColorMap::OglColorMap()
 , d_legendOffset(initData(&d_legendOffset, type::Vec2f(10.0f,5.0f),"legendOffset", "Draw the legend on screen with an x,y offset"))
 , d_legendTitle(initData(&d_legendTitle,"legendTitle", "Font size of the legend (if any)"))
 , d_legendSize(initData(&d_legendSize, 11u, "legendSize", "Add a title to the legend"))
-, d_min(initData(&d_min,0.0f,"min","min value for drawing the legend without the need to actually use the range with getEvaluator method wich sets the min"))
-, d_max(initData(&d_max,0.0f,"max","max value for drawing the legend without the need to actually use the range with getEvaluator method wich sets the max"))
+, d_min(initData(&d_min,0.0f,"min","min value for drawing the legend without the need to actually use the range with getEvaluator method which sets the min"))
+, d_max(initData(&d_max,0.0f,"max","max value for drawing the legend without the need to actually use the range with getEvaluator method which sets the max"))
 , d_legendRangeScale(initData(&d_legendRangeScale,1.f,"legendRangeScale","to change the unit of the min/max value of the legend"))
 , texture(0)
 {
diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h
index 703e0a66d2c..8a511c409ad 100644
--- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h
+++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h
@@ -57,8 +57,8 @@ class SOFA_GL_COMPONENT_RENDERING2D_API OglColorMap : public sofa::core::visual:
     Data<type::Vec2f> d_legendOffset; ///< Draw the legend on screen with an x,y offset
     Data<std::string> d_legendTitle; ///< Font size of the legend (if any)
     Data<unsigned int> d_legendSize; ///< Add a title to the legend
-    Data<float> d_min; ///< min value for drawing the legend without the need to actually use the range with getEvaluator method wich sets the min
-    Data<float> d_max; ///< max value for drawing the legend without the need to actually use the range with getEvaluator method wich sets the max
+    Data<float> d_min; ///< min value for drawing the legend without the need to actually use the range with getEvaluator method which sets the min
+    Data<float> d_max; ///< max value for drawing the legend without the need to actually use the range with getEvaluator method which sets the max
     Data<float> d_legendRangeScale; ///< to change the unit of the min/max value of the legend
 
     sofa::helper::ColorMap m_colorMap;
diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.cpp b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.cpp
index 267ccaefaa0..3fc2f572017 100644
--- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.cpp
+++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.cpp
@@ -45,7 +45,7 @@ OglLabel::OglLabel():
   ,d_y(initData(&d_y, (unsigned int)10, "y", "The y position of the text on the screen"))
   ,d_fontsize(initData(&d_fontsize, (unsigned int)14, "fontsize", "The size of the font used to display the text on the screen"))
   ,d_color(initData(&d_color, sofa::type::RGBAColor::gray(), "color", "The color of the text to display. (default='gray')"))
-  ,d_selectContrastingColor(initData(&d_selectContrastingColor, false, "selectContrastingColor", "Overide the color value but one that contrast with the background color"))
+  ,d_selectContrastingColor(initData(&d_selectContrastingColor, false, "selectContrastingColor", "Override the color value but one that contrast with the background color"))
   ,d_updateLabelEveryNbSteps(initData(&d_updateLabelEveryNbSteps, (unsigned int)0, "updateLabelEveryNbSteps", "Update the display of the label every nb of time steps"))
   ,m_stepCounter(0)
 {
@@ -84,7 +84,7 @@ void OglLabel::reinit()
 {
     if( d_selectContrastingColor.isSet() && d_color.isSet() ){
         msg_warning() << "The selectContrastingColor and color attributes are both set. " << msgendl
-                      << "The color attribute will be overriden by the contrasting color. ";
+                      << "The color attribute will be overridden by the contrasting color. ";
     }
 
     m_internalLabel = d_label.getValue();
diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.h b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.h
index aa972c8a07d..b13963cba9e 100644
--- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.h
+++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglLabel.h
@@ -47,7 +47,7 @@ class SOFA_GL_COMPONENT_RENDERING2D_API OglLabel : public core::visual::VisualMo
     Data<unsigned int>           d_y; ///< The y position of the text on the screen
     Data<unsigned int>           d_fontsize; ///< The size of the font used to display the text on the screen
     Data<sofa::type::RGBAColor> d_color; ///< The color of the text to display. (default='gray')
-    Data<bool>                   d_selectContrastingColor ; ///< Overide the color value but one that contrast with the background color
+    Data<bool>                   d_selectContrastingColor ; ///< Override the color value but one that contrast with the background color
     Data<unsigned int>           d_updateLabelEveryNbSteps; ///< Update the display of the label every nb of time steps
     core::objectmodel::lifecycle::RemovedData d_visible {this, "v23.06", "23.12", "visible", "Use the 'enable' data field instead of 'visible'"};
 
diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp
index ce44d6fd5f6..67003a663e8 100644
--- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp
+++ b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp
@@ -53,7 +53,7 @@ OglModel::OglModel()
     , pointSize(initData(&pointSize, 1.0f, "pointSize", "Point size (set if != 1, only for points rendering)"))
     , lineSmooth(initData(&lineSmooth, false, "lineSmooth", "Enable smooth line rendering"))
     , pointSmooth(initData(&pointSmooth, false, "pointSmooth", "Enable smooth point rendering"))
-    , primitiveType( initData(&primitiveType, "primitiveType", "Select types of primitives to send (necessary for some shader types such as geometry or tesselation)"))
+    , primitiveType( initData(&primitiveType, "primitiveType", "Select types of primitives to send (necessary for some shader types such as geometry or tessellation)"))
     , blendEquation( initData(&blendEquation, "blendEquation", "if alpha blending is enabled this specifies how source and destination colors are combined") )
     , sourceFactor( initData(&sourceFactor, "sfactor", "if alpha blending is enabled this specifies how the red, green, blue, and alpha source blending factors are computed") )
     , destFactor( initData(&destFactor, "dfactor", "if alpha blending is enabled this specifies how the red, green, blue, and alpha destination blending factors are computed") )
@@ -1051,7 +1051,7 @@ GLenum OglModel::getGLenum(const char* c ) const
     {
         return GL_ONE_MINUS_SRC_ALPHA;
     }
-    // .... add ohter OGL symbolic constants
+    // .... add other OGL symbolic constants
     // glBlendEquation Value
     else if  ( strcmp( c, "GL_FUNC_ADD") == 0)
     {
diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h
index f93b0d070e5..d5ff3338b15 100644
--- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h
+++ b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h
@@ -66,7 +66,7 @@ class SOFA_GL_COMPONENT_RENDERING3D_API OglModel : public sofa::component::visua
     DeprecatedAndRemoved isEnabled;
 
     // primitive types
-    Data<sofa::helper::OptionsGroup> primitiveType; ///< Select types of primitives to send (necessary for some shader types such as geometry or tesselation)
+    Data<sofa::helper::OptionsGroup> primitiveType; ///< Select types of primitives to send (necessary for some shader types such as geometry or tessellation)
 
     //alpha blend function
     Data<sofa::helper::OptionsGroup> blendEquation; ///< if alpha blending is enabled this specifies how source and destination colors are combined
diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.cpp b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.cpp
index 839f23d3846..f9d837f0536 100644
--- a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.cpp
+++ b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.cpp
@@ -66,9 +66,9 @@ Light::Light()
     , d_shadowsEnabled(initData(&d_shadowsEnabled, (bool) true, "shadowsEnabled", "[Shadowing] Enable Shadow from this light"))
     , d_softShadows(initData(&d_softShadows, (bool) false, "softShadows", "[Shadowing] Turn on Soft Shadow from this light"))
     , d_shadowFactor(initData(&d_shadowFactor, (float) 1.0, "shadowFactor", "[Shadowing] Shadow Factor (decrease/increase darkness)"))
-    , d_VSMLightBleeding(initData(&d_VSMLightBleeding, (float) 0.05, "VSMLightBleeding", "[Shadowing] (VSM only) Light bleeding paramter"))
+    , d_VSMLightBleeding(initData(&d_VSMLightBleeding, (float) 0.05, "VSMLightBleeding", "[Shadowing] (VSM only) Light bleeding parameter"))
     , d_VSMMinVariance(initData(&d_VSMMinVariance, (float) 0.001, "VSMMinVariance", "[Shadowing] (VSM only) Minimum variance parameter"))
-    , d_textureUnit(initData(&d_textureUnit, (unsigned short) 1, "textureUnit", "[Shadowing] Texture unit for the genereated shadow texture"))
+    , d_textureUnit(initData(&d_textureUnit, (unsigned short) 1, "textureUnit", "[Shadowing] Texture unit for the generated shadow texture"))
     , d_modelViewMatrix(initData(&d_modelViewMatrix, "modelViewMatrix", "[Shadowing] ModelView Matrix"))
     , d_projectionMatrix(initData(&d_projectionMatrix, "projectionMatrix", "[Shadowing] Projection Matrix"))
     , b_needUpdate(false)
@@ -443,7 +443,7 @@ void DirectionalLight::computeOpenGLModelViewMatrix(GLfloat mat[16], const sofa:
 
 
     //2-compute orientation to fit the bbox from light's pov
-    // bounding box in light space = frustrum
+    // bounding box in light space = frustum
     const double epsilon = 0.0000001;
     Vec3 zAxis = -direction;
     zAxis.normalize();
diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.h b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.h
index c1c2ebee029..8577dd8f04c 100644
--- a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.h
+++ b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/Light.h
@@ -79,9 +79,9 @@ class SOFA_GL_COMPONENT_SHADER_API Light : public sofa::core::visual::VisualMode
     Data<bool> d_shadowsEnabled; ///< [Shadowing] Enable Shadow from this light
     Data<bool> d_softShadows; ///< [Shadowing] Turn on Soft Shadow from this light
     Data<float> d_shadowFactor; ///< [Shadowing] Shadow Factor (decrease/increase darkness)
-    Data<float> d_VSMLightBleeding; ///< [Shadowing] (VSM only) Light bleeding paramter
+    Data<float> d_VSMLightBleeding; ///< [Shadowing] (VSM only) Light bleeding parameter
     Data<float> d_VSMMinVariance; ///< [Shadowing] (VSM only) Minimum variance parameter
-    Data<unsigned short> d_textureUnit; ///< [Shadowing] Texture unit for the genereated shadow texture
+    Data<unsigned short> d_textureUnit; ///< [Shadowing] Texture unit for the generated shadow texture
 
 protected:
     Light();
diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.cpp b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.cpp
index ec5f7abdb1e..6221add5f0c 100644
--- a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.cpp
+++ b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.cpp
@@ -99,7 +99,7 @@ void LightManager::doInitVisual(const core::visual::VisualParams* vparams)
         m_shadowShaders[i]->initVisual(vparams);
 
     ///TODO: keep trace of all active textures at the same time, with a static factory
-    ///or something like that to avoid conflics with color texture declared in the scene file.
+    ///or something like that to avoid conflicts with color texture declared in the scene file.
     type::vector<OglTexture::SPtr> sceneTextures;
     this->getContext()->get<OglTexture, type::vector<OglTexture::SPtr> >(&sceneTextures, BaseContext::SearchRoot);
 
@@ -477,7 +477,7 @@ void LightManager::restoreDefaultLight(VisualParams* vp)
 //TODO(dmarchal): Hard-coding keyboard behavior in a component is a bad idea as for several reasons:
 // the scene can be executed without a keyboard ...there is no reason the component should have a "knowledge" of keyboard
 // what will happens if multiple lighmanager are in the same scene ...
-// what will hapen if other component use the same key...
+// what will happen if other component use the same key...
 // The correct implementation consist in separatng the event code into a different class & component in
 // the SofaInteracton module.
 void LightManager::handleEvent(sofa::core::objectmodel::Event* event)
diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/VisualManagerPass.cpp b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/VisualManagerPass.cpp
index 425f1e70849..25e1607d724 100644
--- a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/VisualManagerPass.cpp
+++ b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/VisualManagerPass.cpp
@@ -167,7 +167,7 @@ void VisualManagerPass::postDrawScene(VisualParams* /*vp*/)
 }
 
 
-//keyboard event management. Not sure what I'm gonna do with that for the moment, but I'm quite sure it should be usefull in the future
+//keyboard event management. Not sure what I'm gonna do with that for the moment, but I'm quite sure it should be useful in the future
 void VisualManagerPass::handleEvent(sofa::core::objectmodel::Event* /*event*/)
 {
 }
diff --git a/Sofa/GL/src/sofa/gl/BasicShapes.h b/Sofa/GL/src/sofa/gl/BasicShapes.h
index 94f930dcc7c..4a6ee3c72c7 100644
--- a/Sofa/GL/src/sofa/gl/BasicShapes.h
+++ b/Sofa/GL/src/sofa/gl/BasicShapes.h
@@ -60,7 +60,7 @@ void drawCone(const V& p1, const V& p2, const float& radius1, const float& radiu
         ct = (float)cos(theta);
         /* construct normal */
         tmp = p*ct+q*st;
-        /* set the normal for the two subseqent points */
+        /* set the normal for the two subsequent points */
         gl::glNormalT(tmp);
         /* point on disk 1 */
         V w(p1);
diff --git a/Sofa/GL/src/sofa/gl/DrawToolGL.cpp b/Sofa/GL/src/sofa/gl/DrawToolGL.cpp
index 79becb03757..7ceb1e45f21 100644
--- a/Sofa/GL/src/sofa/gl/DrawToolGL.cpp
+++ b/Sofa/GL/src/sofa/gl/DrawToolGL.cpp
@@ -518,7 +518,7 @@ void DrawToolGL::drawCapsule(const Vec3& p1, const Vec3 &p2, float radius,const
         const float ct = cos(theta);
         /* construct normal */
         tmp = p*ct+q*st;
-        /* set the normal for the two subseqent points */
+        /* set the normal for the two subsequent points */
         normals.push_back(tmp);
 
         Vec3 w(p1);
@@ -593,7 +593,7 @@ void DrawToolGL::drawCone(const Vec3& p1, const Vec3 &p2, float radius1, float r
         const float ct = cos(theta);
         /* construct normal */
         tmp = p*ct+q*st;
-        /* set the normal for the two subseqent points */
+        /* set the normal for the two subsequent points */
         normals.push_back(tmp);
 
         /* point on disk 1 */
@@ -1015,7 +1015,7 @@ void DrawToolGL::drawTetrahedra(const std::vector<Vec3> &points, const type::RGB
         const Vec3& p2 = *(it++);
         const Vec3& p3 = *(it++);
 
-        //this->drawTetrahedron(p0,p1,p2,p3,color); // not recommanded as it will call glBegin/glEnd <number of tetra> times
+        //this->drawTetrahedron(p0,p1,p2,p3,color); // not recommended as it will call glBegin/glEnd <number of tetra> times
         this->internalDrawTriangle(p0, p1, p2, cross((p1 - p0), (p2 - p0)), color);
         this->internalDrawTriangle(p0, p1, p3, cross((p1 - p0), (p3 - p0)), color);
         this->internalDrawTriangle(p0, p2, p3, cross((p2 - p0), (p3 - p0)), color);
@@ -1043,7 +1043,7 @@ void DrawToolGL::drawScaledTetrahedra(const std::vector<Vec3> &points, const typ
         Vec3 np2 = ((p2 - center)*scale) + center;
         Vec3 np3 = ((p3 - center)*scale) + center;
 
-        //this->drawTetrahedron(p0,p1,p2,p3,color); // not recommanded as it will call glBegin/glEnd <number of tetra> times
+        //this->drawTetrahedron(p0,p1,p2,p3,color); // not recommended as it will call glBegin/glEnd <number of tetra> times
         this->internalDrawTriangle(np0, np1, np2, cross((p1 - p0), (p2 - p0)), color);
         this->internalDrawTriangle(np0, np1, np3, cross((p1 - p0), (p3 - p0)), color);
         this->internalDrawTriangle(np0, np2, np3, cross((p2 - p0), (p3 - p0)), color);
@@ -1088,7 +1088,7 @@ void DrawToolGL::drawHexahedra(const std::vector<Vec3> &points, const type::RGBA
         const Vec3& p6 = *(it++);
         const Vec3& p7 = *(it++);
 
-        //this->drawHexahedron(p0,p1,p2,p3,p4,p5,p6,p7,color); // not recommanded as it will call glBegin/glEnd <number of hexa> times
+        //this->drawHexahedron(p0,p1,p2,p3,p4,p5,p6,p7,color); // not recommended as it will call glBegin/glEnd <number of hexa> times
         this->internalDrawQuad(p0, p1, p2, p3, cross((p1 - p0), (p2 - p0)), color);
         this->internalDrawQuad(p4, p7, p6, p5, cross((p7 - p5), (p6 - p5)), color);
         this->internalDrawQuad(p1, p0, p4, p5, cross((p0 - p1), (p4 - p1)), color);
@@ -1128,7 +1128,7 @@ void DrawToolGL::drawScaledHexahedra(const std::vector<Vec3> &points, const type
         Vec3 np6 = ((p6 - center)*scale) + center;
         Vec3 np7 = ((p7 - center)*scale) + center;
 
-        //this->drawHexahedron(p0,p1,p2,p3,p4,p5,p6,p7,color); // not recommanded as it will call glBegin/glEnd <number of hexa> times
+        //this->drawHexahedron(p0,p1,p2,p3,p4,p5,p6,p7,color); // not recommended as it will call glBegin/glEnd <number of hexa> times
         this->internalDrawQuad(np0, np1, np2, np3, cross((p1 - p0), (p2 - p0)), color);
         this->internalDrawQuad(np4, np7, np6, np5, cross((p7 - p5), (p6 - p5)), color);
         this->internalDrawQuad(np1, np0, np4, np5, cross((p0 - p1), (p4 - p1)), color);
diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp
index 40e77ff9243..5e1f9f18c2d 100644
--- a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp
+++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp
@@ -100,7 +100,7 @@ void BaseViewer::configure(sofa::component::setting::ViewerSetting* viewerConf)
         setCameraMode(VisualParams::PERSPECTIVE_TYPE);
 }
 
-//Fonctions needed to take a screenshot
+//Functions needed to take a screenshot
 const std::string BaseViewer::screenshotName()
 {
     return "";
diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h
index 4af8528b375..6fb448907b4 100644
--- a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h
+++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h
@@ -86,7 +86,7 @@ class SOFA_GUI_COMMON_API BaseViewer
     //Allow to configure your viewer using the Sofa Component, ViewerSetting
     virtual void configure(sofa::component::setting::ViewerSetting* viewerConf);
 
-    //Fonctions needed to take a screenshot
+    //Functions needed to take a screenshot
     virtual const std::string screenshotName();
     virtual void setPrefix(const std::string& prefix, bool prependDirectory = true);
     virtual void screenshot(const std::string& filename, int compression_level =-1);
diff --git a/Sofa/GUI/Common/src/sofa/gui/common/FilesRecentlyOpenedManager.cpp b/Sofa/GUI/Common/src/sofa/gui/common/FilesRecentlyOpenedManager.cpp
index 472c7481420..15b7c0fa5cd 100644
--- a/Sofa/GUI/Common/src/sofa/gui/common/FilesRecentlyOpenedManager.cpp
+++ b/Sofa/GUI/Common/src/sofa/gui/common/FilesRecentlyOpenedManager.cpp
@@ -70,7 +70,7 @@ void FilesRecentlyOpenedManager::openFile(const std::string &path)
     if (path.empty() || !FileSystem::exists(path))
         return;
 
-    // Remove previous occurence of the file, if any
+    // Remove previous occurrence of the file, if any
     const type::vector<std::string>::iterator fileFound = std::find(files.begin(), files.end(), path);
     if (fileFound != files.end())
         files.erase(fileFound);
diff --git a/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h b/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h
index 10b8918c268..c6fcb634d9b 100644
--- a/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h
+++ b/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h
@@ -56,8 +56,8 @@ class SOFA_GUI_COMMON_API GUIManager
      *  \param name :     It is the name of your gui. This name is compared with the name parameter when you set GUIManager::Init(name). It must be the same.
      *  \param creator :  The pointer function which call when GUIManager::createGUI()
      *  \param init :     The pointer function which call when GUIManager::Init()
-     *  \param priority : If nothing is given as name GUIManager::Init parameter GUIManager::valid_guiname is automaticly set compared with the priority
-     *  \return 1 if the name is already used (failed), 0 if restry succed
+     *  \param priority : If nothing is given as name GUIManager::Init parameter GUIManager::valid_guiname is automatically set compared with the priority
+     *  \return 1 if the name is already used (failed), 0 if restry succeed
      */
     static int RegisterGUI(const char* name, CreateGUIFn* creator, RegisterGUIParameters* parameters=nullptr, int priority=0);
     static const char* GetValidGUIName();
@@ -85,7 +85,7 @@ class SOFA_GUI_COMMON_API GUIManager
     /// @}
 protected:
     /*!
-     *  \brief Comparaison between guiname passed as parameter and all guiname store in guiCreators list
+     *  \brief Comparison between guiname passed as parameter and all guiname store in guiCreators list
      *  \param name : It is the name of your gui.
      *  \return nullptr if the name don't match with any guiCreators name, the correct pointer otherwise
      */
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/AddRecordedCameraButtonSetting.h b/Sofa/GUI/Component/src/sofa/gui/component/AddRecordedCameraButtonSetting.h
index 6702de23cb0..00f8b0ab3f3 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/AddRecordedCameraButtonSetting.h
+++ b/Sofa/GUI/Component/src/sofa/gui/component/AddRecordedCameraButtonSetting.h
@@ -47,7 +47,7 @@ class SOFA_GUI_COMPONENT_API StartNavigationButtonSetting: public sofa::componen
 protected:
     StartNavigationButtonSetting(){};
 public:
-    std::string getOperationType() override {return "Start navigation if some view poins have been saved";}
+    std::string getOperationType() override {return "Start navigation if some view points have been saved";}
 };
 
 } // namespace sofa::gui::component
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/InciseAlongPathPerformer.h b/Sofa/GUI/Component/src/sofa/gui/component/performer/InciseAlongPathPerformer.h
index 54a18477bcb..77c90bdbce0 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/InciseAlongPathPerformer.h
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/InciseAlongPathPerformer.h
@@ -75,7 +75,7 @@ class SOFA_GUI_COMPONENT_API InciseAlongPathPerformer: public InteractionPerform
     void setPerformerFreeze() override;
 
 protected:
-    /// Incision will be perfomed between firstIncisionBody (first point clicked) and firstBody (last point clicked in memory)
+    /// Incision will be performed between firstIncisionBody (first point clicked) and firstBody (last point clicked in memory)
     void PerformCompleteIncision( );
 
     TopologicalChangeManager topologyChangeManager;
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/InteractionPerformer.cpp b/Sofa/GUI/Component/src/sofa/gui/component/performer/InteractionPerformer.cpp
index 7e7d8dbbbca..efa1e80962a 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/InteractionPerformer.cpp
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/InteractionPerformer.cpp
@@ -27,6 +27,6 @@
 
 namespace sofa::helper
 {
-//explicit instanciation of our factory class.
+//explicit instantiation of our factory class.
 template class SOFA_GUI_COMPONENT_API Factory<std::string, sofa::gui::component::performer::InteractionPerformer, sofa::gui::component::performer::BaseMouseInteractor*>;
 } //namespace sofa::helper
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.h b/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.h
index 05cef3d25c3..5144b4d023a 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.h
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.h
@@ -33,7 +33,7 @@ namespace sofa::gui::component::performer
 {
 
 /** Class to configure primitive removal. Several parameters:
-  * - topologicalOperation: if 0, other parameters arn't use.
+  * - topologicalOperation: if 0, other parameters aren't use.
   *   0 = "remove on element"
   *   1 = "remove a zone of elements"
   * - volumicMesh:
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.inl b/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.inl
index 5dd047b1673..7723b6f0ee9 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.inl
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/RemovePrimitivePerformer.inl
@@ -193,7 +193,7 @@ bool RemovePrimitivePerformer<DataTypes>::createElementList()
                 sofa::core::topology::TopologicalMapping *topoMap = dynamic_cast<sofa::core::topology::TopologicalMapping *>(listObject[i]);
                 if (topoMap)
                 {
-                    // Mapping found: 1- looking for volume, 2- looking for surface element on border, 3- looking for correspondant ID element in surfacique mesh
+                    // Mapping found: 1- looking for volume, 2- looking for surface element on border, 3- looking for correspondent ID element in surfacique mesh
                     const sofa::core::topology::BaseMeshTopology::TrianglesInTetrahedron& tetraTri = topo_curr->getTrianglesInTetrahedron(selectedElem[0]);
 
                     int volTmp = -1;
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.cpp b/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.cpp
index 06349604819..e212344d391 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.cpp
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.cpp
@@ -462,7 +462,7 @@ bool TopologicalChangeManager::incisionCollisionModel(sofa::core::CollisionEleme
         {
             const bool isCut = this->incisionTriangleModel (model, incision.indexTriangle, incision.coordPoint, model, elem.getIndex(), pos, snapingValue, snapingBorderValue);
 
-            if (isCut && !incision.firstCut) // cut has been reached, and will possible be continue. Stocking informations.
+            if (isCut && !incision.firstCut) // cut has been reached, and will possible be continue. Stocking information.
             {
                 incision.coordPoint[0] = pos[0];
                 incision.coordPoint[1] = pos[1];
@@ -565,7 +565,7 @@ bool TopologicalChangeManager::incisionTriangleModel(TriangleCollisionModel<sofa
         sofa::type::vector<Index> indices_list;
         sofa::type::vector< Vec3 > coords2_list;
 
-        // Snaping value: input are percentages, we need to transform it as real epsilon value;
+        // Snapping value: input are percentages, we need to transform it as real epsilon value;
         const double epsilonSnap = (double)snapingValue/200;
         const double epsilonBorderSnap = (double)snapingBorderValue/210; // magic number (0.5 is max value and must not be reached, as threshold is compared to barycoord value)
 
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.h b/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.h
index 835cf52f4b0..d0bfba3d9c7 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.h
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/TopologicalChangeManager.h
@@ -55,8 +55,8 @@ class SOFA_GUI_COMPONENT_API TopologicalChangeManager
 
     /** Handles Cutting (activated only for a triangular topology)
      *
-     * Only one model is given. This function perform incision beetween input point and stocked
-     * informations. If it is the first point of the incision, these informations are stocked.
+     * Only one model is given. This function perform incision between input point and stocked
+     * information. If it is the first point of the incision, these information are stocked.
      * i.e element index and picked point coordinates.
      *
      * \sa incisionTriangleSetTopology
@@ -145,7 +145,7 @@ class SOFA_GUI_COMPONENT_API TopologicalChangeManager
 
 
 private:
-    /// Global variables to register intermediate informations for point to point incision.(incision along one segment in a triangular mesh)
+    /// Global variables to register intermediate information for point to point incision.(incision along one segment in a triangular mesh)
     struct Incision
     {
         /// Temporary point index for successive incisions
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/DataWidget.h b/Sofa/GUI/Qt/src/sofa/gui/qt/DataWidget.h
index 1a1b272e67c..52b9c8f5313 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/DataWidget.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/DataWidget.h
@@ -142,7 +142,7 @@ public slots:
     virtual void setDataReadOnly(bool readOnly) = 0;
     /// Helper method to give a size.
     virtual unsigned int sizeWidget() {return 1;}
-    /// Helper method for colum.
+    /// Helper method for column.
     virtual unsigned int numColumnWidget() {return 3;}
 
 protected:
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/GUI.ui b/Sofa/GUI/Qt/src/sofa/gui/qt/GUI.ui
index 83354b60b5d..fef9ad0c8de 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/GUI.ui
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/GUI.ui
@@ -517,7 +517,7 @@ State 2: dirty, in that state the button reflect the fact that the scene graph v
             <item>
              <widget class="QCheckBox" name="dumpStateCheckBox">
               <property name="toolTip">
-               <string comment="This is used to plut curves fter a simulation">Record the state at each time step in file &quot;dumpState.data&quot;</string>
+               <string comment="This is used to plut curves after a simulation">Record the state at each time step in file &quot;dumpState.data&quot;</string>
               </property>
               <property name="text">
                <string>Dump State</string>
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/GenGraphForm.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/GenGraphForm.cpp
index 149ec7f36de..279eca9f45d 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/GenGraphForm.cpp
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/GenGraphForm.cpp
@@ -424,7 +424,7 @@ void GenGraphForm::taskError(QProcess::ProcessError error)
     };
     const auto it = errorMap.find(error);
     const auto errorString = it == errorMap.end() ? "unknown" : it->second;
-    msg_error("GenGraphForm") << "An error occured: " << errorString;
+    msg_error("GenGraphForm") << "An error occurred: " << errorString;
 
     if (error == QProcess::ProcessError::FailedToStart)
     {
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/GraphDataWidget.h b/Sofa/GUI/Qt/src/sofa/gui/qt/GraphDataWidget.h
index 98f71931861..910a20bdbfb 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/GraphDataWidget.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/GraphDataWidget.h
@@ -284,7 +284,7 @@ class GraphWidget: public GraphSetting
     /// y axis pointer
     QValueAxis* m_axisY;
 
-    /// vector of series to be ploted
+    /// vector of series to be plotted
     std::map<QString, CurveData*> m_curves;
 
     data_type currentData;
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/LinkWidget.h b/Sofa/GUI/Qt/src/sofa/gui/qt/LinkWidget.h
index db466b051b3..0508f9d9469 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/LinkWidget.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/LinkWidget.h
@@ -154,7 +154,7 @@ public slots:
     virtual bool createWidgets() = 0;
     /// Helper method to give a size.
     virtual unsigned int sizeWidget() {return 1;}
-    /// Helper method for colum.
+    /// Helper method for column.
     virtual unsigned int numColumnWidget() {return 3;}
 
 protected:
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/ModifyObject.h b/Sofa/GUI/Qt/src/sofa/gui/qt/ModifyObject.h
index db6008928f5..95ad164f984 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/ModifyObject.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/ModifyObject.h
@@ -61,7 +61,7 @@ typedef struct ModifyObjectFlags
 
     bool HIDE_FLAG; //if we allow to hide Datas
     bool READONLY_FLAG; //if we allow  ReadOnly Datas
-    bool EMPTY_FLAG;//if we allow empty datas
+    bool EMPTY_FLAG;//if we allow empty data
     bool RESIZABLE_FLAG;
     bool REINIT_FLAG;
     bool LINKPATH_MODIFIABLE_FLAG; //if we allow to modify the links of the Data
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/QDataDescriptionWidget.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/QDataDescriptionWidget.cpp
index d2d75f0023c..491de6d3661 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/QDataDescriptionWidget.cpp
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/QDataDescriptionWidget.cpp
@@ -174,7 +174,7 @@ QDataDescriptionWidget::QDataDescriptionWidget(QWidget* parent, core::objectmode
 
         box->setLayout(boxLayout);
 
-        box->setTitle(QString("Extra informations"));
+        box->setTitle(QString("Extra information"));
 
         unsigned int row = 0;
         for(const auto& data : selecteddatum)
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/QGraphStatWidget.h b/Sofa/GUI/Qt/src/sofa/gui/qt/QGraphStatWidget.h
index 649fcfc2a8b..9026a1e58a2 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/QGraphStatWidget.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/QGraphStatWidget.h
@@ -77,7 +77,7 @@ class QGraphStatWidget : public QWidget
     /// Pointer to the chart Data
     QChart *m_chart;
 
-    /// vector of series to be ploted
+    /// vector of series to be plotted
     std::vector< QLineSeries *> m_curves;
 
     /// x axis pointer
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/QModelViewTableDataContainer.h b/Sofa/GUI/Qt/src/sofa/gui/qt/QModelViewTableDataContainer.h
index 2e0223e5a84..3745cdc13e7 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/QModelViewTableDataContainer.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/QModelViewTableDataContainer.h
@@ -716,7 +716,7 @@ class vector_data_trait < std::map<std::string, T> >
 
 
 ////////////////////////////////////////////////////////////////
-/// deques support
+/// dequeues support
 ////////////////////////////////////////////////////////////////
 
 template<class T>
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/QMouseOperations.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/QMouseOperations.cpp
index d659b744eba..8d54e1f7244 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/QMouseOperations.cpp
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/QMouseOperations.cpp
@@ -196,7 +196,7 @@ QInciseOperation::QInciseOperation()
     advancedOptions = new QGroupBox(tr("Advanced settings"),this);
     QVBoxLayout *vbox3 = new QVBoxLayout(advancedOptions);
 
-    // first slider for border snaping
+    // first slider for border snapping
     QHBoxLayout *slider1=new QHBoxLayout();
     QLabel *label1=new QLabel(QString("Distance to snap from border (in %)"), this);
     snapingBorderSlider=new QSlider(Qt::Horizontal, this);
@@ -211,7 +211,7 @@ QInciseOperation::QInciseOperation()
     slider1->addWidget (snapingBorderValue);
     vbox3->addLayout (slider1);
 
-    // second slider for along path snaping
+    // second slider for along path snapping
     QHBoxLayout *slider2=new QHBoxLayout();
     QLabel *label2=new QLabel(QString("Distance to snap along path (in %)"), this);
     snapingSlider=new QSlider(Qt::Horizontal, this);
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.cpp
index 227e4c4fc17..d6cd100fa38 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.cpp
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.cpp
@@ -62,7 +62,7 @@ QSofaListView::QSofaListView(const SofaListViewAttribute& attribute,
     this->setObjectName(name);
     this->setWindowFlags(f);
     //List of objects
-    //Read the object.txt that contains the information about the objects which can be added to the scenes whithin a given BoundingBox and scale range
+    //Read the object.txt that contains the information about the objects which can be added to the scenes within a given BoundingBox and scale range
     std::string object ( "config/object.txt" );
 
     if( sofa::helper::system::DataRepository.findFile ( object ) )
@@ -153,7 +153,7 @@ void QSofaListView::modifyUnlock(void* Id)
     map_modifyObjectWindow.erase( Id );
 }
 
-/// Traverse the item tree and retrive the item that are expanded. The path of the node
+/// Traverse the item tree and retrieve the item that are expanded. The path of the node
 /// that are expanded are stored in the pathes std::vector::std::string>.
 void QSofaListView::getExpandedNodes(QTreeWidgetItem* item, std::vector<std::string>& pathes)
 {
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.h b/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.h
index 46f43df6322..bb1b5f1e66d 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/QSofaListView.h
@@ -86,7 +86,7 @@ class SOFA_GUI_QT_API QSofaListView : public SofaSceneGraphWidget
     /// The view can be visually de-synchronized with the simulation graph. This happens
     /// when the view is "frozen" for performance reason. In that case, use isDirty to
     /// get current view state or the dirtynessChanged() signal.
-    /// To resynchronize the view call the update methid.
+    /// To resynchronize the view call the update method.
     void update();
     void setRoot(sofa::simulation::Node*);
 
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.cpp
index 9b2cc2cc352..e83572b0a84 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.cpp
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.cpp
@@ -275,7 +275,7 @@ void RealGUI::CreateApplication(int /*_argc*/, char** /*_argv*/)
     application = new QSOFAApplication ( *argc,argv );
 
     //force locale to Standard C
-    //(must be done immediatly after the QApplication has been created)
+    //(must be done immediately after the QApplication has been created)
     const QLocale locale(QLocale::C);
     QLocale::setDefault(locale);
 }
@@ -436,7 +436,7 @@ RealGUI::RealGUI ( const char* viewername)
 
     currentTabChanged ( tabs->currentIndex() );
 
-    createBackgroundGUIInfos(); // add GUI for Background Informations
+    createBackgroundGUIInfos(); // add GUI for Background Information
 
     createWindowVisitor();
 
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.h b/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.h
index 5ed81682f79..ae82e9f131e 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/RealGUI.h
@@ -268,7 +268,7 @@ class SOFA_GUI_QT_API RealGUI : public QMainWindow, public Ui::GUI, public sofa:
     void startDumpVisitor();
     void stopDumpVisitor();
 
-    /// init the viewer for the GUI (embeded or not we have to connect some info about viewer in the GUI)
+    /// init the viewer for the GUI (embedded or not we have to connect some info about viewer in the GUI)
     void initViewer(common::BaseViewer* _viewer) override;
 
     virtual int exitApplication(unsigned int _retcode = 0)
@@ -357,7 +357,7 @@ public slots:
     virtual void toolsDockMoved();
 
 protected slots:
-    /// Allow to dynamicly change viewer. Called when click on another viewer in GUI Qt viewer list (see viewerMap).
+    /// Allow to dynamically change viewer. Called when click on another viewer in GUI Qt viewer list (see viewerMap).
     /// TODO: find a better way to propagate the argument when we construct the viewer
     virtual void changeViewer();
 
@@ -368,7 +368,7 @@ protected slots:
     /// Update the scenegraph and activate the automatic refresh.
     virtual void onSceneGraphRefreshButtonClicked();
 
-    /// Update the SceneGraph update button to reflect the dirtyness status.
+    /// Update the SceneGraph update button to reflect the dirtiness status.
     virtual void sceneGraphViewDirtynessChanged(bool isDirty);
 
     /// Update the SceneGraph update button to reflect the locking status.
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.h b/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.h
index a92eeea905f..8da330398a4 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.h
@@ -852,7 +852,7 @@ class data_widget_trait < ObjectRef >
     {
         bool canwrite = d.setPath ( w->text().toStdString() );
         if(!canwrite)
-            msg_info()<<"canot set Path "<<w->text().toStdString()<<std::endl;
+            msg_info()<<"cannot set Path "<<w->text().toStdString()<<std::endl;
     }
     static void setReadOnly(Widget* w, bool readOnly)
     {
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/SofaSceneGraphWidget.h b/Sofa/GUI/Qt/src/sofa/gui/qt/SofaSceneGraphWidget.h
index 9eda652c557..a5b45e62e91 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/SofaSceneGraphWidget.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/SofaSceneGraphWidget.h
@@ -87,7 +87,7 @@ class SOFA_GUI_QT_API SofaSceneGraphWidget : public QTreeWidget
     void lock();
     void unLock();
 
-    /// Returns true if the view is not syncrhonized anymore with the simulation graph.
+    /// Returns true if the view is not synchronized anymore with the simulation graph.
     /// To re-syncronize the view you can:
     ///     - call unfreeze() so any future change will be reflected
     ///     - call update(), to update one time the graph.
@@ -101,7 +101,7 @@ class SOFA_GUI_QT_API SofaSceneGraphWidget : public QTreeWidget
     void setViewToDirty();
 
 Q_SIGNALS:
-    /// Connect to this signal to be notified when the dirtyness status of the QSofaListView changed.
+    /// Connect to this signal to be notified when the dirtiness status of the QSofaListView changed.
     void dirtynessChanged(bool isDirty);
 
     /// Connect to this signal to be notified when the locking status changed
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowDataGraph.h b/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowDataGraph.h
index 09736bf0b97..4c901242fc6 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowDataGraph.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowDataGraph.h
@@ -75,8 +75,8 @@ class SofaWindowDataGraph : public QDialog
     /// List of component name not to be display in the graph.
     std::vector<std::string> m_exceptions;
 
-    SReal m_scaleX; ///< Scale paramater to apply between nodes for display in abscissa.    
-    SReal m_scaleY; ///< Scale paramater to apply between nodes for display in ordinate.
+    SReal m_scaleX; ///< Scale parameter to apply between nodes for display in abscissa.    
+    SReal m_scaleY; ///< Scale parameter to apply between nodes for display in ordinate.
 
     int m_posX; ///< Increment position counter on abscissa for Node display.
     int m_posY; ///< Increment position counter on ordinate for Node display.
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowProfiler.h b/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowProfiler.h
index 5901101fe16..8a8b7e42064 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowProfiler.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/SofaWindowProfiler.h
@@ -55,9 +55,9 @@ namespace sofa::gui::qt
 typedef sofa::helper::system::thread::ctime_t ctime_t;
 
 /**
- * @brief The ProfilerChartView class is a overide of QtCharts::QChartView
+ * @brief The ProfilerChartView class is a override of QtCharts::QChartView
  * to be able to catch mouse selection and update all widgets of \sa SofaWindowProfiler
- * Will also overide drawForeground to draw a line to show the selected step.
+ * Will also override drawForeground to draw a line to show the selected step.
  */
 class ProfilerChartView : public QChartView
 {
@@ -69,13 +69,13 @@ class ProfilerChartView : public QChartView
     void updateYMax(int y) {m_maxY = y;}
 
 protected:
-    /// Overide to catch mouse selection on the graph.
+    /// Override to catch mouse selection on the graph.
     virtual void mousePressEvent(QMouseEvent *event);
-    /// Overide to draw line at the step selected.
+    /// Override to draw line at the step selected.
     virtual void drawForeground(QPainter *painter, const QRectF &rect);
 
 signals:
-    /// signal emited when a step has been selected on the graph @param int is the step number
+    /// signal emitted when a step has been selected on the graph @param int is the step number
     void pointSelected(int);
 
 public slots:
@@ -83,7 +83,7 @@ public slots:
     void updateSelection(int x);
 
 protected:
-    /// copy of the serie size to check if selection is not out of bound
+    /// copy of the series size to check if selection is not out of bound
     int m_bufferSize;
 
     /// 2D point of the line to draw the selection
@@ -101,7 +101,7 @@ public slots:
  * This class is a QDialog widget to display information recorded by AdvancedTimer mechanism
  * At each step, info will be gathered from the AdvancedTimer using class sofa::helper::StepData
  * Info will be displayed by:
- * - ploting the step duration into a graph
+ * - plotting the step duration into a graph
  * - Showing information duration/step number
  * - Showing all substep of an animation step with their own duration in ms and the corresponding percentage over the whole step.
  */
@@ -243,10 +243,10 @@ public slots:
     /// Buffer of \sa AnimationStepData (data for each step), deque size correspond to \sa m_bufferSize
     std::deque<AnimationStepData*> m_profilingData;
 
-    /// Serie of step duration in ms to be plot on the graph. size = \sa m_bufferSize
+    /// Series of step duration in ms to be plot on the graph. size = \sa m_bufferSize
     QLineSeries *m_series;
 
-    /// Serie of selection substep duration in ms to be plot on the graph. size = \sa m_bufferSize
+    /// Series of selection substep duration in ms to be plot on the graph. size = \sa m_bufferSize
     QLineSeries *m_selectionSeries;
 
     struct CheckedSeries
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.cpp
index 1897c25a85f..10b28313f20 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.cpp
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.cpp
@@ -506,7 +506,7 @@ void SofaViewer::configure(sofa::component::setting::ViewerSetting* viewerConf)
 
 }
 
-//Fonctions needed to take a screenshot
+//Functions needed to take a screenshot
 const std::string SofaViewer::screenshotName()
 {
     return m_backend->screenshotName();
diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.h b/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.h
index 355362b9e9a..56c08cd1323 100644
--- a/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.h
+++ b/Sofa/GUI/Qt/src/sofa/gui/qt/viewer/SofaViewer.h
@@ -76,7 +76,7 @@ class SOFA_GUI_QT_API SofaViewer : public sofa::gui::common::BaseViewer
     virtual void mouseReleaseEvent ( QMouseEvent * e);
     virtual bool mouseEvent(QMouseEvent *e);
 
-    // Overriden from BaseViewer
+    // Overridden from BaseViewer
     virtual void configure(sofa::component::setting::ViewerSetting* viewerConf) override;
     const std::string screenshotName() override;
     void setPrefix(const std::string& prefix, bool prependDirectory = true) override;
diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt
index 91202e1a826..4683959c252 100644
--- a/Sofa/framework/Config/CMakeLists.txt
+++ b/Sofa/framework/Config/CMakeLists.txt
@@ -26,7 +26,7 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 ### Sofa using type double or float
 set(SOFA_FLOATING_POINT_TYPE double CACHE STRING
     "Type used for floating point values in SOFA. It actually determines:
-    - what template instanciations will be compiled (via the definition of the
+    - what template instantiations will be compiled (via the definition of the
     SOFA_FLOAT and SOFA_DOUBLE macros)
     - what is the type behind the 'SReal' typedef used throughout SOFA.")
 set_property(CACHE SOFA_FLOATING_POINT_TYPE PROPERTY STRINGS float double)
diff --git a/Sofa/framework/Config/cmake/CompilerOptions.cmake b/Sofa/framework/Config/cmake/CompilerOptions.cmake
index f779df89d04..24ffef527cc 100644
--- a/Sofa/framework/Config/cmake/CompilerOptions.cmake
+++ b/Sofa/framework/Config/cmake/CompilerOptions.cmake
@@ -1,4 +1,4 @@
 #### Compiler options
 ## PR1674: All cmake configuration in Sofa.Config
 
-message(DEPRECATION "CompilerOptions.cmake file is not used anymore, all compiler flags are set in the target Sofa.Config now. Link against it if you want its flags being propagated to your projet. (see PR1674 on github)") 
+message(DEPRECATION "CompilerOptions.cmake file is not used anymore, all compiler flags are set in the target Sofa.Config now. Link against it if you want its flags being propagated to your project. (see PR1674 on github)") 
diff --git a/Sofa/framework/Config/cmake/Modules/FindSOFA.cmake b/Sofa/framework/Config/cmake/Modules/FindSOFA.cmake
index a1a53bfb117..4b8b3f76e52 100644
--- a/Sofa/framework/Config/cmake/Modules/FindSOFA.cmake
+++ b/Sofa/framework/Config/cmake/Modules/FindSOFA.cmake
@@ -2,7 +2,7 @@
 # In order to use this cmake module, you have to call the find_package(SOFA) command in your CMakeLists.txt
 #
 # This module defines for use :
-# SOFA_LIBRARIES wich contain all LIBRARIES variables in absolute path of Sofa
+# SOFA_LIBRARIES which contain all LIBRARIES variables in absolute path of Sofa
 # SOFA_FOUND, if false, Sofa not found
 # SOFA_INCLUDE_DIRS, where to find all the headers
 #
@@ -14,7 +14,7 @@
 # #include <sofa/defaulttype/Quat.h>
 #
 # To maintain this script, you just have to :
-#  * update if necessary the header file and path to search it to find the framwork/moules/application dirs
+#  * update if necessary the header file and path to search it to find the framework/moules/application dirs
 #  * update if necessary the include dirs for extlibs
 #  * update if necessary name and cmake name of libraries in the corresponding section
 #  * update if necessary the paths to search the libs to the find_lib macro
@@ -189,7 +189,7 @@ set(SOFA_INCLUDE_DIRS
 ## 50 new groups are contained in 5 different categories:
 ## BASE, COMMON, GENERAL and MISC.
 ##
-## 1- collect all library name to search in the SOFA_LIBS_NAME list splitted into 5 parts
+## 1- collect all library name to search in the SOFA_LIBS_NAME list split into 5 parts
 ##    * the SOFA LIBS BASE LIST
 ##    * the SOFA COMMON LIST
 ##    * THE SOFA GENERAL LIST
@@ -415,7 +415,7 @@ foreach(index RANGE 0 ${count} 1)
     math(EXPR indexValue "${index}*2")
     list(GET SOFA_LIBS_NAME ${indexValue} REAL_SOFA_LIB_NAME)
 
-    ## Get the variableName of the coresponding searched library
+    ## Get the variableName of the corresponding searched library
     math(EXPR indexName "${index}*2+1")
     list(GET SOFA_LIBS_NAME ${indexName} CMAKE_SOFA_LIB_NAME)
 
diff --git a/Sofa/framework/Config/cmake/Modules/find_lib.cmake b/Sofa/framework/Config/cmake/Modules/find_lib.cmake
index 52e63fc132c..58588c421c3 100644
--- a/Sofa/framework/Config/cmake/Modules/find_lib.cmake
+++ b/Sofa/framework/Config/cmake/Modules/find_lib.cmake
@@ -31,7 +31,7 @@ set(_FIND_LIB_CMAKE_INCLUDED_ true)
 ## Optional flag 1: FORCE_DEBUG   -> If no DEBUG LIBRARY found, set the debug variable library to the release variable.   \\n
 ## Optional flag 2: FORCE_RELEASE -> If no RELEASE LIBRARY found, set the release variable library to the debug variable.   \\n
 ## Usage 1          : FIND_LIB( ${CMAKE_PROJECT_LIB_NAME} ${REAL_PROJECT_LIB_NAME} ).   \\n
-## full usage exemple:
+## full usage example:
 ##\\code
 ## FIND_LIB(${CMAKE_SOFA_LIB_NAME} ${REAL_SOFA_LIB_NAME}    \n
 ##         PATHSLIST_DEBUG                                  \n
diff --git a/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake b/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake
index 498c4c3f04b..47574524727 100644
--- a/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake
+++ b/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake
@@ -102,7 +102,7 @@ macro(sofa_add_generic directory name type)
         string(REPLACE "." "_" option ${option})
         string(TOLOWER ${type} type_lower)
 
-        # optional parameter to activate/desactivate the option
+        # optional parameter to activate/deactivate the option
         #  e.g.  sofa_add_application( path/MYAPP MYAPP APPLICATION ON)
         set(active OFF)
         if(${ARG_DEFAULT_VALUE})
@@ -254,7 +254,7 @@ function(sofa_add_generic_external directory name type)
         file(APPEND "${fetched_dir}/logs.txt" "${build_logs}")
 
         if(generate_exitcode EQUAL 0 AND build_exitcode EQUAL 0 AND EXISTS "${directory}/.git")
-            message("  Sucess.")
+            message("  Success.")
             # Add .gitignore for Sofa
             file(WRITE "${directory}/.gitignore" "*")
             # Recover ExternalProjectConfig.cmake.in from build dir (erased by pull)
diff --git a/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake b/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake
index 260765ae422..096546f9d10 100644
--- a/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake
+++ b/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake
@@ -781,7 +781,7 @@ function(sofa_set_project_install_relocatable project_name binary_dir install_di
         set(custom_target ${project_name}_${binary_dirname}_relocatable_install)
     endif()
 
-    # Hack to make installed plugin independant and keep the add_subdirectory mechanism
+    # Hack to make installed plugin independent and keep the add_subdirectory mechanism
     # Does not fail if cmakepatch file already exists thanks to "|| true"
     if(WIN32)
         set(escaped_dollar "\$\$")
diff --git a/Sofa/framework/Config/src/sofa/config.h.in b/Sofa/framework/Config/src/sofa/config.h.in
index 4b7d2eba2f8..df763c20356 100644
--- a/Sofa/framework/Config/src/sofa/config.h.in
+++ b/Sofa/framework/Config/src/sofa/config.h.in
@@ -197,7 +197,7 @@ class DeprecatedAndRemoved {};
         "It is still usable but has been DEPRECATED since " deprecateDate ". " \
         "You have until " removeDate " to fix your code. " toFixMsg)]]
 
-// The following macro is empty because it is supposed to be used in conjonction
+// The following macro is empty because it is supposed to be used in conjunction
 // when an attribute of type DeprecatedAndRemoved. It should not contain a [[deprecated]]
 // attribute, because if it does, the "deprecated" warning is showed in every constructor's
 // for every disabled attribute.
diff --git a/Sofa/framework/Core/simutest/CMakeLists.txt b/Sofa/framework/Core/simutest/CMakeLists.txt
index 2b811801e36..5ec8342f6b6 100644
--- a/Sofa/framework/Core/simutest/CMakeLists.txt
+++ b/Sofa/framework/Core/simutest/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.22)
 
 project(Sofa.Core_simutest)
 
-# Do not find dependencies explicitely, let CMake decide the appropriate time to do it
+# Do not find dependencies explicitly, let CMake decide the appropriate time to do it
 #sofa_find_package(SofaBase REQUIRED)
 
 set(SOURCE_FILES
diff --git a/Sofa/framework/Core/simutest/objectmodel/BaseLink_simutest.cpp b/Sofa/framework/Core/simutest/objectmodel/BaseLink_simutest.cpp
index 61ba95fe5dd..76da1f529f1 100644
--- a/Sofa/framework/Core/simutest/objectmodel/BaseLink_simutest.cpp
+++ b/Sofa/framework/Core/simutest/objectmodel/BaseLink_simutest.cpp
@@ -119,7 +119,7 @@ TEST_P(SingleLink_simutest, CheckPath)
 std::vector<std::vector<std::string>> singleLinkValues={
     {"@/obj", "The linked type is an InfoComponent type while the link should point to a  object. CheckPath should return", "false"},
     {"@/child1/mstate1 @/child1/mstate1", "Using multiple link in a SingleLink::CheckPath function should fail and return", "false"},
-    {"@../mstate", "The path is not pointing to a valid mstate. CheckLink shoud return", "false"},
+    {"@../mstate", "The path is not pointing to a valid mstate. CheckLink should return", "false"},
     {"@../mstate1", "The link's target exists and is of same type. CheckPath should return", "true"}
 };
 
diff --git a/Sofa/framework/Core/src/sofa/core/BaseMapping.h b/Sofa/framework/Core/src/sofa/core/BaseMapping.h
index 832eda56683..d6b0a8a3a01 100644
--- a/Sofa/framework/Core/src/sofa/core/BaseMapping.h
+++ b/Sofa/framework/Core/src/sofa/core/BaseMapping.h
@@ -108,7 +108,7 @@ class SOFA_CORE_API BaseMapping : public virtual objectmodel::BaseObject
 
     /// Return true if the destination model has the same topology as the source model.
     ///
-    /// This is the case for mapping keeping a one-to-one correspondance between
+    /// This is the case for mapping keeping a one-to-one correspondence between
     /// input and output DOFs (mostly identity or data-conversion mappings).
     virtual bool sameTopology() const { return false; }
 
diff --git a/Sofa/framework/Core/src/sofa/core/CollisionElement.h b/Sofa/framework/Core/src/sofa/core/CollisionElement.h
index 1d5e9b31eea..bb9dcd3cfe8 100644
--- a/Sofa/framework/Core/src/sofa/core/CollisionElement.h
+++ b/Sofa/framework/Core/src/sofa/core/CollisionElement.h
@@ -297,7 +297,7 @@ inline bool TCollisionElementIterator<CollisionModel>::isActive(core::CollisionM
  *  collision element. It is only there to create a reference to it, not to
  *  actual contain its data. Classes derived from TCollisionElementIterator
  *  does not store any data, but just provide methods allowing to access the
- *  additionnal data stored inside the derived CollisionModel. For instance,
+ *  additional data stored inside the derived CollisionModel. For instance,
  *  the Cube class adds the minVect() / maxVect() methods to retrieve the
  *  corners of the cube, however this data is not stored inside Cube, instead
  *  it is stored inside the CubeData class within CubeModel.
diff --git a/Sofa/framework/Core/src/sofa/core/ConstraintParams.h b/Sofa/framework/Core/src/sofa/core/ConstraintParams.h
index 162f012761e..4b5fcc6c72c 100644
--- a/Sofa/framework/Core/src/sofa/core/ConstraintParams.h
+++ b/Sofa/framework/Core/src/sofa/core/ConstraintParams.h
@@ -116,9 +116,9 @@ class SOFA_CORE_API ConstraintParams : public sofa::core::ExecParams
     /// Returns ids of the constraint jacobian matrices
     MultiMatrixDerivId& j()              { return m_j; }
 
-    /// Returns ids of the contraint correction vectors
+    /// Returns ids of the constraint correction vectors
     const MultiVecDerivId& dx() const { return m_dx;  }
-    /// Returns ids of the contraint correction vectors
+    /// Returns ids of the constraint correction vectors
     MultiVecDerivId&  dx()            { return m_dx;  }
 
     /// Returns ids of the constraint lambda vectors
@@ -177,7 +177,7 @@ class SOFA_CORE_API ConstraintParams : public sofa::core::ExecParams
     /// Ids of the constraint jacobian matrix
     MultiMatrixDerivId m_j;
 
-    /// Ids of contraint correction vector
+    /// Ids of constraint correction vector
     MultiVecDerivId      m_dx;
 
     /// Ids of constraint lambda vector
diff --git a/Sofa/framework/Core/src/sofa/core/DataTrackerCallback.h b/Sofa/framework/Core/src/sofa/core/DataTrackerCallback.h
index 043a15e18db..8e1de3045d7 100644
--- a/Sofa/framework/Core/src/sofa/core/DataTrackerCallback.h
+++ b/Sofa/framework/Core/src/sofa/core/DataTrackerCallback.h
@@ -53,7 +53,7 @@ class SOFA_CORE_API DataTrackerDDGNode : public core::objectmodel::DDGNode
 
 
     /// utility function to ensure all inputs are up-to-date
-    /// can be useful for particulary complex DDGNode
+    /// can be useful for particularly complex DDGNode
     /// with a lot input/output imbricated access
     void updateAllInputsIfDirty();
 
@@ -81,7 +81,7 @@ class SOFA_CORE_API DataTrackerDDGNode : public core::objectmodel::DDGNode
 /// and can be used everywhere.
 ///
 /// Note that it contains a DataTracker (m_dataTracker)
-/// to be able to check precisly which input changed if needed.
+/// to be able to check precisely which input changed if needed.
 ///
 ///
 ///
diff --git a/Sofa/framework/Core/src/sofa/core/Mapping.h b/Sofa/framework/Core/src/sofa/core/Mapping.h
index 745108ab797..daf5a0b3606 100644
--- a/Sofa/framework/Core/src/sofa/core/Mapping.h
+++ b/Sofa/framework/Core/src/sofa/core/Mapping.h
@@ -67,13 +67,13 @@ class Mapping : public BaseMapping
 
     /// by default rest position are NOT propagated to mapped dofs.
     /// In some cases, rest pos is needed for mapped dofs (generally when this dof is used to compute mechanics).
-    /// In that case, Data applyRestPosition must be setted to true for all the mappings until the desired dof.
+    /// In that case, Data applyRestPosition must be set to true for all the mappings until the desired dof.
     Data<bool> f_applyRestPosition;
 protected:
     /// Constructor, taking input and output models as parameters.
     ///
     /// Note that if you do not specify these models here, you must call
-    /// setModels with non-nullptr value before the intialization (i.e. before
+    /// setModels with non-nullptr value before the initialization (i.e. before
     /// init() is called).
     Mapping(State< In >* from=nullptr, State< Out >* to=nullptr);
     /// Destructor
diff --git a/Sofa/framework/Core/src/sofa/core/MechanicalParams.h b/Sofa/framework/Core/src/sofa/core/MechanicalParams.h
index 4e39bcbbcca..19bc6dbc685 100644
--- a/Sofa/framework/Core/src/sofa/core/MechanicalParams.h
+++ b/Sofa/framework/Core/src/sofa/core/MechanicalParams.h
@@ -135,7 +135,7 @@ class SOFA_CORE_API MechanicalParams : public sofa::core::ExecParams
     MechanicalParams& setSupportOnlySymmetricMatrix(bool b) { m_supportOnlySymmetricMatrix = b; return *this; }
 
 #ifndef NDEBUG
-    /// Checks wether or nor kFactor is used in ForceFields. Temporary here for compatiblity reasons
+    /// Checks wether or nor kFactor is used in ForceFields. Temporary here for compatibility reasons
     void setKFactorUsed(bool b) const { m_kFactorUsed = b; }
     bool getKFactorUsed() const { return m_kFactorUsed; }
 protected:
diff --git a/Sofa/framework/Core/src/sofa/core/Multi2Mapping.inl b/Sofa/framework/Core/src/sofa/core/Multi2Mapping.inl
index 1c3005dc4d7..586976046db 100644
--- a/Sofa/framework/Core/src/sofa/core/Multi2Mapping.inl
+++ b/Sofa/framework/Core/src/sofa/core/Multi2Mapping.inl
@@ -30,7 +30,7 @@ namespace sofa::core
 template < class In1, class In2, class Out >
 Multi2Mapping<In1,In2,Out>::Multi2Mapping()
     : fromModels1(initLink("input1", "Input Object(s) (1st Data type)"))
-    , fromModels2(initLink("input2", "Input Object(s) (2st Data type)"))
+    , fromModels2(initLink("input2", "Input Object(s) (2nd Data type)"))
     , toModels(initLink("output", "Output Object(s)"))
     , f_applyRestPosition( initData( &f_applyRestPosition, false, "applyRestPosition", "set to true to apply this mapping to restPosition at init"))
 {
diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h
index 6dc9a63d3a4..302c70f3590 100644
--- a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h
+++ b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h
@@ -296,7 +296,7 @@ class ObjectCreator : public ObjectFactory::Creator
  *  \brief Helper class used to register a class in the ObjectFactory.
  *
  *  This class accumulate information about a given class, as well as creators
- *  for each supported template instanciation, to register a new entry in
+ *  for each supported template instantiation, to register a new entry in
  *  the ObjectFactory.
  *
  *  It should be used as a temporary object, finalized when used to initialize
@@ -341,7 +341,7 @@ class SOFA_CORE_API ObjectRegistrationData
     ObjectRegistrationData& addCreator(std::string classname, std::string templatename,
                                ObjectFactory::Creator::SPtr creator);
 
-    /// Add a template instanciation of this class.
+    /// Add a template instantiation of this class.
     ///
     /// \param defaultTemplate    set to true if this should be the default instance when no template name is given.
     template<class RealObject>
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h
index c9a96fc48dc..9414936eeb3 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h
@@ -34,7 +34,7 @@ namespace sofa::core::behavior
  *  This class can optionally replace the default computation scheme of computing
  *  collisions then doing an integration step.
  *
- *  Note that it is in a preliminary stage, hence its fonctionnalities and API will
+ *  Note that it is in a preliminary stage, hence its functionalities and API will
  *  certainly change soon.
  *
  */
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h
index 2827821b4d1..ba176e79f8b 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h
@@ -95,7 +95,7 @@ class SOFA_CORE_API BaseConstraint : public BaseConstraintSet
 
     /// Add the corresponding ConstraintResolution using the offset parameter
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...)
-    /// \param resTab is the result vector that contains the contraint resolution algorithms
+    /// \param resTab is the result vector that contains the constraint resolution algorithms
     virtual void getConstraintResolution(const ConstraintParams* cParams, std::vector<ConstraintResolution*> &resTab, unsigned int &offset);
 
     virtual void getConstraintResolution(std::vector<ConstraintResolution*> &resTab, unsigned int &offset);
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.cpp b/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.cpp
index 8164313d263..03f74235b4e 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.cpp
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.cpp
@@ -105,7 +105,7 @@ void BaseForceField::buildDampingMatrix(DampingMatrix* matrix)
     if (hasEmittedWarning.insert(this).second)
     {
         dmsg_warning() << "buildDampingMatrix not implemented: for compatibility reason, the "
-            "deprecated API (addBToMatrix) will be used. This compatibility will disapear in the "
+            "deprecated API (addBToMatrix) will be used. This compatibility will disappear in the "
             "future, and will cause issues in simulations. Please update the code of " <<
             this->getClassName() << " to ensure right behavior: the function addBToMatrix "
             "has been replaced by buildDampingMatrix";
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.h
index b0e1d0c94fa..4685318ccf1 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseForceField.h
@@ -135,7 +135,7 @@ class SOFA_CORE_API BaseForceField : public virtual StateAccessor
     /// \brief Get the potential energy associated to this ForceField during the
     /// last call of addForce( const MechanicalParams* mparams );
     ///
-    /// Used to extimate the total energy of the system by some
+    /// Used to estimate the total energy of the system by some
     /// post-stabilization techniques.
     virtual SReal getPotentialEnergy( const MechanicalParams* mparams = mechanicalparams::defaultInstance() ) const=0;
     /// @}
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseMass.cpp b/Sofa/framework/Core/src/sofa/core/behavior/BaseMass.cpp
index 63ff4fe79ad..340ee5a4ae9 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseMass.cpp
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseMass.cpp
@@ -55,7 +55,7 @@ void BaseMass::buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matr
     if (hasEmittedWarning.insert(this).second)
     {
         dmsg_warning() << "buildMassMatrix not implemented: for compatibility reason, the "
-            "deprecated API (addMToMatrix) will be used. This compatibility will disapear in the "
+            "deprecated API (addMToMatrix) will be used. This compatibility will disappear in the "
             "future, and will cause issues in simulations. Please update the code of " <<
             this->getClassName() << " to ensure right behavior: the function addMToMatrix "
             "has been replaced by buildMassMatrix";
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp b/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp
index 8c9bec392dd..8ae2d4f9f37 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp
@@ -33,7 +33,7 @@ void BaseProjectiveConstraintSet::applyConstraint(sofa::core::behavior::ZeroDiri
     if (hasEmittedWarning.insert(this).second)
     {
         dmsg_warning() << "applyConstraint(ZeroDirichletCondition*) not implemented: for compatibility reason, the "
-            "deprecated API (applyConstraint(MultiMatrixAccessor*)) will be used (without guarantee). This compatibility will disapear in the "
+            "deprecated API (applyConstraint(MultiMatrixAccessor*)) will be used (without guarantee). This compatibility will disappear in the "
             "future, and will cause issues in simulations. Please update the code of " <<
             this->getClassName() << " to ensure right behavior: the function applyConstraint(MultiMatrixAccessor*) "
             "has been replaced by applyConstraint(ZeroDirichletCondition*)";
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BlockType.h b/Sofa/framework/Core/src/sofa/core/behavior/BlockType.h
index c7683421ac0..491fbc94697 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BlockType.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BlockType.h
@@ -97,7 +97,7 @@ struct BlockType
         {
             return blockDataIt->second + "_" + blockPrecisionIt->second;
         }
-        return "Unknown bloc type: cannot convert bloc type to string";
+        return "Unknown block type: cannot convert block type to string";
     }
 
 };
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/CRSMultiMatrixAccessor.cpp b/Sofa/framework/Core/src/sofa/core/behavior/CRSMultiMatrixAccessor.cpp
index 4ed192633d4..9d4d894a891 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/CRSMultiMatrixAccessor.cpp
+++ b/Sofa/framework/Core/src/sofa/core/behavior/CRSMultiMatrixAccessor.cpp
@@ -59,7 +59,7 @@ linearalgebra::BaseMatrix* CRSMultiMatrixAccessor::createMatrix(const sofa::core
                                                               const sofa::core::behavior::BaseMechanicalState* mstate2,
                                                               bool doPrintInfo)
 {
-    // The auxiliar interaction matrix is added if and only if at least one of two state is not real state
+    // The auxiliary interaction matrix is added if and only if at least one of two state is not real state
     //assert(! (realStateOffsets.find(mstate1) != realStateOffsets.end() && realStateOffsets.find(mstate2) != realStateOffsets.end()) );
 
     int nbDOFs1  = mstate1->getSize();
@@ -72,7 +72,7 @@ linearalgebra::BaseMatrix* CRSMultiMatrixAccessor::createMatrix(const sofa::core
     {
         msg_info_when(doPrintInfo, "CRSMultiMatrixAccessor") << "			++ Creating matrix Mapped Mechanical State  : " << mstate1->getName()
             << " associated to K[" << mstate1->getMatrixSize() << "x" << mstate1->getMatrixSize() << "] in the format _"
-            << nbDOFs1 << "x" << nbDOFs1 << "_ of blocs _["
+            << nbDOFs1 << "x" << nbDOFs1 << "_ of blocks _["
             << dofSize1 << "x" << dofSize1 << "]_";
         return createBlocSparseMatrix(dofSize1,dofSize1,sizeof(SReal) /*elementsize*/,nbDOFs1,nbDOFs1,doPrintInfo);
 
@@ -82,7 +82,7 @@ linearalgebra::BaseMatrix* CRSMultiMatrixAccessor::createMatrix(const sofa::core
         msg_info_when(doPrintInfo, "CRSMultiMatrixAccessor") << "			++ Creating matrix Interaction: "
             << mstate1->getName() << " -- " << mstate2->getName()
             << " associated to K[" << mstate1->getMatrixSize() << "x" << mstate2->getMatrixSize() << "] in the format _"
-            << nbDOFs1 << "x" << nbDOFs2 << "_ of blocs _["
+            << nbDOFs1 << "x" << nbDOFs2 << "_ of blocks _["
             << dofSize1 << "x" << dofSize2 << "]_";
         return createBlocSparseMatrix(dofSize1,dofSize2,sizeof(SReal) /*elementsize*/,nbDOFs1,nbDOFs2,doPrintInfo);
     }
@@ -90,13 +90,13 @@ linearalgebra::BaseMatrix* CRSMultiMatrixAccessor::createMatrix(const sofa::core
 
 void CRSMultiMatrixAccessor::computeGlobalMatrix()
 {
-    msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "==========================     VERIFICATION BLOC MATRIX FORMATS    ========================";
+    msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "==========================     VERIFICATION BLOCK MATRIX FORMATS    ========================";
 
     for (std::map< const BaseMechanicalState*, MatrixRef >::iterator it = diagonalStiffnessBloc.begin(), itend = diagonalStiffnessBloc.end(); it != itend; ++it)
     {
         msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << " Mechanical State  : " << it->first->getName()
             << " associated to K[" << it->second.matrix->rowSize() << "x" << it->second.matrix->colSize() << "] in the format _"
-            << it->second.matrix->bRowSize() << "x" << it->second.matrix->bColSize() << "_ of blocs _["
+            << it->second.matrix->bRowSize() << "x" << it->second.matrix->bColSize() << "_ of blocks _["
             << it->second.matrix->getBlockRows() << "x" << it->second.matrix->getBlockCols() << "]_";
     }
 
@@ -108,7 +108,7 @@ void CRSMultiMatrixAccessor::computeGlobalMatrix()
         msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << " Interaction: "
             << itBegin->first.first->getName() << " -- " << itBegin->first.second->getName()
             << " associated to K[" << itBegin->second.matrix->rowSize() << "x" << itBegin->second.matrix->colSize() << "] in the format _"
-            << itBegin->second.matrix->bRowSize() << "x" << itBegin->second.matrix->bColSize() << "_ of blocs _["
+            << itBegin->second.matrix->bRowSize() << "x" << itBegin->second.matrix->bColSize() << "_ of blocks _["
             << itBegin->second.matrix->getBlockRows() << "x" << itBegin->second.matrix->getBlockCols() << "]_";
 
         ++itBegin;
@@ -124,17 +124,17 @@ void CRSMultiMatrixAccessor::computeGlobalMatrix()
 
         msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "  " << id << "-th Mapping : " << m_mapping->getName() << " associated to matrix J["
             << matrixJ->rowSize() << "x" << matrixJ->colSize() << "] in the format _"
-            << matrixJ->bRowSize() << "x" << matrixJ->bColSize() << "_ of blocs _["
+            << matrixJ->bRowSize() << "x" << matrixJ->bColSize() << "_ of blocks _["
             << matrixJ->getBlockRows() << "x" << matrixJ->getBlockCols() << "]_";
 
         msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "			inState  : " << instate->getName()
             << " associated to K11[" << instate->getMatrixSize() << "x" << instate->getMatrixSize() << "] in the format _"
-            << instate->getSize() << "x" << instate->getSize() << "_ of blocs _["
+            << instate->getSize() << "x" << instate->getSize() << "_ of blocks _["
             << instate->getDerivDimension() << "x" << instate->getDerivDimension() << "]_";
 
         msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "			outState  : "<< outstate->getName()
                 <<" associated to K11["<< outstate->getMatrixSize() <<"x"<< outstate->getMatrixSize() << "] in the format _"
-                << outstate->getSize() << "x"<< outstate->getSize() <<"_ of blocs _["
+                << outstate->getSize() << "x"<< outstate->getSize() <<"_ of blocks _["
                 << outstate->getDerivDimension() << "x"<< outstate->getDerivDimension() <<"]_";
     }
     msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "=======================     CONTRIBUTION CONTRIBUTION CONTRIBUTION     ======================";
@@ -239,14 +239,14 @@ void CRSMultiMatrixAccessor::computeGlobalMatrix()
                 //          I_12 += Jt * I_32
                 //===========================
                 const unsigned int offR_I_12  = I_12.offRow;                       //      row offset of I12 matrix
-                const unsigned int offC_I_12  = I_12.offCol;                       //    colum offset of I12 matrix
+                const unsigned int offC_I_12  = I_12.offCol;                       //    column offset of I12 matrix
                 const unsigned int nbR_I_12   = I_12.matrix->rowSize() - offR_I_12;//number of rows   of I12 matrix
-                const unsigned int nbC_I_12   = I_12.matrix->colSize() - offC_I_12;//number of colums of I12 matrix
+                const unsigned int nbC_I_12   = I_12.matrix->colSize() - offC_I_12;//number of columns of I12 matrix
 
                 const unsigned int offR_I_32  = I_32.offRow;                     //      row offset of I32 matrix
-                const unsigned int offC_I_32  = I_32.offCol;                     //    colum offset of I32 matrix
+                const unsigned int offC_I_32  = I_32.offCol;                     //    column offset of I32 matrix
                 const unsigned int nbR_I_32 = I_32.matrix->rowSize() - offR_I_32;//number of rows   of I32 matrix
-                const unsigned int nbC_I_32 = I_32.matrix->colSize() - offC_I_32;//number of colums of I32 matrix
+                const unsigned int nbC_I_32 = I_32.matrix->colSize() - offC_I_32;//number of columns of I32 matrix
 
                 msg_info_when(m_doPrintInfo, "CRSMultiMatrixAccessor") << "	[Propa.Interac.Stiff] propagating interaction "
                     << outstate->getName() << "--" << interactionList[i].second->getName()
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h b/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h
index 62ed6dc2294..bc3c0a8ab35 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h
@@ -76,8 +76,8 @@ class Constraint : public BaseConstraint, public SingleStateAccessor<DataTypes>
     /// Construct the Constraint violations vector of each constraint
     ///
     /// \param resV is the result vector that contains the whole constraints violations
-    /// \param x is the position vector used to compute contraint position violation
-    /// \param v is the velocity vector used to compute contraint velocity violation
+    /// \param x is the position vector used to compute constraint position violation
+    /// \param v is the velocity vector used to compute constraint velocity violation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
     ///
     /// This is the method that should be implemented by the component
@@ -95,7 +95,7 @@ class Constraint : public BaseConstraint, public SingleStateAccessor<DataTypes>
     ///
     /// \param c is the result constraint sparse matrix
     /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param x is the position vector used for contraint equation computation
+    /// \param x is the position vector used for constraint equation computation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
     ///
     /// This is the method that should be implemented by the component
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintResolution.h b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintResolution.h
index 5140cddd3a3..d099d1e2669 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintResolution.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintResolution.h
@@ -45,7 +45,7 @@ class SOFA_CORE_API ConstraintResolution
     /// Resolution of the constraint for one Gauss-Seidel iteration
     virtual void resolution(int line, SReal** w, SReal* d, SReal* force, SReal* dFree);
 
-    /// Called after Gauss-Seidel last iteration, in order to store last computed forces for the inital guess
+    /// Called after Gauss-Seidel last iteration, in order to store last computed forces for the initial guess
     virtual void store(int /*line*/, SReal* /*force*/, bool /*convergence*/);
 
     void setNbLines(unsigned int nbLines)
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.cpp b/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.cpp
index 26222d2440f..663e94da042 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.cpp
+++ b/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.cpp
@@ -174,7 +174,7 @@ DefaultMultiMatrixAccessor::MatrixRef DefaultMultiMatrixAccessor::getMatrix(cons
             r.matrix = itmapped->second;
             r.offset = 0;
         }
-        else // this mapped state and its matrix hasnt been created we creat it and its matrix by "createMatrix"
+        else // this mapped state and its matrix hasn't been created we creat it and its matrix by "createMatrix"
         {
 
             linearalgebra::BaseMatrix* m = createMatrixImpl(mstate,mstate, m_doPrintInfo);
@@ -204,7 +204,7 @@ DefaultMultiMatrixAccessor::MatrixRef DefaultMultiMatrixAccessor::getMatrix(cons
 DefaultMultiMatrixAccessor::InteractionMatrixRef DefaultMultiMatrixAccessor::getMatrix(const sofa::core::behavior::BaseMechanicalState* mstate1, const sofa::core::behavior::BaseMechanicalState* mstate2) const
 {
     InteractionMatrixRef r2;
-    if (mstate1 == mstate2)// case where state1 == state2, interaction matrix is on the diagonal stiffness bloc
+    if (mstate1 == mstate2)// case where state1 == state2, interaction matrix is on the diagonal stiffness block
     {
         const MatrixRef r = diagonalStiffnessBloc.find(mstate1)->second;
         r2.matrix = r.matrix;
@@ -444,14 +444,14 @@ void DefaultMultiMatrixAccessor::computeGlobalMatrix()
                 //          I_12 += Jt * I_32
                 //===========================
                 const Index offR_I_12  = I_12.offRow;                       //      row offset of I12 matrix
-                const Index offC_I_12  = I_12.offCol;                       //    colum offset of I12 matrix
+                const Index offC_I_12  = I_12.offCol;                       //    column offset of I12 matrix
                 const Index nbR_I_12   = I_12.matrix->rowSize() - offR_I_12;//number of rows   of I12 matrix
-                const Index nbC_I_12   = I_12.matrix->colSize() - offC_I_12;//number of colums of I12 matrix
+                const Index nbC_I_12   = I_12.matrix->colSize() - offC_I_12;//number of columns of I12 matrix
 
                 const Index offR_I_32  = I_32.offRow;                     //      row offset of I32 matrix
-                const Index offC_I_32  = I_32.offCol;                     //    colum offset of I32 matrix
+                const Index offC_I_32  = I_32.offCol;                     //    column offset of I32 matrix
                 const Index nbR_I_32 = I_32.matrix->rowSize() - offR_I_32;//number of rows   of I32 matrix
-                const Index nbC_I_32 = I_32.matrix->colSize() - offC_I_32;//number of colums of I32 matrix
+                const Index nbC_I_32 = I_32.matrix->colSize() - offC_I_32;//number of columns of I32 matrix
 
 
                 if(m_doPrintInfo)/////////////////////////////////////////////////////////
@@ -570,7 +570,7 @@ linearalgebra::BaseMatrix* DefaultMultiMatrixAccessor::createMatrixImpl(const so
 
         if(doPrintInfo)/////////////////////////////////////////////////////////
         {
-            msg_info("DefaultMultiMatrixAccessor") << "			++ Creating interraction matrix["<< m->rowSize() <<"x"<< m->colSize()
+            msg_info("DefaultMultiMatrixAccessor") << "			++ Creating interaction matrix["<< m->rowSize() <<"x"<< m->colSize()
                       << "] for interaction " << mstate1->getName() << "[" << mstate1->getMatrixSize()
                       << "] --- "             << mstate2->getName() << "[" << mstate2->getMatrixSize()<<"]" ;
         }
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.h b/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.h
index 787e2afc597..3dbdd69adee 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.h
@@ -32,7 +32,7 @@ namespace sofa::core::behavior
  * This class allow only cases where there are several Mechanical State on simulation scene
  * and interactions between them.
  *
- * CRSMultiMatrixAccessor is a more powerfull class managing the global system matrix.
+ * CRSMultiMatrixAccessor is a more powerful class managing the global system matrix.
  * This class allow the scene where there are mappings so mapped Mechanical State. It compute
  * The contribution of stiffness on mapped Mechanical State to the root State related by mapping.
  *
@@ -51,12 +51,12 @@ class SOFA_CORE_API DefaultMultiMatrixAccessor : public sofa::core::behavior::Mu
     // setting the global matrix for the system. Its size must have the sum of all real Mechanical state
     virtual void setGlobalMatrix(linearalgebra::BaseMatrix* matrix);
 
-    // When a real MS is visited by the visitor, it must be registed in a local data here (realStateOffsets)
-    // the global size of the system must be ajusted.
+    // When a real MS is visited by the visitor, it must be registered in a local data here (realStateOffsets)
+    // the global size of the system must be adjusted.
     void addMechanicalState(const sofa::core::behavior::BaseMechanicalState* mstate) override;
 
     // When a mapping is visited by the visitor, satisfying that is a mechanical mapping
-    // and having implemented getJ, this mapping must be registed in a local data here (mappingList)
+    // and having implemented getJ, this mapping must be registered in a local data here (mappingList)
     void addMechanicalMapping(sofa::core::BaseMapping* mapping) override;
 
     //do nothing for instance
@@ -89,7 +89,7 @@ class SOFA_CORE_API DefaultMultiMatrixAccessor : public sofa::core::behavior::Mu
     static linearalgebra::BaseMatrix* createMatrix(const sofa::core::behavior::BaseMechanicalState* mstate1, const sofa::core::behavior::BaseMechanicalState* mstate2);
     static linearalgebra::BaseMatrix* createMatrixImpl(const sofa::core::behavior::BaseMechanicalState* mstate1, const sofa::core::behavior::BaseMechanicalState* mstate2, bool doPrintInfo);
 
-    //Activate/deactive the printing of extra information related to the numerical system that is being solved.
+    //Activate/deactivate the printing of extra information related to the numerical system that is being solved.
     void setDoPrintInfo(bool value){ m_doPrintInfo = value; }
 
 protected:
@@ -120,7 +120,7 @@ class SOFA_CORE_API DefaultMultiMatrixAccessor : public sofa::core::behavior::Mu
     //by method "getMatrix" in order to fill its matrix
     mutable std::map< const sofa::core::behavior::BaseMechanicalState*, linearalgebra::BaseMatrix* > mappedMatrices;
 
-    //The data structure included mapped and on mapped state, the diagonal stiffness bloc and interaction stiffnessbloc
+    //The data structure included mapped and on mapped state, the diagonal stiffness block and interaction stiffnessbloc
     mutable std::map< const sofa::core::behavior::BaseMechanicalState*, MatrixRef > diagonalStiffnessBloc;//todo remove
     mutable std::map< std::pair<const sofa::core::behavior::BaseMechanicalState*, const sofa::core::behavior::BaseMechanicalState*>, InteractionMatrixRef > interactionStiffnessBloc;//todo remove
 
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h b/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h
index b2403bfcf55..44cf4ce4225 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h
@@ -115,7 +115,7 @@ class SOFA_CORE_API LinearSolver : public BaseLinearSolver
         return false;
     }
 
-    /// Apply the contactforce dx = Minv * J^t * f and store the resut in dx VecId
+    /// Apply the contactforce dx = Minv * J^t * f and store the result in dx VecId
     virtual void applyConstraintForce(const sofa::core::ConstraintParams* /*cparams*/,sofa::core::MultiVecDerivId /*dx*/, const linearalgebra::BaseVector* /*f*/) {
         msg_error() << "applyConstraintForce has not been implemented.";
     }
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h
index b36a5d6ef91..d2c82954415 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h
@@ -88,8 +88,8 @@ class MixedInteractionConstraint : public BaseInteractionConstraint, public Pair
     /// Construct the Constraint violations vector of each constraint
     ///
     /// \param v is the result vector that contains the whole constraints violations
-    /// \param x1 and x2 are the position vectors used to compute contraint position violation
-    /// \param v1 and v2 are the velocity vectors used to compute contraint velocity violation
+    /// \param x1 and x2 are the position vectors used to compute constraint position violation
+    /// \param v1 and v2 are the velocity vectors used to compute constraint velocity violation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
     ///
     /// This is the method that should be implemented by the component
@@ -107,7 +107,7 @@ class MixedInteractionConstraint : public BaseInteractionConstraint, public Pair
     ///
     /// \param c1 and c2 are the results constraint sparse matrix
     /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param x1 and x2 are the position vectors used for contraint equation computation
+    /// \param x1 and x2 are the position vectors used for constraint equation computation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
     ///
     /// This is the method that should be implemented by the component
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionForceField.h b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionForceField.h
index e9c0e65950f..8d7ee120809 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionForceField.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionForceField.h
@@ -100,7 +100,7 @@ class MixedInteractionForceField : public BaseInteractionForceField, public Pair
 
     /// Get the potential energy associated to this ForceField.
     ///
-    /// Used to extimate the total energy of the system by some
+    /// Used to estimate the total energy of the system by some
     /// post-stabilization techniques.
     ///
     /// This method retrieves the x vector from the MechanicalState and call
@@ -137,7 +137,7 @@ class MixedInteractionForceField : public BaseInteractionForceField, public Pair
 
     /// Get the potential energy associated to this ForceField.
     ///
-    /// Used to extimate the total energy of the system by some
+    /// Used to estimate the total energy of the system by some
     /// post-stabilization techniques.
     ///
     /// This method must be implemented by the component, and is usually called
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/OdeSolver.h b/Sofa/framework/Core/src/sofa/core/behavior/OdeSolver.h
index 52871f0027c..c1b36ddcd9f 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/OdeSolver.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/OdeSolver.h
@@ -32,7 +32,7 @@ namespace sofa::core::behavior
  *  This class currently control both the integration scheme (explicit,
  *  implicit, static, etc), and the linear system resolution algorithm
  *  (conjugate gradient, matrix direct inversion, etc). Those two aspect will
- *  propably be separated in a future version.
+ *  probably be separated in a future version.
  *
  *  While all computations required to do the integration step are handled by
  *  this object, they should not be implemented directly in it, but instead
@@ -73,7 +73,7 @@ class SOFA_CORE_API OdeSolver : public virtual objectmodel::BaseObject
 
     /// Compute the residual of the newton iteration
     ///
-    /// pos_t and vel_t are the position and velocities at the begining of the time step
+    /// pos_t and vel_t are the position and velocities at the beginning of the time step
     /// the result is accumulated in Vecid::force()
     virtual void computeResidual(const core::ExecParams* /*params*/, SReal /*dt*/, sofa::core::MultiVecCoordId /*pos_t*/, sofa::core::MultiVecDerivId /*vel_t*/) { msg_error() << "ComputeResidual is not implemented in " << this->getName(); }
 
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h
index 78aee67f699..1f494cb85aa 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h
@@ -71,8 +71,8 @@ class PairInteractionConstraint : public BaseInteractionConstraint, public PairS
     /// Construct the Constraint violations vector of each constraint
     ///
     /// \param v is the result vector that contains the whole constraints violations
-    /// \param x1 and x2 are the position vectors used to compute contraint position violation
-    /// \param v1 and v2 are the velocity vectors used to compute contraint velocity violation
+    /// \param x1 and x2 are the position vectors used to compute constraint position violation
+    /// \param v1 and v2 are the velocity vectors used to compute constraint velocity violation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
     ///
     /// This is the method that should be implemented by the component
@@ -90,7 +90,7 @@ class PairInteractionConstraint : public BaseInteractionConstraint, public PairS
     ///
     /// \param c1 and c2 are the results constraint sparse matrix
     /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param x1 and x2 are the position vectors used for contraint equation computation
+    /// \param x1 and x2 are the position vectors used for constraint equation computation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
     ///
     /// This is the method that should be implemented by the component
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionForceField.h b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionForceField.h
index 063ecb8dada..20db861a697 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionForceField.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionForceField.h
@@ -132,7 +132,7 @@ class PairInteractionForceField : public BaseInteractionForceField, public PairS
 
     /// Get the potential energy associated to this ForceField.
     ///
-    /// Used to extimate the total energy of the system by some
+    /// Used to estimate the total energy of the system by some
     /// post-stabilization techniques.
     ///
     /// This method retrieves the x vector from the MechanicalState and call
@@ -142,7 +142,7 @@ class PairInteractionForceField : public BaseInteractionForceField, public PairS
 
     /// Get the potential energy associated to this ForceField.
     ///
-    /// Used to extimate the total energy of the system by some
+    /// Used to estimate the total energy of the system by some
     /// post-stabilization techniques.
     ///
     /// This method must be implemented by the component, and is usually called
diff --git a/Sofa/framework/Core/src/sofa/core/collision/Detection.h b/Sofa/framework/Core/src/sofa/core/collision/Detection.h
index 9494405b935..0696e92dfbc 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/Detection.h
+++ b/Sofa/framework/Core/src/sofa/core/collision/Detection.h
@@ -61,9 +61,9 @@ class Detection : public virtual CollisionAlgorithm
     {
         storedIntersectionMethod[instance] = intersectionMethod;
         intersectionMethod = storedIntersectionMethod[inst];
-        // callback overriden by BroadPhaseDetection
+        // callback overridden by BroadPhaseDetection
         changeInstanceBP(inst);
-        // callback overriden by NarrowPhaseDetection
+        // callback overridden by NarrowPhaseDetection
         changeInstanceNP(inst);
     }
 };
diff --git a/Sofa/framework/Core/src/sofa/core/collision/DetectionOutput.h b/Sofa/framework/Core/src/sofa/core/collision/DetectionOutput.h
index ab9fc5d1fc7..203c5872ca2 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/DetectionOutput.h
+++ b/Sofa/framework/Core/src/sofa/core/collision/DetectionOutput.h
@@ -45,7 +45,7 @@ namespace sofa::core::collision
  *  - deltaT: estimated of time of contact.
  *
  *  The contact id is used to filter redundant contacts (only the contact with
- *  the smallest distance is kept), and to store persistant data over time for
+ *  the smallest distance is kept), and to store persistent data over time for
  *  the response.
  *
  */
@@ -69,7 +69,7 @@ class DetectionOutput
     /// Normal of the contact, pointing outward from the first model
     type::Vec3 normal;
     /*
-    /// Signed distance (negative if objects are interpenetrating). If using a proximity-based detection, this is the actual distance between the objets minus the specified contact distance.
+    /// Signed distance (negative if objects are interpenetrating). If using a proximity-based detection, this is the actual distance between the objects minus the specified contact distance.
     */
     /// Store information for the collision Response. Depending on the kind of contact, can be a distance, or a pression, ...
     double value;
diff --git a/Sofa/framework/Core/src/sofa/core/collision/Intersection.h b/Sofa/framework/Core/src/sofa/core/collision/Intersection.h
index 81bfb441f11..f884ab701c8 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/Intersection.h
+++ b/Sofa/framework/Core/src/sofa/core/collision/Intersection.h
@@ -152,7 +152,7 @@ class SOFA_CORE_API Intersection : public virtual objectmodel::BaseObject
     /// returns true if algorithm uses proximity detection
     virtual bool useProximity() const { return false; }
 
-    /// returns true if algorithm uses continous detection
+    /// returns true if algorithm uses continuous detection
     virtual bool useContinuous() const { return false; }
 
     /// Return the alarm distance (must return 0 if useProximity() is false)
diff --git a/Sofa/framework/Core/src/sofa/core/fwd.h b/Sofa/framework/Core/src/sofa/core/fwd.h
index 69e738489a1..83dcd7fec12 100644
--- a/Sofa/framework/Core/src/sofa/core/fwd.h
+++ b/Sofa/framework/Core/src/sofa/core/fwd.h
@@ -189,7 +189,7 @@ namespace sofa::core
 /// These functions are called "opaque" as they work with only forward declaration of the involved
 /// types in comparison to class methods the requires the full class declaration to be used.
 ///
-/// It is highly recommanded to use as much as possible opaque function in header files as this
+/// It is highly recommended to use as much as possible opaque function in header files as this
 /// allow to reduce the dependency tree.
 ///
 /// Opaque function may be slower at runtime (by one function call) but this is true only if LTO isn't
diff --git a/Sofa/framework/Core/src/sofa/core/logging/PerComponentLoggingMessageHandler.h b/Sofa/framework/Core/src/sofa/core/logging/PerComponentLoggingMessageHandler.h
index 871258f520e..ab4223240c4 100644
--- a/Sofa/framework/Core/src/sofa/core/logging/PerComponentLoggingMessageHandler.h
+++ b/Sofa/framework/Core/src/sofa/core/logging/PerComponentLoggingMessageHandler.h
@@ -32,7 +32,7 @@ namespace sofa::helper::logging
 {
 
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace.
+/// fearing it will leak names into the global namespace.
 /// When closing this namespace selected objects from this per-file namespace
 /// are then imported into their parent namespace for ease of use.
 namespace percomponentloggingmessagehandler
diff --git a/Sofa/framework/Core/src/sofa/core/logging/RichConsoleStyleMessageFormatter.h b/Sofa/framework/Core/src/sofa/core/logging/RichConsoleStyleMessageFormatter.h
index 9a1d580acfa..8f209be041f 100644
--- a/Sofa/framework/Core/src/sofa/core/logging/RichConsoleStyleMessageFormatter.h
+++ b/Sofa/framework/Core/src/sofa/core/logging/RichConsoleStyleMessageFormatter.h
@@ -39,7 +39,7 @@ class Message;
 ///  The class implement a message formatter dedicated to console pretty printing on a console
 ///  Among other thing it feature formatting using a markdown like syntax:
 ///     - color rendering, 'italics' or *italics*
-///     - alignement and wrapping for long message that are then much easier to read.
+///     - alignment and wrapping for long message that are then much easier to read.
 ///     - automatic reading of the console number of column for prettier display.
 ///
 ///
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.cpp
index ec8e02f265d..3a237e2f2c0 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.cpp
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.cpp
@@ -30,10 +30,10 @@ namespace sofa::core::objectmodel
 /// there is a one to one owner relationship.
 const BaseData& AbstractDataLink::getOwner() const { return _doGetOwner_(); }
 
-/// Change the targetted DataField
+/// Change the targeted DataField
 void AbstractDataLink::setTarget(BaseData* target){ _doSetTarget_(target); }
 
-/// Get the targetted DataField
+/// Get the targeted DataField
 BaseData* AbstractDataLink::getTarget() const
 {
     return _doGetTarget_();
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.h b/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.h
index f15be12782e..41c2abdcc80 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/AbstractDataLink.h
@@ -30,7 +30,7 @@ namespace sofa::core::objectmodel
 class BaseData;
 
 /// @brief AbstractDataLink is the base class for every link between two data fields
-/// The targetted BaseData is called the "target",
+/// The targeted BaseData is called the "target",
 /// The base object owning the current "child" object is the "owner"
 /// it is possible to store a path in a DataLink, in that case, at each DataLink access
 /// the path is resolved to search for a corresponding Data until one is found.
@@ -44,10 +44,10 @@ class AbstractDataLink
     /// A DataLink object has one and only one BaseData as owner.
     const BaseData& getOwner() const ;
 
-    /// Change the targetted DataField and set the path to the empty string
+    /// Change the targeted DataField and set the path to the empty string
     void setTarget(BaseData* target);
 
-    /// Get the targetted DataField
+    /// Get the targeted DataField
     BaseData* getTarget() const;
 
     /// Returns true if there is a target
@@ -67,10 +67,10 @@ class AbstractDataLink
     /// If there is no owner set, returns false
     /// If there is no compatible Data at pointed path, returns false
     /// Otherwise, returns true.
-    /// After a successfull call, the path is set to empty string.
+    /// After a successful call, the path is set to empty string.
     bool resolvePathAndSetTarget();
 
-    /// Get the targetted DataField
+    /// Get the targeted DataField
     /// If there is no path set, returns nullptr
     /// If there is no owner set, returns nullptr
     /// If there is no compatible Data at pointed path, returns nullptr
@@ -79,7 +79,7 @@ class AbstractDataLink
 
 protected:
     ///////////////////////////////////////////////////////////////////////////
-    /// The three folowing methods must be implemented by any child class.
+    /// The three following methods must be implemented by any child class.
     /// This design delegates to child class the work of actually storing
     /// the real Data.
     /// Real implementation for the setTarget() method
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp
index df738d145a1..1888327ab0d 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp
@@ -54,7 +54,7 @@ Base::Base()
     : ref_counter(0)
     , name(initData(&name,unnamed_label,"name","object name"))
     , f_printLog(initData(&f_printLog, false, "printLog", "if true, emits extra messages at runtime."))
-    , f_tags(initData( &f_tags, "tags", "list of the subsets the objet belongs to"))
+    , f_tags(initData( &f_tags, "tags", "list of the subsets the object belongs to"))
     , f_bbox(initData( &f_bbox, "bbox", "this object bounding box"))
     , d_componentState(initData(&d_componentState, ComponentState::Undefined, "componentState", "The state of the component among (Dirty, Valid, Undefined, Loading, Invalid)."))
 {
@@ -567,7 +567,7 @@ void  Base::parse ( BaseObjectDescription* arg )
     {
         const std::string& attrName = it.first;
 
-        // FIX: "type" is already used to define the type of object to instanciate, any Data with
+        // FIX: "type" is already used to define the type of object to instantiate, any Data with
         // the same name cannot be extracted from BaseObjectDescription
         if (attrName == std::string("type"))
             continue;
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h
index 4e0fcafb84b..74948aa9674 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h
@@ -50,7 +50,7 @@ namespace sofa::core::objectmodel
 /**
  *  \brief Base class for everything
  *
- *  This class contains all functionnality shared by every objects in SOFA.
+ *  This class contains all functionality shared by every objects in SOFA.
  *  Most importantly it defines how to retrieve information about an object (name, type, data fields).
  *  All classes deriving from Base should use the SOFA_CLASS macro within their declaration (see BaseClass.h).
  *
@@ -391,7 +391,7 @@ class SOFA_CORE_API Base
 
     Data<bool> f_printLog; ///< if true, emits extra messages at runtime.
 
-    Data< sofa::core::objectmodel::TagSet > f_tags; ///< list of the subsets the objet belongs to
+    Data< sofa::core::objectmodel::TagSet > f_tags; ///< list of the subsets the object belongs to
 
     Data< sofa::type::BoundingBox > f_bbox; ///< this object bounding box
 
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h
index aa45f6bdf46..6163cb1a95e 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h
@@ -39,7 +39,7 @@ namespace sofa::core::objectmodel
  *  \brief Base class for Context classes, storing shared variables and parameters.
  *
  *  A Context contains values or pointers to variables and parameters shared
- *  by a group of objects, typically refering to the same simulated body.
+ *  by a group of objects, typically referring to the same simulated body.
  *  Derived classes can defined simple isolated contexts or more powerful
  *  hierarchical representations (scene-graphs), in which case the context also
  *  implements the BaseNode interface.
@@ -185,7 +185,7 @@ class SOFA_CORE_API BaseContext : public virtual Base
         return result ;
     }
 
-    /// Returns a list of object of type passed as a parameter. There shoud be no
+    /// Returns a list of object of type passed as a parameter. There should be no
     /// Copy constructor because of Return Value Optimization.
     /// eg:
     ///    for(BaseObject* o : context->getObjects() ){ ... }
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h
index 410a699171f..79cbe8e255b 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h
@@ -139,7 +139,7 @@ class SOFA_CORE_API BaseNode : public virtual Base
     void clearObjectContext(BaseObject::SPtr obj);
 
 
-    /// @name virtual functions to add/remove special components direclty in the right Sequence
+    /// @name virtual functions to add/remove special components directly in the right Sequence
     /// Note it is useful for Node, but is not mandatory for every BaseNode Inheritances
     /// so the default implementation does nothing
     /// @{
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.h b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.h
index 027fa143819..8b149518b14 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.h
@@ -31,7 +31,7 @@ namespace sofa::core::objectmodel
 /**
  *  \brief Base class for simulation components.
  *
- *  An object defines a part of the functionnality in the simulation
+ *  An object defines a part of the functionality in the simulation
  *  (stores state data, specify topology, compute forces, etc).
  *  Each simulation object is related to a context, which gives access to all available external data.
  *  It is able to process events, if listening enabled (default is false).
@@ -107,7 +107,7 @@ class SOFA_CORE_API BaseObject : public virtual Base
     virtual void reset();
 
     /// Called just before deleting this object
-    /// Any object in the tree bellow this object that are to be removed will be removed only after this call,
+    /// Any object in the tree below this object that are to be removed will be removed only after this call,
     /// so any references this object holds should still be valid.
     virtual void cleanup();
 
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObjectDescription.h b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObjectDescription.h
index bcef0a1ab8b..997d6705c4d 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObjectDescription.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObjectDescription.h
@@ -34,7 +34,7 @@ class Base;
 /**
  *  \brief Base Interface for classes containing the description of an object, used to construct it.
  *
- *  This class defines what informations are used as input (read from a file for instance) to create an object.
+ *  This class defines what information are used as input (read from a file for instance) to create an object.
  *  This default implementation simply stores an attributes map and does not support any hierarchy.
  *
  */
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h
index 3bb0061ca42..d79e04eb4fb 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h
@@ -421,7 +421,7 @@ class WriteAccessor< core::objectmodel::Data<T> > : public WriteAccessor<T>
 
 
 /** @brief The WriteOnlyAccessor provides an access to the Data without triggering an engine update.
- * This should be the prefered writeAccessor for most of the cases as it avoids uncessary Data updates.
+ * This should be the preferred writeAccessor for most of the cases as it avoids unnecessary Data updates.
  * @warning read access to the Data is NOT up-to-date
  */
 template<class T>
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/JoystickEvent.h b/Sofa/framework/Core/src/sofa/core/objectmodel/JoystickEvent.h
index 6be6d97207a..9d8baa2a2b0 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/JoystickEvent.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/JoystickEvent.h
@@ -124,7 +124,7 @@ class SOFA_CORE_API JoystickEvent : public sofa::core::objectmodel::Event
 
 
     /**
-     * @brief Implements an event notifiying changes about a directionnal hat on a device (like a joystick).
+     * @brief Implements an event notifying changes about a directionnal hat on a device (like a joystick).
      */
     class SOFA_CORE_API HatEvent
     {
diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Link.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Link.h
index 56d6a0d6f54..b1519d4bc89 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/Link.h
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Link.h
@@ -108,7 +108,7 @@ template<class TDestType, class TDestPtr, class TValueType, bool multiLink>
 class LinkTraitsContainer;
 
 
-/// Class to hold 0-or-1 pointer. The interface is similar to std::vector (size/[]/begin/end), plus an automatic convertion to one pointer.
+/// Class to hold 0-or-1 pointer. The interface is similar to std::vector (size/[]/begin/end), plus an automatic conversion to one pointer.
 template < class T, class TDestPtr, class TPtr = T* >
 class SinglePtr
 {
diff --git a/Sofa/framework/Core/src/sofa/core/topology/BaseTopology.h b/Sofa/framework/Core/src/sofa/core/topology/BaseTopology.h
index 3eed21acf15..66aa9de56d4 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/BaseTopology.h
+++ b/Sofa/framework/Core/src/sofa/core/topology/BaseTopology.h
@@ -39,7 +39,7 @@ class GeometryAlgorithms;
 /// Provides low-level topology methods (e.g. AddPoint, RemoveEdge, etc).
 class TopologyModifier;
 
-/// Contains the actual topology data and give acces to it.
+/// Contains the actual topology data and give access to it.
 class TopologyContainer;
 
 /// Translates topology events (TopologyChange objects) from a topology so that they apply on another one.
@@ -140,7 +140,7 @@ class SOFA_CORE_API TopologyModifier : public sofa::core::topology::BaseTopology
     */
     void addStateChange(const TopologyChange *topologyChange);
 
-    /// Contains the actual topology data and give acces to it (nature of these data heavily depends on the kind of topology).
+    /// Contains the actual topology data and give access to it (nature of these data heavily depends on the kind of topology).
     TopologyContainer *m_topologyContainer;
 };
 
@@ -265,10 +265,10 @@ class SOFA_CORE_API TopologyContainer : public sofa::core::topology::BaseTopolog
     */
     virtual bool unlinkTopologyHandlerToData(TopologyHandler* topologyHandler, sofa::geometry::ElementType elementType);
 
-    /// Array of topology modifications that have already occured (addition) or will occur next (deletion).
+    /// Array of topology modifications that have already occurred (addition) or will occur next (deletion).
     Data <std::list<const TopologyChange *> >m_changeList;
 
-    /// Array of state modifications that have already occured (addition) or will occur next (deletion).
+    /// Array of state modifications that have already occurred (addition) or will occur next (deletion).
     Data <std::list<const TopologyChange *> >m_stateChangeList;
 
     /// List of topology engines which will interact on all topological Data.
diff --git a/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h b/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h
index 8a7610253f3..ab4983c4c22 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h
+++ b/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h
@@ -140,7 +140,7 @@ struct TopologyElemID
 SOFA_CORE_API std::ostream& operator << (std::ostream& out, const TopologyElemID& d);
 SOFA_CORE_API std::istream& operator >> (std::istream& in, TopologyElemID& d);
 
-/// Topology change informations related to the ancestor topology element of a point
+/// Topology change information related to the ancestor topology element of a point
 struct PointAncestorElem
 {
     typedef type::Vec3 LocalCoords;
@@ -161,7 +161,7 @@ struct PointAncestorElem
 SOFA_CORE_API std::ostream& operator << (std::ostream& out, const PointAncestorElem& d);
 SOFA_CORE_API std::istream& operator >> (std::istream& in, PointAncestorElem& d);
 
-/// Topology change informations related to the ancestor topology element of an edge
+/// Topology change information related to the ancestor topology element of an edge
 template<int NV>
 struct ElemAncestorElem
 {
diff --git a/Sofa/framework/Core/src/sofa/core/topology/TopologyData.h b/Sofa/framework/Core/src/sofa/core/topology/TopologyData.h
index 25f5366c8d8..abc30b2072e 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/TopologyData.h
+++ b/Sofa/framework/Core/src/sofa/core/topology/TopologyData.h
@@ -110,8 +110,8 @@ class TopologyData : public sofa::core::topology::BaseTopologyData<VecT>
     virtual void removeOnMovedPosition(const sofa::type::vector<Index>& indices);
 
     /** Method to add a callback when a element is deleted from this container. It will be called by @sa remove method for example.
-    * This is only to specify a specific behevior/computation when removing an element from this container. Otherwise normal deletion is applyed.
-    * Parameters are @param Index of the element which is detroyed and @value_type value hold by this container.
+    * This is only to specify a specific behevior/computation when removing an element from this container. Otherwise normal deletion is applied.
+    * Parameters are @param Index of the element which is destroyed and @value_type value hold by this container.
     */
     void setDestructionCallback(std::function<void(Index, value_type&)> func) { p_onDestructionCallback = func; }
     
diff --git a/Sofa/framework/Core/src/sofa/core/topology/TopologyData.inl b/Sofa/framework/Core/src/sofa/core/topology/TopologyData.inl
index 589360058e4..b03ca751835 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/TopologyData.inl
+++ b/Sofa/framework/Core/src/sofa/core/topology/TopologyData.inl
@@ -97,7 +97,7 @@ void TopologyData <ElementType, VecT>::linkToPointDataArray()
         msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " linkToPointDataArray ";
     }
     else
-        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToPointDataArray as toplogy is not dynamic";
+        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToPointDataArray as topology is not dynamic";
 }
 
 /// Method used to link Data to edge Data array, using the TopologyHandler's method
@@ -110,7 +110,7 @@ void TopologyData <ElementType, VecT>::linkToEdgeDataArray()
         msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " linkToEdgeDataArray ";
     }
     else
-        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToEdgeDataArray as toplogy is not dynamic";
+        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToEdgeDataArray as topology is not dynamic";
 }
 
 /// Method used to link Data to triangle Data array, using the TopologyHandler's method
@@ -123,7 +123,7 @@ void TopologyData <ElementType, VecT>::linkToTriangleDataArray()
         msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " linkToTriangleDataArray ";
     }
     else
-        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToTriangleDataArray as toplogy is not dynamic";
+        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToTriangleDataArray as topology is not dynamic";
 }
 
 /// Method used to link Data to quad Data array, using the TopologyHandler's method
@@ -136,7 +136,7 @@ void TopologyData <ElementType, VecT>::linkToQuadDataArray()
         msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " linkToQuadDataArray ";
     }
     else
-        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToQuadDataArray as toplogy is not dynamic";
+        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToQuadDataArray as topology is not dynamic";
 }
 
 /// Method used to link Data to tetrahedron Data array, using the TopologyHandler's method
@@ -149,7 +149,7 @@ void TopologyData <ElementType, VecT>::linkToTetrahedronDataArray()
         msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " linkToTetrahedronDataArray ";
     }
     else
-        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToTetrahedronDataArray as toplogy is not dynamic";
+        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToTetrahedronDataArray as topology is not dynamic";
 }
 
 /// Method used to link Data to hexahedron Data array, using the TopologyHandler's method
@@ -162,7 +162,7 @@ void TopologyData <ElementType, VecT>::linkToHexahedronDataArray()
         msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " linkToHexahedronDataArray ";
     }
     else
-        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToHexahedronDataArray as toplogy is not dynamic";
+        msg_info(this->getOwner()) << "TopologyData: " << this->getName() << " won't be linkToHexahedronDataArray as topology is not dynamic";
 }
 
 
diff --git a/Sofa/framework/Core/src/sofa/core/topology/TopologySubsetData.h b/Sofa/framework/Core/src/sofa/core/topology/TopologySubsetData.h
index b3a3c8610e1..ce83582ae76 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/TopologySubsetData.h
+++ b/Sofa/framework/Core/src/sofa/core/topology/TopologySubsetData.h
@@ -128,8 +128,8 @@ class TopologySubsetData : public sofa::core::topology::TopologyData<ElementType
 protected:
     /**
     * Internal method called at the end of @sa swap method to apply internal mechanism, such as map swap.
-    * @param i1 First element index to be swaped.
-    * @param i2 Second element index to be swaped with first one.
+    * @param i1 First element index to be swapped.
+    * @param i2 Second element index to be swapped with first one.
     */
     virtual void swapPostProcess(Index i1, Index i2);
 
@@ -155,7 +155,7 @@ class TopologySubsetData : public sofa::core::topology::TopologyData<ElementType
     /// same size as this SubsetData but contains id of element link to each data[]
     sofa::type::vector<Index> m_map2Elements;
 
-    /** Boolen to allow this TopologySubsetData to add new elements. If true, for every new Element added in the topology container
+    /** Boolean to allow this TopologySubsetData to add new elements. If true, for every new Element added in the topology container
     * linked by this TopologyData, the index of the new element will be added into this TopologySubsetData.
     */
     bool m_addNewElements = false;
diff --git a/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h b/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h
index 6355638eb70..fae0dde22a5 100644
--- a/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h
+++ b/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h
@@ -92,7 +92,7 @@ class SOFA_CORE_API VisualModel : public virtual objectmodel::BaseObject
 
 public:
     /**
-     *  \brief clear some graphical resources (generaly called before the deleteVisitor).
+     *  \brief clear some graphical resources (generally called before the deleteVisitor).
      *  \note: for more general usage you can use the cleanup visitor
      */
     virtual void clearVisual() { }
diff --git a/Sofa/framework/Core/test/Engine_test.cpp b/Sofa/framework/Core/test/Engine_test.cpp
index 829e92fe4f6..938a70aa950 100644
--- a/Sofa/framework/Core/test/Engine_test.cpp
+++ b/Sofa/framework/Core/test/Engine_test.cpp
@@ -55,13 +55,13 @@ struct Engine_test : public BaseTest
        engine1->f_factor.setValue(2);
        engine1->init();
 
-       // Engine 2 linked to the ouput of engine 1
+       // Engine 2 linked to the output of engine 1
        engine2 = sofa::core::objectmodel::New<TestEngine>();
        engine2->f_numberToMultiply.setParent(&engine1->f_result);
        engine2->f_factor.setValue(3);
        engine2->init();
 
-       // Engine 3 linked to the ouput of engine 1
+       // Engine 3 linked to the output of engine 1
        engine3 = sofa::core::objectmodel::New<TestEngine>();
        engine3->f_numberToMultiply.setParent(&engine1->f_result);
        engine3->f_factor.setValue(3);
@@ -128,7 +128,7 @@ struct Engine_test : public BaseTest
 
     }
 
-    // Test the propagation: if the ouput is changed the input must not changed
+    // Test the propagation: if the output is changed the input must not changed
     void testPropagationDirection()
     {
         // Check propagation direction
diff --git a/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp b/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp
index 06574d453c0..1306c64b794 100644
--- a/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp
+++ b/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp
@@ -44,7 +44,7 @@ TEST(ObjectFactoryJson, oneObject)
         .add< simulation::DefaultAnimationLoop >().commitTo(&o), 1);
 
     const auto dump = core::ObjectFactoryJson::dump(&o);
-    const std::string expectedDump = R"x([{"className":"DefaultAnimationLoop","creator":{"":{"class":{"categories":["AnimationLoop"],"className":"DefaultAnimationLoop","namespaceName":"sofa::simulation","parents":["BaseAnimationLoop"],"shortName":"defaultAnimationLoop","templateName":"","typeName":"DefaultAnimationLoop"},"object":{"data":[{"defaultValue":"unnamed","group":"","help":"object name","name":"name","type":"string"},{"defaultValue":"0","group":"","help":"if true, emits extra messages at runtime.","name":"printLog","type":"bool"},{"defaultValue":"","group":"","help":"list of the subsets the objet belongs to","name":"tags","type":"TagSet"},{"defaultValue":"","group":"","help":"this object bounding box","name":"bbox","type":"BoundingBox"},{"defaultValue":"Undefined","group":"","help":"The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).","name":"componentState","type":"ComponentState"},{"defaultValue":"0","group":"","help":"if true, handle the events, otherwise ignore the events","name":"listening","type":"bool"},{"defaultValue":"1","group":"","help":"If true, compute the global bounding box of the scene at each time step. Used mostly for rendering.","name":"computeBoundingBox","type":"bool"},{"defaultValue":"0","group":"","help":"If true, solves all the ODEs in parallel","name":"parallelODESolving","type":"bool"}],"link":[{"destinationTypeName":"BaseContext","help":"Graph Node containing this object (or BaseContext::getDefault() if no graph is used)","name":"context"},{"destinationTypeName":"BaseObject","help":"Sub-objects used internally by this object","name":"slaves"},{"destinationTypeName":"BaseObject","help":"nullptr for regular objects, or master object for which this object is one sub-objects","name":"master"},{"destinationTypeName":"BaseNode","help":"Link to the scene's node that will be processed by the loop","name":"targetNode"}]},"target":""}},"description":"foo\n"}])x";
+    const std::string expectedDump = R"x([{"className":"DefaultAnimationLoop","creator":{"":{"class":{"categories":["AnimationLoop"],"className":"DefaultAnimationLoop","namespaceName":"sofa::simulation","parents":["BaseAnimationLoop"],"shortName":"defaultAnimationLoop","templateName":"","typeName":"DefaultAnimationLoop"},"object":{"data":[{"defaultValue":"unnamed","group":"","help":"object name","name":"name","type":"string"},{"defaultValue":"0","group":"","help":"if true, emits extra messages at runtime.","name":"printLog","type":"bool"},{"defaultValue":"","group":"","help":"list of the subsets the object belongs to","name":"tags","type":"TagSet"},{"defaultValue":"","group":"","help":"this object bounding box","name":"bbox","type":"BoundingBox"},{"defaultValue":"Undefined","group":"","help":"The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).","name":"componentState","type":"ComponentState"},{"defaultValue":"0","group":"","help":"if true, handle the events, otherwise ignore the events","name":"listening","type":"bool"},{"defaultValue":"1","group":"","help":"If true, compute the global bounding box of the scene at each time step. Used mostly for rendering.","name":"computeBoundingBox","type":"bool"},{"defaultValue":"0","group":"","help":"If true, solves all the ODEs in parallel","name":"parallelODESolving","type":"bool"}],"link":[{"destinationTypeName":"BaseContext","help":"Graph Node containing this object (or BaseContext::getDefault() if no graph is used)","name":"context"},{"destinationTypeName":"BaseObject","help":"Sub-objects used internally by this object","name":"slaves"},{"destinationTypeName":"BaseObject","help":"nullptr for regular objects, or master object for which this object is one sub-objects","name":"master"},{"destinationTypeName":"BaseNode","help":"Link to the scene's node that will be processed by the loop","name":"targetNode"}]},"target":""}},"description":"foo\n"}])x";
     EXPECT_EQ(dump, expectedDump);
 }
 
@@ -64,7 +64,7 @@ TEST(ObjectFactoryJson, oneTemplatedObject)
 
     const auto dump = core::ObjectFactoryJson::dump(&o);
     const auto vec3name = core::objectmodel::BaseClassNameHelper::getTypeName<sofa::defaulttype::Vec3fTypes>();
-    const std::string expectedDump = R"x([{"className":"DummyComponent","creator":{"Vec3f":{"class":{"categories":["_Miscellaneous"],"className":"DummyComponent","namespaceName":"sofa","parents":["BaseObject"],"shortName":"dummyComponent","templateName":"Vec3f","typeName":"DummyComponent<)x" + std::string{vec3name} + R"x(>"},"object":{"data":[{"defaultValue":"unnamed","group":"","help":"object name","name":"name","type":"string"},{"defaultValue":"0","group":"","help":"if true, emits extra messages at runtime.","name":"printLog","type":"bool"},{"defaultValue":"","group":"","help":"list of the subsets the objet belongs to","name":"tags","type":"TagSet"},{"defaultValue":"","group":"","help":"this object bounding box","name":"bbox","type":"BoundingBox"},{"defaultValue":"Undefined","group":"","help":"The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).","name":"componentState","type":"ComponentState"},{"defaultValue":"0","group":"","help":"if true, handle the events, otherwise ignore the events","name":"listening","type":"bool"}],"link":[{"destinationTypeName":"BaseContext","help":"Graph Node containing this object (or BaseContext::getDefault() if no graph is used)","name":"context"},{"destinationTypeName":"BaseObject","help":"Sub-objects used internally by this object","name":"slaves"},{"destinationTypeName":"BaseObject","help":"nullptr for regular objects, or master object for which this object is one sub-objects","name":"master"}]},"target":""}},"description":"foo\n"}])x";
+    const std::string expectedDump = R"x([{"className":"DummyComponent","creator":{"Vec3f":{"class":{"categories":["_Miscellaneous"],"className":"DummyComponent","namespaceName":"sofa","parents":["BaseObject"],"shortName":"dummyComponent","templateName":"Vec3f","typeName":"DummyComponent<)x" + std::string{vec3name} + R"x(>"},"object":{"data":[{"defaultValue":"unnamed","group":"","help":"object name","name":"name","type":"string"},{"defaultValue":"0","group":"","help":"if true, emits extra messages at runtime.","name":"printLog","type":"bool"},{"defaultValue":"","group":"","help":"list of the subsets the object belongs to","name":"tags","type":"TagSet"},{"defaultValue":"","group":"","help":"this object bounding box","name":"bbox","type":"BoundingBox"},{"defaultValue":"Undefined","group":"","help":"The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).","name":"componentState","type":"ComponentState"},{"defaultValue":"0","group":"","help":"if true, handle the events, otherwise ignore the events","name":"listening","type":"bool"}],"link":[{"destinationTypeName":"BaseContext","help":"Graph Node containing this object (or BaseContext::getDefault() if no graph is used)","name":"context"},{"destinationTypeName":"BaseObject","help":"Sub-objects used internally by this object","name":"slaves"},{"destinationTypeName":"BaseObject","help":"nullptr for regular objects, or master object for which this object is one sub-objects","name":"master"}]},"target":""}},"description":"foo\n"}])x";
     EXPECT_EQ(dump, expectedDump);
 }
 
diff --git a/Sofa/framework/Core/test/TestEngine.cpp b/Sofa/framework/Core/test/TestEngine.cpp
index 471c59c7409..74d728dabdd 100644
--- a/Sofa/framework/Core/test/TestEngine.cpp
+++ b/Sofa/framework/Core/test/TestEngine.cpp
@@ -78,7 +78,7 @@ void TestEngine::doUpdate()
     const SReal factor = f_factor.getValue();
 
 
-///// THEN tell everthing is (will be) up to date now
+///// THEN tell everything is (will be) up to date now
 /// @warning This must be done AFTER updating all inputs
 /// can be done before or after setting up the outputs
     cleanDirty();
diff --git a/Sofa/framework/Core/test/TrackedData_test.cpp b/Sofa/framework/Core/test/TrackedData_test.cpp
index c1959353aaf..39780a56921 100644
--- a/Sofa/framework/Core/test/TrackedData_test.cpp
+++ b/Sofa/framework/Core/test/TrackedData_test.cpp
@@ -372,7 +372,7 @@ struct DataTrackerFunctor_test: public BaseTest
         // modifying the Data even with the same value is calling the functor
         // note it would be possible to do your own functor,
         // that keep a hash of the previous value
-        // if you really need to check when the data trully changed
+        // if you really need to check when the data truly changed
         testObject.myData.setValue( false );
         ASSERT_EQ( 3u, myDataFunctor.m_counter );
 
diff --git a/Sofa/framework/Core/test/objectmodel/BaseClass_test.cpp b/Sofa/framework/Core/test/objectmodel/BaseClass_test.cpp
index e7794f78db1..9da2f01d6d8 100644
--- a/Sofa/framework/Core/test/objectmodel/BaseClass_test.cpp
+++ b/Sofa/framework/Core/test/objectmodel/BaseClass_test.cpp
@@ -163,7 +163,7 @@ class BaseClass_test: public BaseTest
 };
 
 ///
-/// tests that all the BaseClass returned from GetClass function are refering to the same
+/// tests that all the BaseClass returned from GetClass function are referring to the same
 /// BaseClass instance.
 ///
 TEST_F(BaseClass_test, checkClassEquivalence  )
diff --git a/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp b/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp
index 6ac1000799f..702eb1f077a 100644
--- a/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp
+++ b/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp
@@ -115,7 +115,7 @@ struct BaseObjectDescription_test: public BaseTest
         EXPECT_EQ( objectDescription.getAttributeAsFloat("aFirstNonFloatAttribute", -1234.0), -1234.0) ;
         EXPECT_EQ( objectDescription.getAttributeAsFloat("aSecondNonFloatAttribute", -1234.0), -1234.0) ;
         EXPECT_EQ( objectDescription.getErrors().size(), (size_t)3) << "If this fails this means that one of the three previous "
-                                                               "conversion succeded while it shouldn't";
+                                                               "conversion succeeded while it shouldn't";
 
         EXPECT_EQ( objectDescription.getAttributeAsFloat("aFloatAttribute", -1234.0), 1.0) ;
         EXPECT_EQ( objectDescription.getErrors().size(), (size_t)3) ;
@@ -147,7 +147,7 @@ struct BaseObjectDescription_test: public BaseTest
         EXPECT_EQ( objectDescription.getAttributeAsInt("aFirstNonIntAttribute", -1234.0), -1234.0) ;
         EXPECT_EQ( objectDescription.getAttributeAsInt("aSecondNonIntAttribute", -1234.0), -1234.0) ;
         EXPECT_EQ( objectDescription.getErrors().size(), (size_t)2) << "If this fails this means that one of the three previous "
-                                                               "conversion succeded while it shouldn't";
+                                                               "conversion succeeded while it shouldn't";
     }
 };
 
diff --git a/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp b/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp
index 393b353a7c1..5224554b18f 100644
--- a/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp
+++ b/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp
@@ -30,7 +30,7 @@ using sofa::type::Vec3d;
 using sofa::type::Vec3f;
 
 /**  Test suite for data link.
-Create two datas and a link between them.
+Create two data and a link between them.
 Set the value of data1 and check if the boolean is dirty of data2 is true and that the value of data2 is right.
   */
 struct DataLink_test: public BaseTest
@@ -43,7 +43,7 @@ struct DataLink_test: public BaseTest
     /// This method is defined in gtest framework to setting the test up.
     void SetUp() override
     {
-        /// Setup the data and create a link between the two datas
+        /// Setup the data and create a link between the two data
         data1.setName("data1");
         data2.setName("data2");
 
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/AbstractTypeInfo.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/AbstractTypeInfo.h
index 520f3c32add..d9223af1fa4 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/AbstractTypeInfo.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/AbstractTypeInfo.h
@@ -36,9 +36,9 @@ namespace sofa::defaulttype
     should be allocated to copy it?), and allows manipulating Data generically,
     without knowing their exact type.
 
-    This class is primarily used to copy information accross BaseData objects,
+    This class is primarily used to copy information across BaseData objects,
     for example when there exists a link between two instances of BaseData.
-    E.g. this mecanism allows you to copy the content of a Data<vector<int>>
+    E.g. this mechanism allows you to copy the content of a Data<vector<int>>
     into a Data<vector<double>>, because there is an acceptable conversion
     between integer and double, and because both Data use a resizable container.
 
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.h
index 72b92178766..564ef359be2 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.h
@@ -63,7 +63,7 @@ class SOFA_DEFAULTTYPE_API SolidTypes
 
     /**
      * \brief A twist aka a SpatialVector representing a velocity
-     * This is pratically a SpatialVector (screw) with the additionnal semantics
+     * This is practically a SpatialVector (screw) with the additional semantics
      * that this screw represents a twist (velocity) and not a wrench (force and torque)
      * @author Anthony Truchet, CEA, 2006
      */
@@ -76,7 +76,7 @@ class SOFA_DEFAULTTYPE_API SolidTypes
 
     /**
         * \brief A wrench aka a SpatialVector representing a force and a torque
-     * This is pratically a SpatialVector (screw) with the additionnal semantics
+     * This is practically a SpatialVector (screw) with the additional semantics
      * that this screw represents a wrench (force and torque) and not a twist (velocity)
      * @author Anthony Truchet, CEA, 2006
      */
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistry.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistry.h
index 15d97427b76..a983d56003f 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistry.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistry.h
@@ -36,14 +36,14 @@ class AbstractTypeInfo;
  * @brief An unique singleton to register all the type info defined in Sofa
  *
  * AbstractTypeInfo offers an API to manipulate the data content of a specific type
- * without requiering the inner details of the type. Have a look in AbstractTypeInfo
- * for more informations.
+ * without requiring the inner details of the type. Have a look in AbstractTypeInfo
+ * for more information.
  *
- * On its side, TypeInfoRegistry holds all the instances of object thats inherits
+ * On its side, TypeInfoRegistry holds all the instances of object that inherits
  * from AbstractTypeInfo
  *
  * The common use case is get the type id to access a full AbstractTypeInfo from
- * the TypeInfoRegistry. The acces is done with a TypeInfoId instance that stores
+ * the TypeInfoRegistry. The access is done with a TypeInfoId instance that stores
  * an unique identifier for each data type.
  *
  * Example of use:
@@ -62,7 +62,7 @@ class SOFA_DEFAULTTYPE_API TypeInfoRegistry
     /// provides the compilationTarget where the typeinfo is declared to ease the tracking of DataTypes.
     static int Set(const TypeInfoId& tid, AbstractTypeInfo* info, const std::string& compilationTarget);
 
-    /// Returns a vecotr with all the AbstractTypeInfo that have been registered in the specified target.
+    /// Returns a vector with all the AbstractTypeInfo that have been registered in the specified target.
     /// An empty target select everything that is in the registry.
     static std::vector<const AbstractTypeInfo*> GetRegisteredTypes(const std::string& target="");
 
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistryTools.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistryTools.h
index b2bff05281e..898cb676d56 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistryTools.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/TypeInfoRegistryTools.h
@@ -31,14 +31,14 @@ namespace sofa::defaulttype
  * @brief Encodes the different kind of type infos stored in the TypeInfoRegistry
  *
  * In the TyepeInfoRegistry we can store different type of type info depending
- * on how much the developper want to provide precise information (or not)
+ * on how much the developer want to provide precise information (or not)
  * on its data type.
  *
  * MISSING indicates that there was absolutely no valid information to trust in
  * an AbstractTypeInfo object.
  *
  * NAMEONLY indicates that only the getName() and getTypeName() function are returning
- * valid informations.
+ * valid information.
  *
  * COMPLETE indicates that all the function like size/getSize/etc... are implemented.
  *
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h
index 1a4c0907cd4..7fbb70e7c44 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h
@@ -63,7 +63,7 @@ class StdVectorTypes
 
 protected:
 
-    /// @internal size dependant specializations
+    /// @internal size dependent specializations
     /// @{
 
     template<Size N, class T>
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/SetTypeInfo.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/SetTypeInfo.h
index 87e9cbe0fb6..a6ecd0933d8 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/SetTypeInfo.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/SetTypeInfo.h
@@ -73,7 +73,7 @@ struct SetTypeInfo
 
     static bool setSize(DataType& data, sofa::Size /*size*/)
     {
-        data.clear(); // we can't "resize" a set, so the only meaningfull operation is to clear it, as values will be added dynamically in setValue
+        data.clear(); // we can't "resize" a set, so the only meaningful operation is to clear it, as values will be added dynamically in setValue
         return true;
     }
 
diff --git a/Sofa/framework/DefaultType/test/QuaternionIntegration_test.cpp b/Sofa/framework/DefaultType/test/QuaternionIntegration_test.cpp
index 0f686bf059b..91859add5bd 100644
--- a/Sofa/framework/DefaultType/test/QuaternionIntegration_test.cpp
+++ b/Sofa/framework/DefaultType/test/QuaternionIntegration_test.cpp
@@ -65,11 +65,11 @@ struct QuaternionIntegrationTest : NumericTest< typename Rigid3Types::Real > {
 };
 
 
-// Define the list of types to instanciate. We do not necessarily need to test all combinations.
+// Define the list of types to instantiate. We do not necessarily need to test all combinations.
 using ::testing::Types;
-typedef Types<defaulttype::Rigid3Types> DataTypes; // the types to instanciate.
+typedef Types<defaulttype::Rigid3Types> DataTypes; // the types to instantiate.
 
-// Test suite for all the instanciations
+// Test suite for all the instantiations
 TYPED_TEST_SUITE(QuaternionIntegrationTest, DataTypes);
 
 // first test case
diff --git a/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp b/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp
index bdc6fad05fc..cf1d58e88cd 100644
--- a/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp
+++ b/Sofa/framework/DefaultType/test/RigidDeriv_test.cpp
@@ -27,8 +27,8 @@ template<sofa::Size N, typename real>
 void testName(const std::string& expectedName)
 {
     using Deriv = sofa::defaulttype::RigidDeriv<N, real>;
-    using Bloc = sofa::linearalgebra::matrix_bloc_traits<Deriv, sofa::Index >;
-    EXPECT_EQ(std::string(Bloc::Name()), expectedName);
+    using Block = sofa::linearalgebra::matrix_bloc_traits<Deriv, sofa::Index >;
+    EXPECT_EQ(std::string(Block::Name()), expectedName);
 }
 
 TEST(RigidDerivTest, Name)
diff --git a/Sofa/framework/Geometry/src/sofa/geometry/Edge.h b/Sofa/framework/Geometry/src/sofa/geometry/Edge.h
index a4d4072c8fc..d1266ddc6b0 100644
--- a/Sofa/framework/Geometry/src/sofa/geometry/Edge.h
+++ b/Sofa/framework/Geometry/src/sofa/geometry/Edge.h
@@ -274,7 +274,7 @@ struct Edge
             // [ (pA - pC) + alpha(pB - pA) - beta(pD - pC) ].dot(pD - pC) = 0
             const auto CA = pA - pC;
 
-            // Writting d[CA/AB] == (pA - pC).dot(pB - pA) and subtituting beta we obtain:
+            // Writing d[CA/AB] == (pA - pC).dot(pB - pA) and substituting beta we obtain:
             // beta = (d[CA/CD] + alpha * d[AB/CD]) / d[CD/CD]
             // alpha = ( d[CA/CD]*d[CD/AB] - d[CA/AB]*d[CD/CD] ) / ( d[AB/AB]*d[CD/CD] - d[AB/CD]*d[AB/CD])
             const T dCACD = sofa::type::dot(CA, CD);
diff --git a/Sofa/framework/Helper/simutest/CMakeLists.txt b/Sofa/framework/Helper/simutest/CMakeLists.txt
index bb0fc276be7..4b22559aca8 100644
--- a/Sofa/framework/Helper/simutest/CMakeLists.txt
+++ b/Sofa/framework/Helper/simutest/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.22)
 
 project(Sofa.Helper_simutest)
 
-# Do not find dependencies explicitely, let CMake decide the appropriate time to do it
+# Do not find dependencies explicitly, let CMake decide the appropriate time to do it
 #sofa_find_package(SofaBase REQUIRED)
 
 set(SOURCE_FILES
diff --git a/Sofa/framework/Helper/src/sofa/helper/AdvancedTimer.h b/Sofa/framework/Helper/src/sofa/helper/AdvancedTimer.h
index 2efb9bb8aca..5e029e26347 100644
--- a/Sofa/framework/Helper/src/sofa/helper/AdvancedTimer.h
+++ b/Sofa/framework/Helper/src/sofa/helper/AdvancedTimer.h
@@ -78,7 +78,7 @@ namespace sofa::helper
   * When a noteworthy value must be accumulated:
     AdvancedTimer::valAdd("dofs",mstate->getSize());
 
-  * When reloading/reseting the simulation:
+  * When reloading/resetting the simulation:
     AdvancedTimer::clear();
 
 
@@ -365,7 +365,7 @@ class SOFA_HELPER_API AdvancedTimer
 
 
     /**
-     * @brief end Ovveride fo the end method in which you can use JSON or old format
+     * @brief end Override fo the end method in which you can use JSON or old format
      * @param id IdTimer, the id of the used timer
      * @param time double, current time (from the context)
      * @param time dt, current delta time or dt (from the context)
diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
index bf0fb6d569f..63d34978079 100644
--- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -599,9 +599,9 @@ const std::map<std::string, ComponentChange, std::less<> > movedComponents = {
     { "OBBModel", Moved("v22.06", "SofaMiscCollision", "CollisionOBBCapsule") },
     { "RigidCapsuleCollisionModel", Moved("v22.06", "SofaMiscCollision", "CollisionOBBCapsule") },
     { "CapsuleCollisionModel", Moved("v22.06", "SofaMiscCollision", "CollisionOBBCapsule") },
-    { "TriangleModelInRegularGrid", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collsion.Geometry") },
-    { "TetrahedronCollisionModel", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collsion.Geometry") },
-    { "RuleBasedContactManager", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collsion.Response.Contact") },
+    { "TriangleModelInRegularGrid", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collision.Geometry") },
+    { "TetrahedronCollisionModel", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collision.Geometry") },
+    { "RuleBasedContactManager", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collision.Response.Contact") },
 
     // SofaHaptics was deprecated in #3039
     { "ForceFeedback", Moved("v22.06", "SofaHaptics", "Sofa.Component.Haptics") },
diff --git a/Sofa/framework/Helper/src/sofa/helper/DiffLib.cpp b/Sofa/framework/Helper/src/sofa/helper/DiffLib.cpp
index c2a3e328920..86c121f455b 100644
--- a/Sofa/framework/Helper/src/sofa/helper/DiffLib.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/DiffLib.cpp
@@ -29,7 +29,7 @@ namespace sofa::helper
 
 std::vector<std::tuple<std::string, SReal>> SOFA_HELPER_API getClosestMatch(const std::string& needle,
                                                                             const std::vector<std::string>& haystack,
-                                                                            const Size numEntries, const SReal thresold)
+                                                                            const Size numEntries, const SReal threshold)
 {
     class Tuple
     {
@@ -53,7 +53,7 @@ std::vector<std::tuple<std::string, SReal>> SOFA_HELPER_API getClosestMatch(cons
     std::vector<std::tuple<std::string, SReal>> result;
     while(!q3.empty() && result.size()<=numEntries)
     {
-        if(q3.top().ratio < thresold)
+        if(q3.top().ratio < threshold)
             break;
         result.push_back(std::make_tuple(q3.top().value, q3.top().ratio));
         q3.pop();
diff --git a/Sofa/framework/Helper/src/sofa/helper/DiffLib.h b/Sofa/framework/Helper/src/sofa/helper/DiffLib.h
index b4687de6076..db8b2540594 100644
--- a/Sofa/framework/Helper/src/sofa/helper/DiffLib.h
+++ b/Sofa/framework/Helper/src/sofa/helper/DiffLib.h
@@ -30,7 +30,7 @@ namespace sofa::helper
 
 /// Search for the the closest match to the string passed in the "needle" argument within the vector of "haystack" arguments.
 std::vector<std::tuple<std::string, SReal>> SOFA_HELPER_API getClosestMatch(const std::string& needle, const std::vector<std::string>& haystack,
-                                                                            const Size numEntries=5, const SReal thresold=0.5_sreal);
+                                                                            const Size numEntries=5, const SReal threshold=0.5_sreal);
 
 }
 
diff --git a/Sofa/framework/Helper/src/sofa/helper/FnDispatcher.h b/Sofa/framework/Helper/src/sofa/helper/FnDispatcher.h
index 92dc1ab9655..ce6021648e0 100644
--- a/Sofa/framework/Helper/src/sofa/helper/FnDispatcher.h
+++ b/Sofa/framework/Helper/src/sofa/helper/FnDispatcher.h
@@ -47,11 +47,11 @@ class BasicDispatcher
     void add(const std::type_info& class1, const std::type_info& class2, F fun) ;
     void ignore(const std::type_info& class1, const std::type_info& class2) ;
 
-    template <class ConcreteClass1,class ConcreteClass2,ResulT (*F)(ConcreteClass1&,ConcreteClass2&), bool symetric>
+    template <class ConcreteClass1,class ConcreteClass2,ResulT (*F)(ConcreteClass1&,ConcreteClass2&), bool symmetric>
     void ignore()
     {
         this->BasicDispatcher<BaseClass, ResulT>::add(typeid(ConcreteClass1), typeid(ConcreteClass2), &ignoreFn);
-        if (symetric)
+        if (symmetric)
         {
             this->BasicDispatcher<BaseClass, ResulT>::add(typeid(ConcreteClass2), typeid(ConcreteClass1), &ignoreFn);
         }
@@ -69,7 +69,7 @@ class FnDispatcher : public BasicDispatcher<BaseClass, ResulT>
 {
 public:
 
-    template <class ConcreteClass1, class ConcreteClass2, ResulT (*F)(ConcreteClass1&,ConcreteClass2&), bool symetric>
+    template <class ConcreteClass1, class ConcreteClass2, ResulT (*F)(ConcreteClass1&,ConcreteClass2&), bool symmetric>
     void add()
     {
         struct Local
@@ -85,17 +85,17 @@ class FnDispatcher : public BasicDispatcher<BaseClass, ResulT>
             }
         };
         this->BasicDispatcher<BaseClass, ResulT>::add(typeid(ConcreteClass1), typeid(ConcreteClass2), &Local::trampoline);
-        if (symetric)
+        if (symmetric)
         {
             this->BasicDispatcher<BaseClass, ResulT>::add(typeid(ConcreteClass2), typeid(ConcreteClass1), &Local::trampolineR);
         }
     }
 
-    template <class ConcreteClass1, class ConcreteClass2, bool symetric>
+    template <class ConcreteClass1, class ConcreteClass2, bool symmetric>
     void ignore()
     {
         this->BasicDispatcher<BaseClass, ResulT>::ignore(typeid(ConcreteClass1), typeid(ConcreteClass2));
-        if (symetric)
+        if (symmetric)
         {
             this->BasicDispatcher<BaseClass, ResulT>::ignore(typeid(ConcreteClass2), typeid(ConcreteClass1));
         }
diff --git a/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h b/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h
index 496acc7797e..704f260c6d0 100644
--- a/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h
+++ b/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h
@@ -248,7 +248,7 @@ void generateRigid( GenerateRigidInfo& res
     res.mass = rigidMass.mass;
     res.inertia = res.mass * rigidMass.inertiaMatrix;
 
-    // a threshol to test if inertia is diagonal in function of diagonal values
+    // a threshold to test if inertia is diagonal in function of diagonal values
     const SReal threshold = type::trace( res.inertia ) * 1e-6;
 
     // if not diagonal, extracting principal axes basis to get the corresponding rotation with a diagonal inertia
diff --git a/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.cpp b/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.cpp
index bf968c094c9..8afd82b8672 100644
--- a/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.cpp
@@ -766,7 +766,7 @@ namespace sofa::helper
     // A priori, il n'y a pas de données sur les bords (tout du moins sur le premier voxel)
     void MarchingCubeUtility::findSeeds ( vector<type::Vec3i>& seeds, const float isoValue, unsigned char *_data )
     {
-        msg_info() << "findSeeds(). Begining." ;
+        msg_info() << "findSeeds(). Beginning." ;
 
         std::set<unsigned int> parsedVoxels;
         const size_t datasize = dataResolution[0]*dataResolution[1]*dataResolution[2];
diff --git a/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.h b/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.h
index 4604652fd96..12d20351216 100644
--- a/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.h
+++ b/Sofa/framework/Helper/src/sofa/helper/MarchingCubeUtility.h
@@ -69,7 +69,7 @@ class SOFA_HELPER_API MarchingCubeUtility
         this->convolutionSize = convolutionSize;
     }
 
-    /// Set the bounding box from real coords to apply mCube localy.
+    /// Set the bounding box from real coords to apply mCube locally.
     void setBoundingBoxFromRealCoords ( const type::Vec3& min, const type::Vec3& max )
     {
         type::Vec3 gridSize = dataVoxelSize * cubeStep;
@@ -82,7 +82,7 @@ class SOFA_HELPER_API MarchingCubeUtility
                     {static_cast<int>(max.x()), static_cast<int>(max.y()), static_cast<int>(max.z())});
     }
 
-    /// Set the bounding box (in the data space) to apply mCube localy.
+    /// Set the bounding box (in the data space) to apply mCube locally.
     void setROI ( const type::Vec3i& min, const type::Vec3i& max )
     {
         this->roi.min = min;
@@ -95,7 +95,7 @@ class SOFA_HELPER_API MarchingCubeUtility
         if ( roi.max[2] > dataResolution[2] )roi.max[2] = dataResolution[2];
     }
 
-    /// Set the bounding box (in the data space) to apply mCube localy.
+    /// Set the bounding box (in the data space) to apply mCube locally.
     void setBoundingBox ( const type::Vec6i& roi )
     {
         const type::Vec3i _min( roi[0], roi[1], roi[2]);
@@ -103,7 +103,7 @@ class SOFA_HELPER_API MarchingCubeUtility
         setBoundingBox( _min, _max);
     }
 
-    /// Set the bounding box (in the data space) to apply mCube localy.
+    /// Set the bounding box (in the data space) to apply mCube locally.
     void setBoundingBox ( const type::Vec3i& min, const type::Vec3i& max )
     {
         this->bbox.min = min;
@@ -119,7 +119,7 @@ class SOFA_HELPER_API MarchingCubeUtility
     /// given a set of data (size of the data and size of the marching cube beeing defined previously),
     /// we construct the surface.
     /// mesh is a vector containing the triangles defined as a sequence of three indices
-    /// map_indices gives the correspondance between an indice and a 3d position in space
+    /// map_indices gives the correspondence between an indice and a 3d position in space
     void run ( unsigned char *data, const float isolevel,
                sofa::type::vector< PointID > &triangles,
                sofa::type::vector< type::Vec3>  &vertices,
diff --git a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h
index 03ae3943dea..a6fa39ac04b 100644
--- a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h
+++ b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h
@@ -37,7 +37,7 @@ namespace sofa::helper
 ///////////////////////////////////////////////////////////////////////////////////
 /**
  * \brief OptionsGroup is a kind of data for a radio button. It has a list of text
- * representing a list of choices, and a interger number indicating the choice
+ * representing a list of choices, and a integer number indicating the choice
  * selected.
  *
  */
@@ -93,13 +93,13 @@ public :
 
     ///Setting the activated item by a input-stream.
     ///the istream is converted to string.
-    ///If the reading string is in options list, its value is setted activated,
+    ///If the reading string is in options list, its value is set activated,
     ///else push a warning.
     void readFromStream(std::istream& stream);
 
     /// @}
 
-    /// @name getting informations operators
+    /// @name getting information operators
     /// @{
     [[nodiscard]] unsigned int       getSelectedId()                      const;
     [[nodiscard]] const std::string& getSelectedItem()                    const;
diff --git a/Sofa/framework/Helper/src/sofa/helper/Polynomial_LD.h b/Sofa/framework/Helper/src/sofa/helper/Polynomial_LD.h
index 0041dd5c143..d6669781dd5 100644
--- a/Sofa/framework/Helper/src/sofa/helper/Polynomial_LD.h
+++ b/Sofa/framework/Helper/src/sofa/helper/Polynomial_LD.h
@@ -45,7 +45,7 @@ namespace sofa::helper
  *
  * Todo this first version of polynomial is a linear presentation.
  * This presentation is efficient for arithmetic operator like +,-,\*,/ and derivative.
- * But is not optimized for the evaluating (comparing to the recurent presentation).
+ * But is not optimized for the evaluating (comparing to the recurrent presentation).
  */
 template<typename Real, unsigned int N>
 class Monomial_LD
@@ -103,7 +103,7 @@ public :
     ///Evaluating partial derivative hight order by idvar-th variable in ideriv-th order
 //	Real operator()(const RNpoint & x,unsigned int idvar,unsigned int ideriv) const;//Todo
 
-    ///Derivative operator alowing to write p1=p2.d(x);
+    ///Derivative operator allowing to write p1=p2.d(x);
     Monomial_LD<Real,N> d(const unsigned int & ideriv) const;
 
     void writeToStream(std::ostream & ff) const;
@@ -184,7 +184,7 @@ public :
     ///Evaluating partial derivative hight order by idvar-th variable in ideriv-th order
 //	Real operator()(const RNpoint & x,unsigned int idvar,unsigned int ideriv) const;//Todo
 
-    ///Derivative operator alowing to write p1=p2.d(x);
+    ///Derivative operator allowing to write p1=p2.d(x);
     Polynomial_LD<Real,N>  d(const unsigned int & ideriv) const;
 
     void setnbOfMonomial(int m_nbofmonomial);
diff --git a/Sofa/framework/Helper/src/sofa/helper/StringUtils.cpp b/Sofa/framework/Helper/src/sofa/helper/StringUtils.cpp
index 72a14d8e1e9..1314c1580bf 100644
--- a/Sofa/framework/Helper/src/sofa/helper/StringUtils.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/StringUtils.cpp
@@ -31,7 +31,7 @@ namespace sofa::helper
 
 std::wstring widenString(const std::string& s)
 {
-    // Set LC_CTYPE according to the environnement variable, for mbsrtowcs().
+    // Set LC_CTYPE according to the environment variable, for mbsrtowcs().
     system::TemporaryLocale locale(LC_CTYPE, "");
 
     const char * src = s.c_str();
@@ -66,7 +66,7 @@ std::wstring widenString(const std::string& s)
 
 std::string narrowString(const std::wstring& ws)
 {
-    // Set LC_CTYPE according to the environnement variable, for wcstombs().
+    // Set LC_CTYPE according to the environment variable, for wcstombs().
     system::TemporaryLocale locale(LC_CTYPE, "");
 
     const wchar_t * src = ws.c_str();
diff --git a/Sofa/framework/Helper/src/sofa/helper/StringUtils.h b/Sofa/framework/Helper/src/sofa/helper/StringUtils.h
index 10901667e6a..8ee732f6bb5 100644
--- a/Sofa/framework/Helper/src/sofa/helper/StringUtils.h
+++ b/Sofa/framework/Helper/src/sofa/helper/StringUtils.h
@@ -89,7 +89,7 @@ std::string join(const Container& elems, const S& delim)
 ///@brief returns a copy of the string given in argument.
 SOFA_HELPER_API char* getAStringCopy(const char *c);
 
-///@brief replace all occurence of "search" by the "replace" string.
+///@brief replace all occurrence of "search" by the "replace" string.
 SOFA_HELPER_API void replaceAll(std::string& str,
                                 const std::string& search,
                                 const std::string& replace);
diff --git a/Sofa/framework/Helper/src/sofa/helper/decompose.h b/Sofa/framework/Helper/src/sofa/helper/decompose.h
index bee4d82d80f..8f20fb7225a 100644
--- a/Sofa/framework/Helper/src/sofa/helper/decompose.h
+++ b/Sofa/framework/Helper/src/sofa/helper/decompose.h
@@ -119,7 +119,7 @@ class Decompose
      */
     static Real polarDecomposition( const type::Mat<3,3,Real>& M, type::Mat<3,3,Real>& Q );
 
-    /** Polar decomposition of a 2x2 matix M = QS
+    /** Polar decomposition of a 2x2 matrix M = QS
      *  Analytic formulation given in
      *  "Matrix Animation and Polar Decomposition"
      *  Ken Shoemake, Computer Graphics Laboratory, University of Pennsylvania
@@ -215,7 +215,7 @@ class Decompose
       */
     static void SVD( const type::Mat<3,3,Real> &F, type::Mat<3,3,Real> &U, type::Vec<3,Real> &S, type::Mat<3,3,Real> &V );
 
-    /** SVD based on the Eigensystem decomposition of FtF with robustness against invertion and degenerate configurations
+    /** SVD based on the Eigensystem decomposition of FtF with robustness against inversion and degenerate configurations
       * \returns true iff the stabilization processed an inverted rotation or a degenerate case
       * U & V are rotations
       * Warning eigenvalues are not guaranteed to be positive, eigenvalues are not sorted
@@ -229,7 +229,7 @@ class Decompose
       */
     static void SVD( const type::Mat<3,2,Real> &F, type::Mat<3,2,Real> &U, type::Vec<2,Real> &S, type::Mat<2,2,Real> &V );
 
-    /** SVD based on the Eigensystem decomposition of FtF with robustness against invertion and degenerate configurations
+    /** SVD based on the Eigensystem decomposition of FtF with robustness against inversion and degenerate configurations
       * \returns true in a degenerate case
       * U & V are rotations
       * Warning eigenvalues are not guaranteed to be positive, eigenvalues are not sorted
@@ -367,7 +367,7 @@ class Decompose
 
     /** @internal useful for iterative eigenDecomposition
       * QL algorithm with implicit shifting, applies to tridiagonal matrices
-      * Derived from numerical recipies
+      * Derived from numerical recipes
       */
     template <sofa::Size iSize>
     static void QLAlgorithm( type::Vec<iSize,Real> &diag, type::Vec<iSize,Real> &subDiag, type::Mat<iSize,iSize,Real> &V );
diff --git a/Sofa/framework/Helper/src/sofa/helper/decompose.inl b/Sofa/framework/Helper/src/sofa/helper/decompose.inl
index c373be6208d..4e3994db2dc 100644
--- a/Sofa/framework/Helper/src/sofa/helper/decompose.inl
+++ b/Sofa/framework/Helper/src/sofa/helper/decompose.inl
@@ -401,7 +401,7 @@ bool Decompose<Real>::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type
         n = edge.norm2();
         if( n < zeroTolerance() )
         {
-            // colapsed to a point
+            // collapsed to a point
             r[0][0] = 1; r[1][0] = 0;
             r[0][1] = 0; r[1][1] = 1;
 
@@ -409,7 +409,7 @@ bool Decompose<Real>::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type
         }
         else
         {
-            // edgex collapsed but edgey not colapsed
+            // edgex collapsed but edgey not collapsed
             edge /= helper::rsqrt(n);
             r[0][0] = edge[1]; r[1][0] = -edge[0];
             r[0][1] = edge[0]; r[1][1] =  edge[1];
@@ -419,7 +419,7 @@ bool Decompose<Real>::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type
     }
     else
     {
-        // edgex not colapsed
+        // edgex not collapsed
         edge /= helper::rsqrt(n);
         r[0][0] =  edge[0]; r[1][0] = edge[1];
         r[0][1] = -edge[1]; r[1][1] = edge[0];
@@ -1019,7 +1019,7 @@ bool Decompose<Real>::polarDecomposition_stable_Gradient_dQOverdM( const type::M
         }
 
 
-    // transposed and reformated in 9x9 matrice
+    // transposed and reformatted in 9x9 matrice
     for( int i=0 ; i<3 ; ++i )
         for( int j=0 ; j<3 ; ++j )
             for( int k=0 ; k<3 ; ++k )
@@ -1052,7 +1052,7 @@ bool Decompose<Real>::polarDecompositionGradient_dQOverdM( const type::Mat<3,2,R
             dQdMij[i][j] = U * omega * V;
         }
 
-    // transposed and reformated in plain matrice
+    // transposed and reformatted in plain matrice
     for( int k=0 ; k<3 ; ++k )
         for( int l=0 ; l<2 ; ++l )
             for( int j=0 ; j<2 ; ++j )
@@ -2130,7 +2130,7 @@ bool Decompose<Real>::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons
 //        dV[i][j] += omegaV[i*3+j][k*3+l] * dM[k][l];
 //    }
 
-    // transposed and reformated in 9x9 matrices
+    // transposed and reformatted in 9x9 matrices
     for( int i=0 ; i<3 ; ++i )
         for( int j=0 ; j<3 ; ++j )
             for( int k=0 ; k<3 ; ++k )
@@ -2205,7 +2205,7 @@ bool Decompose<Real>::SVDGradient_dUdVOverdM( const type::Mat<3,2,Real> &U, cons
             dVdMij[i][j] = omegaV * V;
         }
 
-    // transposed and reformated in plain matrices
+    // transposed and reformatted in plain matrices
     for( int k=0 ; k<3 ; ++k )
         for( int l=0 ; l<2 ; ++l )
             for( int j=0 ; j<2 ; ++j )
diff --git a/Sofa/framework/Helper/src/sofa/helper/deque.h b/Sofa/framework/Helper/src/sofa/helper/deque.h
index 48435321748..5830e69abd4 100644
--- a/Sofa/framework/Helper/src/sofa/helper/deque.h
+++ b/Sofa/framework/Helper/src/sofa/helper/deque.h
@@ -70,7 +70,7 @@ std::istream& operator>> ( std::istream& in, std::deque<T>& d )
 
 
 /// Input stream
-/// Specialization for reading deques of int and unsigned int using "A-B" notation for all integers between A and B, optionnally specifying a step using "A-B-step" notation.
+/// Specialization for reading dequeues of int and unsigned int using "A-B" notation for all integers between A and B, optionally specifying a step using "A-B-step" notation.
 template<>
 inline std::istream& operator>>( std::istream& in, std::deque<int>& d )
 {
@@ -129,7 +129,7 @@ inline std::istream& operator>>( std::istream& in, std::deque<int>& d )
 }
 
 /// Output stream
-/// Specialization for writing deques of unsigned char
+/// Specialization for writing dequeues of unsigned char
 template<>
 inline std::ostream& operator<<(std::ostream& os, const std::deque<unsigned char>& d)
 {
@@ -142,8 +142,8 @@ inline std::ostream& operator<<(std::ostream& os, const std::deque<unsigned char
     return os;
 }
 
-/// Inpu stream
-/// Specialization for writing deques of unsigned char
+/// Input stream
+/// Specialization for writing dequeues of unsigned char
 template<>
 inline std::istream& operator>>(std::istream& in, std::deque<unsigned char>& d)
 {
@@ -158,7 +158,7 @@ inline std::istream& operator>>(std::istream& in, std::deque<unsigned char>& d)
 }
 
 /// Input stream
-/// Specialization for reading deques of int and unsigned int using "A-B" notation for all integers between A and B
+/// Specialization for reading dequeues of int and unsigned int using "A-B" notation for all integers between A and B
 template<>
 inline std::istream& operator>>( std::istream& in, std::deque<unsigned int>& d )
 {
diff --git a/Sofa/framework/Helper/src/sofa/helper/io/SphereLoader.h b/Sofa/framework/Helper/src/sofa/helper/io/SphereLoader.h
index 9a76ec850a2..fb7cc8e28f2 100644
--- a/Sofa/framework/Helper/src/sofa/helper/io/SphereLoader.h
+++ b/Sofa/framework/Helper/src/sofa/helper/io/SphereLoader.h
@@ -46,7 +46,7 @@ class SOFA_HELPER_API SphereLoaderDataHook
     /// This method is called by the XspLoader when the loading is done.
     /// Overriding this method allows client-code to implement post-loading checking.
     /// @param isOk is set to false this means that the loading code detected a
-    /// problem and that the loaded informations are invalid and should be removed from
+    /// problem and that the loaded information are invalid and should be removed from
     /// the container.
     virtual void finalizeLoading(const bool isOk){ SOFA_UNUSED(isOk); }
 
@@ -67,7 +67,7 @@ class SOFA_HELPER_API SphereLoader
     /// @param filename the name of the file in the RessourceRepository to read data from.
     /// @param data pass a object of this type (or inherit one) to load the file in caller's data
     ///        structures
-    /// @return wheter the loading succeded.
+    /// @return whether the loading succeeded.
     /// @example
     /// class MySphereData : public SphereLoaderDataHook
     /// {
diff --git a/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.cpp b/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.cpp
index 0250e757555..3f32b2416b5 100644
--- a/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.cpp
@@ -50,7 +50,7 @@ bool XspLoader::ReadXspContent(std::ifstream &file,
     size_t numTotalMasses=0;
     size_t numTotalSpring=0;
 
-    /// Temporarily stores the masses while loading for the initpos calculs in the
+    /// Temporarily stores the masses while loading for the initpos calculus in the
     /// 'lspg' command.
     std::vector<Vec3> masses;
     while (!file.eof())
diff --git a/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.h b/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.h
index 0f8500f0b13..eea3bf18d01 100644
--- a/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.h
+++ b/Sofa/framework/Helper/src/sofa/helper/io/XspLoader.h
@@ -51,7 +51,7 @@ class SOFA_HELPER_API XspLoaderDataHook
     /// This method is called by the XspLoader when the loading is done.
     /// Overriding this method allows client-code to implement post-loading checking.
     /// @param isOk is set to false this means that the loading code detected a
-    /// problem and that the loaded informations are invalid and should be removed from
+    /// problem and that the loaded information are invalid and should be removed from
     /// the container.
     virtual void finalizeLoading(bool isOk) { SOFA_UNUSED(isOk); }
 
@@ -94,7 +94,7 @@ class SOFA_HELPER_API XspLoader
     /// @param filename the name of the file in the RessourceRepository to read data from.
     /// @param data pass a object of this type (or inherit one) to load the file in caller's data
     ///        structures
-    /// @return wheter the loading succeded.
+    /// @return whether the loading succeeded.
     /// @example
     /// class MyXspLoader : public XspLoaderDataHook
     /// {
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/ComponentInfo.h b/Sofa/framework/Helper/src/sofa/helper/logging/ComponentInfo.h
index 25748390eac..341f3a6d1f1 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/ComponentInfo.h
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/ComponentInfo.h
@@ -37,7 +37,7 @@
 namespace sofa::helper::logging
 {
 
-/// The base class to keep track of informations associated with a message.
+/// The base class to keep track of information associated with a message.
 /// A component info object have a sender method to return the name string identifying the
 /// sender of a message.
 ///
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/CountingMessageHandler.h b/Sofa/framework/Helper/src/sofa/helper/logging/CountingMessageHandler.h
index a99e6be1a83..207a1ffd510 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/CountingMessageHandler.h
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/CountingMessageHandler.h
@@ -35,7 +35,7 @@ namespace sofa::helper::logging
 {
 
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace.
+/// fearing it will leak names into the global namespace.
 /// When closing this namespace selected objects from this per-file namespace
 /// are then imported into their parent namespace for ease of use.
 namespace countingmessagehandler
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/ExceptionMessageHandler.cpp b/Sofa/framework/Helper/src/sofa/helper/logging/ExceptionMessageHandler.cpp
index e60adc38ade..18774725a15 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/ExceptionMessageHandler.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/ExceptionMessageHandler.cpp
@@ -37,7 +37,7 @@ namespace sofa::helper::logging
     {
         if( m.type()>=Message::Error )
         {
-           ErrorMessageException errorMessageException/*(some Message's informations could be added to the exception)*/;
+           ErrorMessageException errorMessageException/*(some Message's information could be added to the exception)*/;
            throw errorMessageException;
         }
     }
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/FileMessageHandler.cpp b/Sofa/framework/Helper/src/sofa/helper/logging/FileMessageHandler.cpp
index c95ed1414d2..b3fad6bbf02 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/FileMessageHandler.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/FileMessageHandler.cpp
@@ -39,7 +39,7 @@ FileMessageHandler::FileMessageHandler(const char* filename,MessageFormatter *fo
     m_formatter = (formatter==nullptr?&DefaultStyleMessageFormatter::getInstance():formatter);
     m_outFile.open(filename,std::ios_base::out | std::ios_base::trunc);
     if (!m_outFile.is_open())
-        msg_error("FileMessageHandler") << "Could not open outpout log file: " << filename;
+        msg_error("FileMessageHandler") << "Could not open output log file: " << filename;
 }
 
 FileMessageHandler::~FileMessageHandler()
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/LoggingMessageHandler.h b/Sofa/framework/Helper/src/sofa/helper/logging/LoggingMessageHandler.h
index c274426eefd..9ba0cd4b4b1 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/LoggingMessageHandler.h
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/LoggingMessageHandler.h
@@ -35,7 +35,7 @@ namespace sofa::helper::logging
 {
 
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace.
+/// fearing it will leak names into the global namespace.
 /// When closing this namespace selected objects from this per-file namespace
 /// are then imported into their parent namespace for ease of use.
 namespace loggingmessagehandler
@@ -49,7 +49,7 @@ using std::vector ;
 /// Once set the class can start copying the messages passing through
 /// the MessageDispatcher in a buffer.
 ///
-/// Dedicated function allows to activate/deactive the saving of the messages as well
+/// Dedicated function allows to activate/deactivate the saving of the messages as well
 /// as to clear the content of the buffer. The class keeps tracks of its
 /// number of activation/deactivation. Message logging is activated as long
 /// as there is not a paired number of activation/deactivation.
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/Messaging.h b/Sofa/framework/Helper/src/sofa/helper/logging/Messaging.h
index 1f4e0c98286..a3697793746 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/Messaging.h
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/Messaging.h
@@ -52,7 +52,7 @@
  *      - a (possibly empty) backtrace
  *      - the source file and line from where the messaging was emitted.
  *
- * for any usefull purpose, a messaging needs to be send to
+ * for any useful purpose, a messaging needs to be send to
  * a MessageHandler either using an object or using the singleton/static
  * part of the API.
  *
diff --git a/Sofa/framework/Helper/src/sofa/helper/logging/RoutingMessageHandler.h b/Sofa/framework/Helper/src/sofa/helper/logging/RoutingMessageHandler.h
index 06096b9dca4..cd1a648dbca 100644
--- a/Sofa/framework/Helper/src/sofa/helper/logging/RoutingMessageHandler.h
+++ b/Sofa/framework/Helper/src/sofa/helper/logging/RoutingMessageHandler.h
@@ -35,7 +35,7 @@ namespace sofa::helper::logging
 {
 
 /// I use a per-file namespace so that I can employ the 'using' keywords without
-/// fearing it will leack names into the global namespace.
+/// fearing it will leak names into the global namespace.
 /// When closing this namespace selected objects from this per-file namespace
 /// are then imported into their parent namespace for ease of use.
 namespace routingmessagehandler
diff --git a/Sofa/framework/Helper/src/sofa/helper/random.h b/Sofa/framework/Helper/src/sofa/helper/random.h
index 764d8f907a2..5e40088d6f7 100644
--- a/Sofa/framework/Helper/src/sofa/helper/random.h
+++ b/Sofa/framework/Helper/src/sofa/helper/random.h
@@ -65,7 +65,7 @@ inline double drand(double max)
 }
 
 // Random double in [-max,-min] U [min,max]
-// min and max must be positve
+// min and max must be positive
 inline double drand(double min, double max)
 {
    assert( max >= 0 );
diff --git a/Sofa/framework/Helper/src/sofa/helper/set.cpp b/Sofa/framework/Helper/src/sofa/helper/set.cpp
index abf36aa05fc..84e1a4ce9e2 100644
--- a/Sofa/framework/Helper/src/sofa/helper/set.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/set.cpp
@@ -35,7 +35,7 @@ namespace std
 {
 
 /// Input stream
-/// Specialization for reading sets of int and unsigned int using "A-B" notation for all integers between A and B, optionnally specifying a step using "A-B-step" notation.
+/// Specialization for reading sets of int and unsigned int using "A-B" notation for all integers between A and B, optionally specifying a step using "A-B-step" notation.
 template<>
 std::istream& operator>> ( std::istream& in, std::set<int>& _set )
 {
diff --git a/Sofa/framework/Helper/src/sofa/helper/set.h b/Sofa/framework/Helper/src/sofa/helper/set.h
index 19fa3a46995..cae4e2084be 100644
--- a/Sofa/framework/Helper/src/sofa/helper/set.h
+++ b/Sofa/framework/Helper/src/sofa/helper/set.h
@@ -60,7 +60,7 @@ std::istream& operator>> ( std::istream& i, std::set<K>& s )
 }
 
 /// Input stream
-/// Specialization for reading sets of int and unsigned int using "A-B" notation for all integers between A and B, optionnally specifying a step using "A-B-step" notation.
+/// Specialization for reading sets of int and unsigned int using "A-B" notation for all integers between A and B, optionally specifying a step using "A-B-step" notation.
 template<> SOFA_HELPER_API std::istream& operator>> ( std::istream& in, std::set<int>& _set );
 
 /// Input stream
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp
index 7b11f893c5b..9fbef88b423 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp
@@ -62,7 +62,7 @@ using sofa::helper::system::FileSystem;
 
 namespace sofa::helper::system
 {
-// replacing every occurences of "//"  by "/"
+// replacing every occurrences of "//"  by "/"
 std::string cleanPath( const std::string& path )
 {
     std::string p = path;
@@ -174,7 +174,7 @@ std::string FileRepository::cleanPath(const std::string& path)
 
 void FileRepository::addFirstPath(const std::string& p)
 {
-    // replacing every occurences of "//" by "/"
+    // replacing every occurrences of "//" by "/"
     std::string path = FileSystem::cleanPath(p);
 
     std::vector<std::string> entries;
@@ -194,7 +194,7 @@ void FileRepository::addFirstPath(const std::string& p)
 
 void FileRepository::addLastPath(const std::string& p)
 {
-    // replacing every occurences of "//" by "/"
+    // replacing every occurrences of "//" by "/"
     std::string path = FileSystem::cleanPath(p);
 
     std::vector<std::string> entries;
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.h b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.h
index 945ac8e1bb5..06d155796a1 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.h
+++ b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.h
@@ -78,14 +78,14 @@ class SOFA_HELPER_API FileRepository
 
     /**
      * Initialize the set of paths using the environment variable specified by the parameter envVar, the relative path
-     * specified by the parameter relativePath and the ini files and respective keys specified by the paramter iniFilesAndKeys.
+     * specified by the parameter relativePath and the ini files and respective keys specified by the parameter iniFilesAndKeys.
      */
     FileRepository(const char* envVar, const char* relativePath, const fileKeysMap& iniFilesAndKeys)
     : FileRepository(envVar, {relativePath?std::string(relativePath):""}, iniFilesAndKeys) {}
 
     /**
      * Initialize the set of paths using the environment variable specified by the parameter envVar, the relative paths
-     * specified by the parameter paths and the ini files and respective keys specified by the paramter iniFilesAndKeys.
+     * specified by the parameter paths and the ini files and respective keys specified by the parameter iniFilesAndKeys.
      */
     FileRepository(const char* envVar, const std::vector<std::string> & paths, const fileKeysMap& iniFilesAndKeys);
 
@@ -145,7 +145,7 @@ class SOFA_HELPER_API FileRepository
     void print();
 
 
-    /// OS-dependant character separing entries in list of paths.
+    /// OS-dependant character separating entries in list of paths.
     static char entrySeparator()
     {
 #ifdef WIN32
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/console_internal.h b/Sofa/framework/Helper/src/sofa/helper/system/console_internal.h
index efcd1e8e8fa..5100c4978ff 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/console_internal.h
+++ b/Sofa/framework/Helper/src/sofa/helper/system/console_internal.h
@@ -33,7 +33,7 @@ namespace internal {
 
 inline bool isMsysPty(int fd) noexcept
 {
-    // Dynamic load for binary compability with old Windows
+    // Dynamic load for binary compatibility with old Windows
     const auto ptrGetFileInformationByHandleEx
       = reinterpret_cast<decltype(&GetFileInformationByHandleEx)>(
         GetProcAddress(GetModuleHandle(TEXT("kernel32.dll")),
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/thread/CTime.h b/Sofa/framework/Helper/src/sofa/helper/system/thread/CTime.h
index 82a9e31f4e6..eb352dc625c 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/thread/CTime.h
+++ b/Sofa/framework/Helper/src/sofa/helper/system/thread/CTime.h
@@ -61,7 +61,7 @@ class SOFA_HELPER_API CTime
     // Get the frequency of the fast timer
     static ctime_t getTicksPerSec();
 
-    // Same as getFastTime, but with the additionnal guaranty that it will never decrease.
+    // Same as getFastTime, but with the additional guaranty that it will never decrease.
     static /*volatile*/ ctime_t getTime();
 
     // Sleep for the given duration in second
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/thread/thread_specific_ptr.h b/Sofa/framework/Helper/src/sofa/helper/system/thread/thread_specific_ptr.h
index c8fdf7e3abd..0ac2e16008a 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/thread/thread_specific_ptr.h
+++ b/Sofa/framework/Helper/src/sofa/helper/system/thread/thread_specific_ptr.h
@@ -57,7 +57,7 @@ class thread_specific_ptr
     pthread_key_t key;
 
     thread_specific_ptr(thread_specific_ptr&); // NO COPY
-    thread_specific_ptr& operator=(thread_specific_ptr&); // NO ASSIGNEMENT
+    thread_specific_ptr& operator=(thread_specific_ptr&); // NO ASSIGNMENT
 
     T* get() const
     {
diff --git a/Sofa/framework/Helper/src/sofa/helper/visual/Trackball.h b/Sofa/framework/Helper/src/sofa/helper/visual/Trackball.h
index d5f1a700c70..2f9b0d2d1cd 100644
--- a/Sofa/framework/Helper/src/sofa/helper/visual/Trackball.h
+++ b/Sofa/framework/Helper/src/sofa/helper/visual/Trackball.h
@@ -66,7 +66,7 @@
  * the mouse, scaled so they are from (-1.0 ... 1.0).
  *
  * The resulting rotation is returned as a quaternion rotation in the
- * first paramater.
+ * first parameter.
  */
 
 #pragma once
diff --git a/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.cpp b/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.cpp
index deeb4b4afdd..b75c5255127 100644
--- a/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.cpp
@@ -88,7 +88,7 @@ Transformation& Transformation::operator=(const Transformation& transform)
 
 //----------------------------------------------------------------------------
 //--- Inversion for 4x4 matrix only containing rotations and translations
-//--- Transpose rotation matrix and mutiple by -1 translation row
+//--- Transpose rotation matrix and multiple by -1 translation row
 //----------------------------------------------------------------------------
 void Transformation::InvertTransRotMatrix(SReal matrix[4][4])
 {
@@ -115,7 +115,7 @@ void Transformation::InvertTransRotMatrix(SReal matrix[4][4])
 //----------------------------------------------------------------------------
 //--- Invert the source matrix sMatrix and put the result in the destination matrix dMatrix
 //--- Inversion for 4x4 matrix only containing rotations and translations
-//--- Transpose rotation matrix and mutiple by -1 translation row
+//--- Transpose rotation matrix and multiple by -1 translation row
 //----------------------------------------------------------------------------
 void Transformation::InvertTransRotMatrix(SReal sMatrix[4][4],
         SReal dMatrix[4][4])
diff --git a/Sofa/framework/Helper/test/system/FileMonitor_test.cpp b/Sofa/framework/Helper/test/system/FileMonitor_test.cpp
index 810a15e9a55..80cf2d594fd 100644
--- a/Sofa/framework/Helper/test/system/FileMonitor_test.cpp
+++ b/Sofa/framework/Helper/test/system/FileMonitor_test.cpp
@@ -86,7 +86,7 @@ void waitUntilFileExists(const std::string& filename, double timeout)
 
 void waitABit()
 {
-    // on windows we use file date, which resoution is assumed (by us) to be below this value in ms
+    // on windows we use file date, which resolution is assumed (by us) to be below this value in ms
 #ifdef WIN32
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
 #endif
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h
index 407d07a198b..1b66df5cadd 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h
@@ -201,7 +201,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrix<typename OutDataTypes::Re
 
 
     /** Finalize the creation of the current block row with
-     * blocks given in colum order.
+     * blocks given in column order.
       @sa beginBlockRow(unsigned row)
       @sa createBlock( unsigned column,  const Block& b ) in column order
       */
@@ -496,7 +496,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrix<typename OutDataTypes::Re
 namespace sofa
 {
 
-    /// Converts a BaseMatrix to a eigen sparse matrix encapsulted in a OwnershipSPtr.
+    /// Converts a BaseMatrix to a eigen sparse matrix encapsulated in a OwnershipSPtr.
     /// It the conversion needs to create a temporary matrix, it will be automatically deleted
     /// by the OwnershipSPtr (with ownership).
     /// It the conversion did not create a temporary data, and points to an existing matrix,
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/FullMatrix.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/FullMatrix.h
index d9f0c2a00fe..31bb6ef26fb 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/FullMatrix.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/FullMatrix.h
@@ -132,7 +132,7 @@ class SOFA_LINEARALGEBRA_API FullMatrix : public linearalgebra::BaseMatrix
     static const char* Name();
 };
 
-/// Simple full matrix container, with an additionnal pointer per line, to be able do get a T** pointer and use [i][j] directly
+/// Simple full matrix container, with an additional pointer per line, to be able do get a T** pointer and use [i][j] directly
 template<typename T>
 class SOFA_LINEARALGEBRA_API LPtrFullMatrix : public FullMatrix<T>
 {
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.cpp b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.cpp
index 2eec21e2375..8f7a7a00473 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.cpp
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.cpp
@@ -132,7 +132,7 @@ void RotationMatrix<Real>::opMulTV(linearalgebra::BaseVector* result, const line
     }
 }
 
-/// multiply the transpose current matrix by m matrix and strore the result in m
+/// multiply the transpose current matrix by m matrix and store the result in m
 template<class Real>
 void RotationMatrix<Real>::opMulTM(linearalgebra::BaseMatrix * bresult,linearalgebra::BaseMatrix * bm) const
 {
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.h
index 591131a7e12..1b003566ef4 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/RotationMatrix.h
@@ -78,7 +78,7 @@ class RotationMatrix : public linearalgebra::BaseMatrix
     void opMulV(linearalgebra::BaseVector* result, const linearalgebra::BaseVector* v) const override;
     void opMulTV(linearalgebra::BaseVector* result, const linearalgebra::BaseVector* v) const override;
 
-    /// multiply the transpose current matrix by m matrix and strore the result in m
+    /// multiply the transpose current matrix by m matrix and store the result in m
     void opMulTM(linearalgebra::BaseMatrix * bresult,linearalgebra::BaseMatrix * bm) const override;
 
     void rotateMatrix(linearalgebra::BaseMatrix * mat,const linearalgebra::BaseMatrix * Jmat);
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/SparseMatrixStorageOrder.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/SparseMatrixStorageOrder.h
index 4c38d785f28..8e8f34e3422 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/SparseMatrixStorageOrder.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/SparseMatrixStorageOrder.h
@@ -33,7 +33,7 @@ namespace sofa::linearalgebra
  * The output is not really a matrix per se, but a data structure representing the opposite representation.
  * It also provides a permutation array, that allows to retrieve the initial value of a matrix entry in the input matrix.
  *
- * As mentionned, the output is not a matrix, but a dedicated iterator allows to loop over non-zero entries, in a similar
+ * As mentioned, the output is not a matrix, but a dedicated iterator allows to loop over non-zero entries, in a similar
  * fashion than in Eigen.
  *
  * If only values of the input matrix change, but not its pattern, the output matrix will not change. And the iterator
diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in
index 485f2ec960a..34e06b81345 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/config.h.in
@@ -57,7 +57,7 @@
 #define SOFA_ATTRIBUTE_DISABLED__CRS_BLOCK_RENAMING() \
     SOFA_ATTRIBUTE_DISABLED( \
         "v23.06", "v23.12", \
-        "bloc has been renamed to block. ")
+        "block has been renamed to block. ")
 #endif // SOFA_BUILD_SOFA_LINEARALGEBRA
 
 
diff --git a/Sofa/framework/LinearAlgebra/test/Matrix_test.cpp b/Sofa/framework/LinearAlgebra/test/Matrix_test.cpp
index 443573d6dc1..45c2b38bd4f 100644
--- a/Sofa/framework/LinearAlgebra/test/Matrix_test.cpp
+++ b/Sofa/framework/LinearAlgebra/test/Matrix_test.cpp
@@ -22,7 +22,7 @@
 
 /** Sparse matrix test suite.
  *
- * The same suite is instanciated using different parameters: entry types
+ * The same suite is instantiated using different parameters: entry types
  * (float/Real) and BlockMN size in CompressedRowSparse.
 */
 
@@ -300,7 +300,7 @@ struct TestSparseMatrices : public NumericTest<typename T::Real>
             mb.beginBlockRow(i);
             if( i%2==0 ) // leave some rows empty
             {
-                for( int j=bc-1; j>=0; j--) // set the blocs in reverse order, for fun.
+                for( int j=bc-1; j>=0; j--) // set the blocks in reverse order, for fun.
                 {
                     // create a block and give it some value
                     BlockMN b;
@@ -327,7 +327,7 @@ struct TestSparseMatrices : public NumericTest<typename T::Real>
             mb.beginBlockRow(i);
             if( i%2==0 ) // leave some rows empty
             {
-                for( unsigned j=0 ; j<bc; ++j ) // set the blocs in column order
+                for( unsigned j=0 ; j<bc; ++j ) // set the blocks in column order
                 {
                     // create a block and give it some value
                     BlockMN b;
@@ -356,7 +356,7 @@ struct TestSparseMatrices : public NumericTest<typename T::Real>
         {
             if( i%2==0 ) // leave some rows empty
             {
-                for( int j=bc-1; j>=0; j--) // set the blocs in reverse order, for fun.
+                for( int j=bc-1; j>=0; j--) // set the blocks in reverse order, for fun.
                 {
                     // create a block and give it some value
                     BlockMN b;
diff --git a/Sofa/framework/Simulation/Common/src/sofa/simulation/common/xml/Element.inl b/Sofa/framework/Simulation/Common/src/sofa/simulation/common/xml/Element.inl
index 9bfa070374c..fdd2cc7f053 100644
--- a/Sofa/framework/Simulation/Common/src/sofa/simulation/common/xml/Element.inl
+++ b/Sofa/framework/Simulation/Common/src/sofa/simulation/common/xml/Element.inl
@@ -60,4 +60,4 @@ sofa::core::objectmodel::Base* Element<Object>::getObject()
 //template<class Object> class Factory< std::string, Object, Node<Object>* >;
 
 
-} // namespace sofa::simlation::xml
+} // namespace sofa::simulation::xml
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp
index c39855e9e8e..f5d36848ed4 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp
@@ -50,7 +50,7 @@ const std::string BaseMechanicalVisitor::bwdVisitorType = "bwd";
 BaseMechanicalVisitor::BaseMechanicalVisitor(const sofa::core::ExecParams *params)
         : Visitor(params), root(nullptr), rootData(nullptr)
 {
-    // mechanical visitors shouldn't be able to acess a sleeping node, only visual visitor should
+    // mechanical visitors shouldn't be able to access a sleeping node, only visual visitor should
     canAccessSleepingNode = false;
 }
 
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h
index 361af5dd189..bddb7c72660 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h
@@ -39,8 +39,8 @@ using sofa::core::objectmodel::BaseObject ;
 using sofa::core::objectmodel::DataFileName ;
 
 /**
-    Componant that export something from the scene could inherit from this class
-    as it implement an uniform handling of the differen data attributes.
+    Component that export something from the scene could inherit from this class
+    as it implement an uniform handling of the different data attributes.
 */
 class SOFA_SIMULATION_CORE_API BaseSimulationExporter : public virtual BaseObject
 {
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.h
index d8bf0296318..6d956e3fd73 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.h
@@ -41,7 +41,7 @@ namespace sofa::simulation
  *  This class can optionally replace the default computation scheme of computing
  *  collisions then doing an integration step.
  *
- *  Note that it is in a preliminary stage, hence its fonctionnalities and API will
+ *  Note that it is in a preliminary stage, hence its functionalities and API will
  *  certainly change soon.
  *
  */
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Colors.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/Colors.h
index f305ecd50bd..9681542aeaa 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Colors.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Colors.h
@@ -70,7 +70,7 @@ static const char* COLOR[ALLCOLORS]=
     /*ForceField            =*/ "#bebada", // color 3
     /*Solver                =*/ "#b3de69", // color 7
     /*CollisionPipeline     =*/ "#bc80bd", // color 10
-    /*MechanicalMapping     =*/ "#4ba3fa", // color spectral4/4 (brigher)
+    /*MechanicalMapping     =*/ "#4ba3fa", // color spectral4/4 (brighter)
     /*Mapping               =*/ "#80b1d3", // color 5
     /*Mass                  =*/ "#ffffb3", // color 2
     /*Topology              =*/ "#ffed6f", // color 12
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h
index 271c83e4892..0f6d4aa7d54 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h
@@ -71,7 +71,7 @@ class NodeSequence : public MultiLink<Node, T, BaseLink::FLAG_DOUBLELINK|(strong
     }
 };
 
-/// Class to hold 0-or-1 object. Public access is only readonly using an interface similar to std::vector (size/[]/begin/end), plus an automatic convertion to one pointer.
+/// Class to hold 0-or-1 object. Public access is only readonly using an interface similar to std::vector (size/[]/begin/end), plus an automatic conversion to one pointer.
 /// UPDATE: it is now an alias for the Link pointer container
 template < class T, bool duplicate = true >
 class NodeSingle : public SingleLink<Node, T, BaseLink::FLAG_DOUBLELINK|(duplicate ? BaseLink::FLAG_DUPLICATE : BaseLink::FLAG_NONE)>
@@ -175,7 +175,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode,
 
     /// @name Visitor handling
     /// @param precomputedOrder is not used by default but could allow optimization on certain Node specializations
-    /// @warning when calling with precomputedOrder=true, the fonction "precomputeTraversalOrder" must be called before executing the visitor and the user must ensure by himself that the simulation graph has done been modified since the last call to "precomputeTraversalOrder"
+    /// @warning when calling with precomputedOrder=true, the function "precomputeTraversalOrder" must be called before executing the visitor and the user must ensure by himself that the simulation graph has done been modified since the last call to "precomputeTraversalOrder"
     /// @{
 
     /// Execute a recursive action starting from this node.
@@ -494,7 +494,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode,
     /// Update the simulation context values(gravity, time...), based on parent and local ContextObjects
     virtual void updateSimulationContext();
 
-    /// Called during initialization to corectly propagate the visual context to the children
+    /// Called during initialization to correctly propagate the visual context to the children
     virtual void initVisualContext() {}
 
     /// Propagate an event
@@ -565,7 +565,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode,
     virtual void addListener(MutationListener* obj);
     virtual void removeListener(MutationListener* obj);
 
-    /// @name virtual functions to add/remove some special components direclty in the right Sequence
+    /// @name virtual functions to add/remove some special components directly in the right Sequence
     /// @{
 
 #define NODE_DECLARE_SEQUENCE_ACCESSOR( CLASSNAME, FUNCTIONNAME, SEQUENCENAME ) \
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/ParallelForEach.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/ParallelForEach.h
index 0ac1a730ad4..6eaf4b669c0 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/ParallelForEach.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/ParallelForEach.h
@@ -59,7 +59,7 @@ void advance(InputIt& it, Distance n)
  * The number of ranges depends on:
  *  1) the desired number of ranges provided in a parameter
  *  2) the number of elements in the container
- * The number of elements in each range is homogenous, except for the last range which may contain
+ * The number of elements in each range is homogeneous, except for the last range which may contain
  * more elements.
  */
 template<class InputIt>
@@ -148,7 +148,7 @@ UnaryFunction forEachRange(InputIt first, InputIt last, UnaryFunction f)
  * void fun(const Range<InputIt>& a);
  * The signature does not need to have const &.
  *
- * A task scheduler must be provided and correctly initiallized. The number of generated ranges
+ * A task scheduler must be provided and correctly initialized. The number of generated ranges
  * depends on the threads available in the task scheduler.
  */
 template<class InputIt, class UnaryFunction>
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp
index 7c4d93092c4..11aed4347e0 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp
@@ -38,7 +38,7 @@ int RequiredPluginClass = core::RegisterObject("Load the required plugins")
 
 RequiredPlugin::RequiredPlugin()
     : d_pluginName( initData(&d_pluginName, "pluginName", "plugin name (or several names if you need to load different plugins or a plugin with several alternate names)"))
-    , d_suffixMap ( initData(&d_suffixMap , "suffixMap", "standard->custom suffixes pairs (to be used if the plugin is compiled outside of Sofa with a non standard way of differenciating versions), using ! to represent empty suffix"))
+    , d_suffixMap ( initData(&d_suffixMap , "suffixMap", "standard->custom suffixes pairs (to be used if the plugin is compiled outside of Sofa with a non standard way of differentiating versions), using ! to represent empty suffix"))
     , d_stopAfterFirstNameFound( initData(&d_stopAfterFirstNameFound , false, "stopAfterFirstNameFound", "Stop after the first plugin name that is loaded successfully"))
     , d_stopAfterFirstSuffixFound( initData(&d_stopAfterFirstSuffixFound , true, "stopAfterFirstSuffixFound", "For each plugin name, stop after the first suffix that is loaded successfully"))
     , d_requireOne ( initData(&d_requireOne , false, "requireOne", "Display an error message if no plugin names were successfully loaded"))
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.h
index a20e2446d16..b2e3b8c0fde 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.h
@@ -34,7 +34,7 @@ class SOFA_SIMULATION_CORE_API RequiredPlugin : public core::objectmodel::BaseOb
 public:
     SOFA_CLASS(RequiredPlugin,core::objectmodel::BaseObject);
     sofa::core::objectmodel::Data<type::vector<std::string> > d_pluginName; ///< plugin name (or several names if you need to load different plugins or a plugin with several alternate names)
-    sofa::core::objectmodel::Data<type::vector<type::fixed_array<std::string,2> > > d_suffixMap; ///< standard->custom suffixes pairs (to be used if the plugin is compiled outside of Sofa with a non standard way of differenciating versions), using ! to represent empty suffix
+    sofa::core::objectmodel::Data<type::vector<type::fixed_array<std::string,2> > > d_suffixMap; ///< standard->custom suffixes pairs (to be used if the plugin is compiled outside of Sofa with a non standard way of differentiating versions), using ! to represent empty suffix
 
     sofa::core::objectmodel::Data<bool> d_stopAfterFirstNameFound; ///< Stop after the first plugin name that is loaded successfully
     sofa::core::objectmodel::Data<bool> d_stopAfterFirstSuffixFound; ///< For each plugin name, stop after the first suffix that is loaded successfully
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Task.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/Task.h
index 2d7a8c65bff..4d2530cdf23 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Task.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Task.h
@@ -78,7 +78,7 @@ class SOFA_SIMULATION_CORE_API Task
     // no array new and delete operators
     static void* operator new[](std::size_t sz) = delete;
             
-    // visual studio 2015 complains about the = delete but it doens't explain where this operator is call
+    // visual studio 2015 complains about the = delete but it doesn't explain where this operator is call
     // no problem with other sompilers included visual studio 2017
     // static void operator delete[](void* ptr) = delete;
             
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/UpdateLinksVisitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/UpdateLinksVisitor.cpp
index 272219dc966..97e93d0936f 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/UpdateLinksVisitor.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/UpdateLinksVisitor.cpp
@@ -39,7 +39,7 @@ Visitor::Result UpdateLinksVisitor::processNodeTopDown(simulation::Node* node)
         this->processObject(it->get());
     }
 
-    //TODO(dmarchal): why do we clear the messsage logs when we update the links ?
+    //TODO(dmarchal): why do we clear the message logs when we update the links ?
     //node->clearLoggedMessages(); node->clearLoggedMessages();
     return RESULT_CONTINUE;
 }
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.cpp
index b3ca2bb4a72..9ae3a127876 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.cpp
@@ -42,7 +42,7 @@ void Visitor::execute(sofa::core::objectmodel::BaseContext* c, bool precomputedO
     c->executeVisitor(this, precomputedOrder);
 }
 
-//method to compare the tags of the objet with the ones of the visitor
+//method to compare the tags of the object with the ones of the visitor
 // return true if the object has all the tags of the visitor
 // or if no tag is set to the visitor
 bool Visitor::testTags(core::objectmodel::BaseObject* obj)
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h
index d0644b7591a..a9815fd6f19 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h
@@ -63,7 +63,7 @@ class SOFA_SIMULATION_CORE_API Visitor
 
     enum Result { RESULT_CONTINUE, RESULT_PRUNE };
 
-    /// Callback method called when decending to a new node. Recursion will stop if this method returns RESULT_PRUNE
+    /// Callback method called when descending to a new node. Recursion will stop if this method returns RESULT_PRUNE
     virtual Result processNodeTopDown(simulation::Node* /*node*/) { return RESULT_CONTINUE; }
 
     /// Callback method called after child node have been processed and before going back to the parent node.
@@ -129,7 +129,7 @@ class SOFA_SIMULATION_CORE_API Visitor
 
 public:
 
-    //method to compare the tags of the objet with the ones of the visitor
+    //method to compare the tags of the object with the ones of the visitor
     // return true if the object has all the tags of the visitor
     // or if no tag is set to the visitor
     bool testTags(sofa::core::objectmodel::BaseObject* obj);
@@ -158,7 +158,7 @@ class SOFA_SIMULATION_CORE_API Visitor
     /// Specify whether this visitor can be parallelized.
     virtual bool isThreadSafe() const { return false; }
 
-    /// Callback method called when decending to a new node. Recursion will stop if this method returns RESULT_PRUNE
+    /// Callback method called when descending to a new node. Recursion will stop if this method returns RESULT_PRUNE
     /// This version is offered a LocalStorage to store temporary data
     SOFA_ATTRIBUTE_DISABLED_LOCALSTORAGE()
     virtual Result processNodeTopDown(simulation::Node* node, LocalStorage*)  = delete;
@@ -216,7 +216,7 @@ class SOFA_SIMULATION_CORE_API Visitor
     static int GetRangeStateVector() {return rangeStateVector;}
 protected:
 
-    static std::ostream *outputVisitor;  //Ouput stream to dump the info
+    static std::ostream *outputVisitor;  //Output stream to dump the info
     static bool printActivated;          //bool to know if the stream is opened or not
     static bool outputStateVector;       //bool to know if we trace the evolution of the state vectors
     static unsigned int firstIndexStateVector; //numero of the first index of the particules to trace
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h
index edd299a530b..7a1ad74c1e5 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h
@@ -28,7 +28,7 @@
 namespace sofa::simulation::mechanicalvisitor
 {
 
-/// Accumulate Jacobian matrices through the mappings up to the independant DOFs
+/// Accumulate Jacobian matrices through the mappings up to the independent DOFs
 class SOFA_SIMULATION_CORE_API MechanicalAccumulateMatrixDeriv : public BaseMechanicalVisitor
 {
 public:
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalApplyProjectiveConstraint_ToMatrixVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalApplyProjectiveConstraint_ToMatrixVisitor.h
index 1fac9203464..10337cc4078 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalApplyProjectiveConstraint_ToMatrixVisitor.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalApplyProjectiveConstraint_ToMatrixVisitor.h
@@ -26,7 +26,7 @@
 namespace sofa::simulation::mechanicalvisitor
 {
 
-/** Apply projective constaints of the whole scene */
+/** Apply projective constraints of the whole scene */
 class SOFA_SIMULATION_CORE_API MechanicalApplyProjectiveConstraint_ToMatrixVisitor : public MechanicalVisitor
 {
 public:
diff --git a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp
index 3b66fec04fd..e5aefe44341 100644
--- a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp
+++ b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp
@@ -522,7 +522,7 @@ sofa::core::topology::BaseMeshTopology* DAGNode::getMeshTopologyLink(SearchDirec
 
 void DAGNode::precomputeTraversalOrder( const sofa::core::ExecParams* params )
 {
-    // acumulating traversed Nodes
+    // accumulating traversed Nodes
     class TraversalOrderVisitor : public Visitor
     {
         NodeList& _orderList;
@@ -594,7 +594,7 @@ void DAGNode::doExecuteVisitor(simulation::Visitor* action, bool precomputedOrde
             //
             // A child node is visited only when all its parents have been visited.
             // A child node is 'pruned' only if all its parents are 'pruned'.
-            // Every excecuted node in the forward traversal are stored in 'executedNodes',
+            // Every executed node in the forward traversal are stored in 'executedNodes',
             // its reverse order is used for the backward traversal.
 
             // Note that a newly 'pruned' node is still traversed (w/o execution) to be sure to execute its child nodes,
diff --git a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h
index a428d6abd0e..d258e206705 100644
--- a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h
+++ b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h
@@ -128,7 +128,7 @@ class SOFA_SIMULATION_GRAPH_API DAGNode : public simulation::Node
 
     /// return the smallest common parent between this and node2 (returns nullptr if separated sub-graphes)
     /// it assumes that the DAG node is a tree node. In case of multiple parents it returns any of the parents.
-    /// it uses the node descendancy informations.
+    /// it uses the node descendancy information.
     Node* findCommonParent( Node* node2 ) override;
 
     /// compute the traversal order from this Node
diff --git a/Sofa/framework/Testing/src/sofa/testing/TestMessageHandler.h b/Sofa/framework/Testing/src/sofa/testing/TestMessageHandler.h
index 4e2a32b15d3..9f5cab3617c 100644
--- a/Sofa/framework/Testing/src/sofa/testing/TestMessageHandler.h
+++ b/Sofa/framework/Testing/src/sofa/testing/TestMessageHandler.h
@@ -131,7 +131,7 @@ class SOFA_TESTING_API MainGtestMessageHandler
 /// Using the raw objects is very verbose as it lead to code like this:
 ///    ExpectMessage error(Message::Error, __FILE__, __LINE__) ;
 ///
-/// which obfuscate the readability of the source code and force developper to import
+/// which obfuscate the readability of the source code and force developer to import
 /// ExpectMessage and Message into the current namespace.
 ///
 /// For that reason we are provide a set of macro that can be used in the following way:
diff --git a/Sofa/framework/Testing/test/TestMessageHandler_test.cpp b/Sofa/framework/Testing/test/TestMessageHandler_test.cpp
index f38b507f33f..a15300da93a 100644
--- a/Sofa/framework/Testing/test/TestMessageHandler_test.cpp
+++ b/Sofa/framework/Testing/test/TestMessageHandler_test.cpp
@@ -4,7 +4,7 @@
 using sofa::testing::BaseTest ;
 
 
-////////////// IMPLEMENTS A TEST PREDICATE TO VALIDE THAT A THERE IS AT LEAST ONE MESSAGE
+////////////// IMPLEMENTS A TEST PREDICATE TO VALIDATE THAT A THERE IS AT LEAST ONE MESSAGE
 /// THE IS EMITTED TO VALDIATE THE BEHAVIOR OF THE FRAMEWORK.
 namespace testing {
 // Prints a TestPartResult object. (I'm doing this because the 01/03/2018 the operator from gtest
@@ -138,7 +138,7 @@ class TestMessageHandler_test : public BaseTest
         EXPECT_MSG_EMIT(Error) ;
 
         msg_warning("HERE") << "This should not generate a failure"  ;
-        msg_error("HERE") << "This should not generate a test falure" ;
+        msg_error("HERE") << "This should not generate a test failure" ;
     }
 
     /// THIS TEST SHOULD FAIL.
@@ -148,7 +148,7 @@ class TestMessageHandler_test : public BaseTest
         EXPECT_MSG_EMIT(Error) ;
 
         //msg_warning("HERE") << "This should not generate a failure"  ;
-        //msg_error("HERE") << "This should not generate a test falure" ;
+        //msg_error("HERE") << "This should not generate a test failure" ;
     }
 
     void noEmitTestBehavior()
@@ -157,7 +157,7 @@ class TestMessageHandler_test : public BaseTest
         EXPECT_MSG_NOEMIT(Error) ;
 
         msg_warning("HERE") << "This should generate a failure but with line number close to " << __LINE__  ;
-        msg_error("HERE") << "This should generate a test falure with line number close to " << __LINE__ ;
+        msg_error("HERE") << "This should generate a test failure with line number close to " << __LINE__ ;
     }
 
     void noEmitIgnoredTestBehavior()
@@ -193,7 +193,7 @@ class TestMessageHandler_test : public BaseTest
             EXPECT_MSG_NOEMIT(Error) ;
 
             msg_warning("HERE") << "This should generate a failure"  ;
-            msg_error("HERE") << "This should generate a test falure" ;
+            msg_error("HERE") << "This should generate a test failure" ;
         }
 
     }
diff --git a/Sofa/framework/Topology/src/sofa/topology/Triangle.h b/Sofa/framework/Topology/src/sofa/topology/Triangle.h
index fcb2c85f3b4..83eec21cf11 100644
--- a/Sofa/framework/Topology/src/sofa/topology/Triangle.h
+++ b/Sofa/framework/Topology/src/sofa/topology/Triangle.h
@@ -39,7 +39,7 @@ namespace sofa::topology
     * @tparam   Coordinates type representing the coordinates in space (in 3D)
     * @tparam   VectorCoordinates type for the container of coordinates
     * @param	trianglePositions positions of all the points of the triangles set
-    * @param	allTriangles informations about the triangle in the topology (a vector of 3 indices, i.e a triangle)
+    * @param	allTriangles information about the triangle in the topology (a vector of 3 indices, i.e a triangle)
     * @param	shellTriangles triangles around the given point (vector of triangles indices)
     * @param	pointID index of the point (from shellTriangles) from which the algo will try to compute the direction
     * @param	direction direction in which the algo will find a triangle from the pointID
diff --git a/Sofa/framework/Type/src/sofa/type/DualQuat.cpp b/Sofa/framework/Type/src/sofa/type/DualQuat.cpp
index 784fe827711..a98d8a38b99 100644
--- a/Sofa/framework/Type/src/sofa/type/DualQuat.cpp
+++ b/Sofa/framework/Type/src/sofa/type/DualQuat.cpp
@@ -27,7 +27,7 @@
 namespace sofa::type
 {
 
-// instanciate the classes
+// instantiate the classes
 template class SOFA_TYPE_API DualQuatCoord3<double>;
 template class SOFA_TYPE_API DualQuatCoord3<float>;
 
diff --git a/Sofa/framework/Type/src/sofa/type/Frame.h b/Sofa/framework/Type/src/sofa/type/Frame.h
index 5944d2378af..cba3bd2bec3 100644
--- a/Sofa/framework/Type/src/sofa/type/Frame.h
+++ b/Sofa/framework/Type/src/sofa/type/Frame.h
@@ -32,9 +32,9 @@ namespace sofa::type
 
 /** The affine transformation of points and vectors from a coordinate system (the local frame) to another (the reference frame). The transformation is not necessarily rigid.
 
-When defined using (origin, rotation, scale), the transfrom can be seen as three frame displacements starting from the reference frame: translation, then rotation along the new origin, then scale along the new axes. Conversely, the projection of a point from the local frame to the reference frame undergoes scaling, then rotation, then translation. Vectors do not undergo translation since they model directions or displacement.
+When defined using (origin, rotation, scale), the transform can be seen as three frame displacements starting from the reference frame: translation, then rotation along the new origin, then scale along the new axes. Conversely, the projection of a point from the local frame to the reference frame undergoes scaling, then rotation, then translation. Vectors do not undergo translation since they model directions or displacement.
 
-The product F1F2 can be seen as a frame displacement F1 starting from the reference frame followed by a frame displacement F2 starting from the new frame. It is used in frame hierarchies to model the transfromation frome frame 2 wrt the reference frame.
+The product F1F2 can be seen as a frame displacement F1 starting from the reference frame followed by a frame displacement F2 starting from the new frame. It is used in frame hierarchies to model the transformation from frame 2 wrt the reference frame.
 
 \author Francois Faure, INRIA-UJF, 2006
 */
diff --git a/Sofa/framework/Type/src/sofa/type/Mat.h b/Sofa/framework/Type/src/sofa/type/Mat.h
index 4a5ee63ea76..9857a8c9370 100644
--- a/Sofa/framework/Type/src/sofa/type/Mat.h
+++ b/Sofa/framework/Type/src/sofa/type/Mat.h
@@ -201,7 +201,7 @@ class Mat
         return L;
     }
 
-    /// number of colums
+    /// number of columns
     constexpr Size getNbCols() const
     {
         return C;
@@ -297,7 +297,7 @@ class Mat
         return c;
     }
 
-    /// Write acess to line i.
+    /// Write access to line i.
     constexpr LineNoInit& operator[](Size i) noexcept
     {
         return this->elems[i];
@@ -309,7 +309,7 @@ class Mat
         return this->elems[i];
     }
 
-    /// Write acess to line i.
+    /// Write access to line i.
     constexpr LineNoInit& operator()(Size i) noexcept
     {
         return this->elems[i];
@@ -376,7 +376,7 @@ class Mat
     /// Special access to second line (read-only).
     template<sofa::Size NbLine = L, typename = std::enable_if_t<NbLine >= 2> >
     constexpr const Line& y() const noexcept { return this->elems[1]; }
-    /// Special access to thrid line (read-only).
+    /// Special access to third line (read-only).
     template<sofa::Size NbLine = L, typename = std::enable_if_t<NbLine >= 3> >
     constexpr const Line& z() const noexcept { return this->elems[2]; }
     /// Special access to fourth line (read-only).
@@ -616,7 +616,7 @@ class Mat
         return r;
     }
 
-    /// Substraction with the transposed of the given matrix operator \returns this - mt
+    /// Subtraction with the transposed of the given matrix operator \returns this - mt
     constexpr Mat<L,C,real>minusTransposed(const Mat<C,L,real>& m) const noexcept
     {
         Mat<L,C,real> r(NOINIT);
@@ -682,7 +682,7 @@ class Mat
                 (*this)[i][j] += m[j][i];
     }
 
-    /// Substraction of the transposed of m
+    /// Subtraction of the transposed of m
     constexpr void subTransposed(const Mat<C,L,real>& m) noexcept
     {
         for(Size i=0; i<L; i++)
@@ -690,7 +690,7 @@ class Mat
                 (*this)[i][j] -= m[j][i];
     }
 
-    /// Substraction assignment operator.
+    /// Subtraction assignment operator.
     constexpr void operator -=(const Mat<L,C,real>& m) noexcept
     {
         for(Size i=0; i<L; i++)
diff --git a/Sofa/framework/Type/src/sofa/type/MatSym.h b/Sofa/framework/Type/src/sofa/type/MatSym.h
index 3e3e5ff41e5..8a4140fdfb4 100644
--- a/Sofa/framework/Type/src/sofa/type/MatSym.h
+++ b/Sofa/framework/Type/src/sofa/type/MatSym.h
@@ -399,7 +399,7 @@ class MatSym : public VecNoInit<D * (D + 1) / 2, real>
         }
     }
 
-    /// Substraction assignment operator.
+    /// Subtraction assignment operator.
     void operator -=(const MatSym< D,real>& m)
     {
         for (sofa::Size i = 0; i < NumberStoredValues; i++)
diff --git a/Sofa/framework/Type/src/sofa/type/Mat_solve_SVD.h b/Sofa/framework/Type/src/sofa/type/Mat_solve_SVD.h
index 9c0dd4f1277..fcaf33bb3dc 100644
--- a/Sofa/framework/Type/src/sofa/type/Mat_solve_SVD.h
+++ b/Sofa/framework/Type/src/sofa/type/Mat_solve_SVD.h
@@ -282,7 +282,7 @@ void svddcmp(Mat<m,n,Real> &a, Vec<n,Real> &w, Mat<n,m,Real> &v)
     }
 }
 
-/// return the condition number of the matrix a following the euclidian norm (using the svd decomposition to find singular values)
+/// return the condition number of the matrix a following the euclidean norm (using the svd decomposition to find singular values)
 template< int m, int n, typename Real>
 Real cond(Mat<m,n,Real> &a)
 {
diff --git a/Sofa/framework/Type/src/sofa/type/Quat.cpp b/Sofa/framework/Type/src/sofa/type/Quat.cpp
index 9c6d5651816..21980cea2cd 100644
--- a/Sofa/framework/Type/src/sofa/type/Quat.cpp
+++ b/Sofa/framework/Type/src/sofa/type/Quat.cpp
@@ -26,12 +26,12 @@
 namespace sofa::type
 {
 
-/// Explicit instanciation of the quaternions for double precision
+/// Explicit instantiation of the quaternions for double precision
 template class SOFA_TYPE_API Quat<double>;
 template SOFA_TYPE_API std::ostream& operator << ( std::ostream& out, const Quat<double>& v );
 template SOFA_TYPE_API std::istream& operator >> ( std::istream& in, Quat<double>& v );
 
-/// Explicit instanciation of the quaternions for single precision
+/// Explicit instantiation of the quaternions for single precision
 template class SOFA_TYPE_API Quat<float>;
 template SOFA_TYPE_API std::ostream& operator << ( std::ostream& out, const Quat<float>& v );
 template SOFA_TYPE_API std::istream& operator >> ( std::istream& in, Quat<float>& v );
diff --git a/Sofa/framework/Type/src/sofa/type/Quat.h b/Sofa/framework/Type/src/sofa/type/Quat.h
index 2e0799b0bd5..739fa6e5f59 100644
--- a/Sofa/framework/Type/src/sofa/type/Quat.h
+++ b/Sofa/framework/Type/src/sofa/type/Quat.h
@@ -214,7 +214,7 @@ class Quat
     }
 
     /// Given two quaternions, add them together to get a third quaternion.
-    /// Adding quaternions to get a compound rotation is analagous to adding
+    /// Adding quaternions to get a compound rotation is analogous to adding
     /// translations to get a compound translation.
     auto operator+(const Quat &q1) const -> Quat;
     constexpr auto operator*(const Quat& q1) const -> Quat
diff --git a/Sofa/framework/Type/src/sofa/type/SVector.h b/Sofa/framework/Type/src/sofa/type/SVector.h
index cd002a7b825..e5d2ba9c8c0 100644
--- a/Sofa/framework/Type/src/sofa/type/SVector.h
+++ b/Sofa/framework/Type/src/sofa/type/SVector.h
@@ -27,7 +27,7 @@ namespace sofa::type
 {
 
 //======================================================================
-/// Same as type::vector, + delimitors on serialization
+/// Same as type::vector, + delimiters on serialization
 //======================================================================
 template<class T>
 class SVector: public type::vector<T, type::CPUMemoryManager<T> >
diff --git a/Sofa/framework/Type/src/sofa/type/Transform.h b/Sofa/framework/Type/src/sofa/type/Transform.h
index 6303fbfec65..cb3d779c2ad 100644
--- a/Sofa/framework/Type/src/sofa/type/Transform.h
+++ b/Sofa/framework/Type/src/sofa/type/Transform.h
@@ -27,7 +27,7 @@ namespace sofa::type
 {
 
 /**
- * Define a frame (child) whith respect to another (parent). A frame represents a local coordinate system.
+ * Define a frame (child) with respect to another (parent). A frame represents a local coordinate system.
  *
  * Internal data represents the orientation of the child wrt the parent, BUT the
  * translation vector represents the origin of the parent with respect to the
@@ -35,7 +35,7 @@ namespace sofa::type
  * coordinates M_c of the same point in child are given by:
  * M_p = orientation * ( M_c - origin ). This is due to Featherstone's
  * conventions. Use method setTranslationRotation( const Vec& t, const Rot& q )
- * to model the Transform the standard way (i.e. translation givne in the parent frame).
+ * to model the Transform the standard way (i.e. translation given in the parent frame).
  **/
 template<class TReal>
 class Transform
diff --git a/Sofa/framework/Type/src/sofa/type/Vec.h b/Sofa/framework/Type/src/sofa/type/Vec.h
index 229f30645a9..48e38f038b2 100644
--- a/Sofa/framework/Type/src/sofa/type/Vec.h
+++ b/Sofa/framework/Type/src/sofa/type/Vec.h
@@ -482,7 +482,7 @@ class Vec
     /// Use l<0 for the infinite norm.
     ValueType lNorm( int l ) const
     {
-        if( l==2 ) return norm(); // euclidian norm
+        if( l==2 ) return norm(); // euclidean norm
         else if( l<0 ) // infinite norm
         {
             ValueType n=0;
diff --git a/Sofa/framework/Type/src/sofa/type/trait/Rebind.h b/Sofa/framework/Type/src/sofa/type/trait/Rebind.h
index a15e8e21678..c462e08a1f4 100644
--- a/Sofa/framework/Type/src/sofa/type/trait/Rebind.h
+++ b/Sofa/framework/Type/src/sofa/type/trait/Rebind.h
@@ -77,7 +77,7 @@ namespace sofa::type
     };
 
     /**
-     * Conveniant alias to ease usage of Rebind.
+     * Convenient alias to ease usage of Rebind.
      *
      * Example:
      * 1) sofa::type::rebind_to< sofa::type::vector<int>, float> is of type sofa::type::vector<float>. In this example,
diff --git a/Sofa/framework/Type/src/sofa/type/vector_Integral.cpp b/Sofa/framework/Type/src/sofa/type/vector_Integral.cpp
index e21282786bc..ae183cdddcb 100644
--- a/Sofa/framework/Type/src/sofa/type/vector_Integral.cpp
+++ b/Sofa/framework/Type/src/sofa/type/vector_Integral.cpp
@@ -87,7 +87,7 @@ SOFA_TYPE_API unsigned int getUnsignedInteger(const std::string& s, std::strings
 }
 
 /// Input stream
-/// Specialization for reading vectors of int and unsigned int using "A-B" notation for all integers between A and B, optionnally specifying a step using "A-B-step" notation.
+/// Specialization for reading vectors of int and unsigned int using "A-B" notation for all integers between A and B, optionally specifying a step using "A-B-step" notation.
 template<>
 SOFA_TYPE_API std::istream& vector<int>::read( std::istream& in )
 {
diff --git a/Sofa/framework/Type/src/sofa/type/vector_T.h b/Sofa/framework/Type/src/sofa/type/vector_T.h
index 182930ffe40..e0ad65b7615 100644
--- a/Sofa/framework/Type/src/sofa/type/vector_T.h
+++ b/Sofa/framework/Type/src/sofa/type/vector_T.h
@@ -75,7 +75,7 @@ class vector : public std::vector<T, std::allocator<T> >
     explicit vector(Size n): std::vector<T,Alloc>(n) {}
     /// Constructor
     vector(const std::vector<T, Alloc>& x): std::vector<T,Alloc>(x) {}
-    /// Brace initalizer constructor
+    /// Brace initializer constructor
     vector(const std::initializer_list<T>& t) : std::vector<T,Alloc>(t) {}
     /// Move constructor
     vector(std::vector<T,Alloc>&& v): std::vector<T,Alloc>(std::move(v)) {}
@@ -154,8 +154,8 @@ class vector : public std::vector<T, std::allocator<T> >
         std::fill(this->begin(), this->end(), value);
     }
 
-    /// this function is usefull for vector_device because it resize the vector without device operation (if device is not valid).
-    /// Therefore the function is used in asynchronous code to safly resize a vector which is either cuda of type::vector
+    /// this function is useful for vector_device because it resize the vector without device operation (if device is not valid).
+    /// Therefore the function is used in asynchronous code to safely resize a vector which is either cuda of type::vector
     void fastResize(Size n)
     {
         this->resize(n);
diff --git a/Sofa/framework/Type/src/sofa/type/vector_algorithm.h b/Sofa/framework/Type/src/sofa/type/vector_algorithm.h
index 10081f4ae48..c8f89aa528b 100644
--- a/Sofa/framework/Type/src/sofa/type/vector_algorithm.h
+++ b/Sofa/framework/Type/src/sofa/type/vector_algorithm.h
@@ -26,7 +26,7 @@
 
 namespace sofa::type
 {
-/** Remove the first occurence of a given value.
+/** Remove the first occurrence of a given value.
     The remaining values are shifted.
 */
 template<class T1, class T2>
@@ -43,7 +43,7 @@ void remove( T1& v, const T2& elem )
     v.pop_back();
 }
 
-/** Remove the first occurence of a given value.
+/** Remove the first occurrence of a given value.
 
 The last value is moved to where the value was found, and the other values are not shifted.
 */
diff --git a/Sofa/framework/Type/src/sofa/type/vector_device.h b/Sofa/framework/Type/src/sofa/type/vector_device.h
index 10e0306eed6..a06f9a4f36f 100644
--- a/Sofa/framework/Type/src/sofa/type/vector_device.h
+++ b/Sofa/framework/Type/src/sofa/type/vector_device.h
@@ -79,10 +79,10 @@ class vector_device
 #endif
     mutable Size      clearSize;  ///< when initializing missing device data, up to where entries should be set to zero ?
     T* hostPointer;    ///< Pointer to the data on the CPU side
-    mutable int   deviceIsValid;  ///< True if the data on the GPU is currently valid (up to the given deviceVectorSize of each device, i.e. additionnal space may need to be allocated and/or initialized)
+    mutable int   deviceIsValid;  ///< True if the data on the GPU is currently valid (up to the given deviceVectorSize of each device, i.e. additional space may need to be allocated and/or initialized)
     mutable bool  hostIsValid;    ///< True if the data on the CPU is currently valid
     mutable bool  bufferIsRegistered;  ///< True if the buffer is registered with CUDA
-    buffer_id_type  bufferObject;   ///< Optionnal associated buffer ID
+    buffer_id_type  bufferObject;   ///< Optional associated buffer ID
 
     inline static int cptid = 0;
 
diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp
index 1f23d6584ec..a7b0672fd02 100644
--- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp
+++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp
@@ -117,7 +117,7 @@ void ArticulatedHierarchyBVHController::applyController(void)
                 if (!articulatedObjects.empty())
                 {
                     // Reference potential initial articulations value for interaction springs
-                    // and Current articulation value at the coresponding artculation
+                    // and Current articulation value at the corresponding artculation
 
                     std::vector< core::behavior::MechanicalState<sofa::defaulttype::Vec1Types>* >::iterator articulatedObjIt = articulatedObjects.begin();
                     //std::vector< core::behavior::MechanicalState<sofa::defaulttype::Vec1dTypes>* >::iterator articulatedObjItEnd = articulatedObjects.end();
diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h
index 5a86bf1f9dd..cc7446cc874 100644
--- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h
+++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h
@@ -77,7 +77,7 @@ class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedHierarchyBVHController : publi
     virtual void reset() override;
 
     /**
-     * @brief Apply the controller current modifications to its controled component.
+     * @brief Apply the controller current modifications to its controlled component.
      */
     virtual void applyController(void) override;
 
diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl
index 04f64d4648e..e91f214de6d 100644
--- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl
+++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl
@@ -249,7 +249,7 @@ void ArticulatedHierarchyContainer::init ()
             }
 
             // for Arboris Mapping, init the transformation for each articulation center
-            type::Quat<SReal> q; // TODO: add a rotation component to the positionning on the ArticulatedHierarchyContainer
+            type::Quat<SReal> q; // TODO: add a rotation component to the positioning on the ArticulatedHierarchyContainer
             (*ac)->H_p_pLc.set((*ac)->posOnParent.getValue(),q);
             (*ac)->H_c_cLp.set((*ac)->posOnChild.getValue(), q);
             (*ac)->H_pLc_cLp.identity();
diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp
index 113c2ae7547..2542e59290e 100644
--- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp
+++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp
@@ -188,7 +188,7 @@ void ArticulatedHierarchyController::dumpActiveArticulations(void) const
 
 void ArticulatedHierarchyController::dumpArticulationsAndBindingKeys(void) const
 {
-    msg_info() << "ARTICULATIONS_KEYBOARD_CONTROLER : Controled Articulations & Binding Keys" ;
+    msg_info() << "ARTICULATIONS_KEYBOARD_CONTROLER : Controlled Articulations & Binding Keys" ;
 
     auto articulationsIndicesIt = articulationsIndices.getValue().cbegin();
     const auto articulationsIndicesItEnd = articulationsIndices.getValue().cend();
@@ -373,7 +373,7 @@ void ArticulatedHierarchyController::applyController(void)
                             if (!articulatedObjects.empty())
                             {
                                 // Reference potential initial articulations value for interaction springs
-                                // and Current articulation value at the coresponding artculation
+                                // and Current articulation value at the corresponding artculation
 
                                 std::vector< MechanicalState<sofa::defaulttype::Vec1Types>* >::iterator articulatedObjIt = articulatedObjects.begin();
 //								std::vector< MechanicalState<sofa::defaulttype::Vec1dTypes>* >::iterator articulatedObjItEnd = articulatedObjects.end();
diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h
index 80b9098a122..1e3d3c899a4 100644
--- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h
+++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h
@@ -103,7 +103,7 @@ class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedHierarchyController : public C
     //@}
 
     /**
-     * @brief Apply the controller current modifications to its controled component.
+     * @brief Apply the controller current modifications to its controlled component.
      */
     virtual void applyController(void);
 
diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl
index 2d6d3a62521..548e028a9fd 100644
--- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl
+++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl
@@ -210,7 +210,7 @@ void ArticulatedSystemMapping<TIn, TInRoot, TOut>::apply( typename Out::VecCoord
         case 0: // 0-(default) articulation are treated one by one, the axis of the second articulation is updated by the potential rotation of the first articulation
             //			   potential problems could arise when rotation exceed 90? (known problem of euler angles)
         {
-            // the position of the child is reset to its rest position (based on the postion of the articulation center)
+            // the position of the child is reset to its rest position (based on the position of the articulation center)
             out[child].getOrientation() = out[parent].getOrientation();
             out[child].getCenter() = out[parent].getCenter() + (*ac)->initTranslateChild(out[parent].getOrientation());
 
@@ -275,7 +275,7 @@ void ArticulatedSystemMapping<TIn, TInRoot, TOut>::apply( typename Out::VecCoord
 
 
             // step 1: compute the new position of the articulation center and the articulation pos
-            //         rq: the articulation center folows the translations
+            //         rq: the articulation center follows the translations
             (*ac)->globalPosition.setValue(out[parent].getCenter() + out[parent].getOrientation().rotate((*ac)->posOnParent.getValue()) + (*ac)->DisplacementArticulationCenter);
             type::vector< sofa::component::container::Articulation* >::const_iterator a = articulations.begin();
 
diff --git a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection.dox b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection.dox
index 748a6501638..7335ebb4220 100644
--- a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection.dox
+++ b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection.dox
@@ -5,7 +5,7 @@ BulletCollisionDetection, where broad phase and narrow phase are performed. So
 in the Sofa scene, you must place the element BulletCollisionDetection instead
 of any broad or narrow phase. An important thing to know is that this plugin
 works well with constraints (LMConstraintSolver for example) and no with
-penality contacts because it is not robust to collision models penetration. But
+penalty contacts because it is not robust to collision models penetration. But
 some improvement has been done with the collision model margin to allow this for
 most of the primitives (if the primitives don't penetrate).
 
diff --git a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp
index 2d700693bc5..a747ecf240b 100644
--- a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp
+++ b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp
@@ -71,7 +71,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -85,7 +85,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
     sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = New<sofa::component::collision::BulletOBBModel >();
     obb->addObject(obbCollisionModel);
 
-    //editting the OBBModel
+    //editing the OBBModel
     //obbCollisionModel->init();
     obbCollisionModel->resize(1);
 
@@ -148,7 +148,7 @@ struct copyBulletOBB{
         sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = New<sofa::component::collision::BulletOBBModel >();
         obb->addObject(obbCollisionModel);
 
-        //editting the OBBModel
+        //editing the OBBModel
         //obbCollisionModel->init();
         obbCollisionModel->resize(1);
 
@@ -191,7 +191,7 @@ struct copyBulletConvexHull{
         sofa::component::collision::BulletConvexHullModel::SPtr cv_hull_model = New<sofa::component::collision::BulletConvexHullModel >();
         obb->addObject(cv_hull_model);
 
-        //editting the OBBModel
+        //editing the OBBModel
         //obbCollisionModel->init();
         cv_hull_model->resize(1);
 
@@ -244,7 +244,7 @@ struct copyBulletConvexHull{
 //    sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = New<sofa::component::collision::OBBModel >();
 //    obb->addObject(obbCollisionModel);
 
-//    //editting the OBBModel
+//    //editing the OBBModel
 //    //obbCollisionModel->init();
 //    obbCollisionModel->resize(1);
 
diff --git a/applications/plugins/BulletCollisionDetection/doc/Doxyfile b/applications/plugins/BulletCollisionDetection/doc/Doxyfile
index 12a07965972..9c980bf83ae 100644
--- a/applications/plugins/BulletCollisionDetection/doc/Doxyfile
+++ b/applications/plugins/BulletCollisionDetection/doc/Doxyfile
@@ -954,7 +954,7 @@ HTML_STYLESHEET        =
 # user-defined cascading style sheet that is included after the standard 
 # style sheets created by doxygen. Using this option one can overrule 
 # certain style aspects. This is preferred over using HTML_STYLESHEET 
-# since it does not replace the standard style sheet and is therefor more 
+# since it does not replace the standard style sheet and is therefore more 
 # robust against future updates. Doxygen will copy the style sheet file to 
 # the output directory.
 
diff --git a/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py b/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py
index a2914792e0b..414c94dfd7d 100644
--- a/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py
+++ b/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py
@@ -4,13 +4,13 @@
 from cmath import *
 
 ############################################################################################
-# following defs are optionnal entry points, called by the PythonScriptController component;
+# following defs are optional entry points, called by the PythonScriptController component;
 ############################################################################################
 
 
 class GlobalCollision(Sofa.PythonScriptController):
 
-	# optionnally, script can create a graph...
+	# optionally, script can create a graph...
 	def createGraph(self,node):
 
 		node.findData('dt').value=0.05
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCollisionDetection.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCollisionDetection.h
index cfbc311c61f..3508e5afe32 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCollisionDetection.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCollisionDetection.h
@@ -145,7 +145,7 @@ class SOFA_BULLETCOLLISIONDETECTION_API BulletIntersection : public core::collis
         addCollisionDetection<BulletRigidCapsuleModel,BulletTriangleModel>();
         addCollisionDetection<BulletRigidCapsuleModel,BulletSphereModel>();
 
-        //if you want to take account of one of any intersection below, uncoment it,
+        //if you want to take account of one of any intersection below, uncomment it,
         //I wrote it because order is important for the collision response
         addCollisionDetection<BulletCylinderModel,BulletCylinderModel>();
         addCollisionDetection<BulletCapsuleModel,BulletCylinderModel>();
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h
index 0919373525e..d5336d1f9b7 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h
@@ -143,7 +143,7 @@ class TBulletConvexHullModel : public sofa::core::CollisionModel ,public BulletC
     Data<VecCoord> CHPoints; ///< points defining the convex hull
     Data<bool> computeNormals; ///< set to false to disable computation of triangles normal
     Data<bool> positionDefined; ///< set to true if the collision model position is defined in the mechanical object
-    Data<SReal> concavityThreeshold; ///< Threeshold used in the decomposition
+    Data<SReal> concavityThreeshold; ///< Threshold used in the decomposition
 protected:
     void draw_without_decomposition(const core::visual::VisualParams* vparams);
     void draw_decomposition(const core::visual::VisualParams* vparams);
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
index 8b45d6fcb28..36664f9fd67 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
@@ -22,7 +22,7 @@ TBulletConvexHullModel<DataTypes>::TBulletConvexHullModel()
     , CHPoints(initData(&CHPoints,"CHPoints", "points defining the convex hull"))
     , computeNormals(initData(&computeNormals, true, "computeNormals", "set to false to disable computation of triangles normal"))
     , positionDefined(initData(&positionDefined,false,"positionDefined","set to true if the collision model position is defined in the mechanical object" ))
-    , concavityThreeshold(initData(&concavityThreeshold, (SReal)100, "concavityThreeshold","Threeshold used in the decomposition"))
+    , concavityThreeshold(initData(&concavityThreeshold, (SReal)100, "concavityThreeshold","Threshold used in the decomposition"))
     , _mstate(NULL)
 {
     bmsh = 0x0;
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h
index 09b35efd5aa..9d21fd9804f 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h
@@ -9,7 +9,7 @@
 #include <stack>
 
 //WARNING : if you want to take account of intersections involving BulletCylinderModel,
-//uncoment code in BulletCollisionDetection.h beggining at line 173
+//uncomment code in BulletCollisionDetection.h beginning at line 173
 
 namespace sofa
 {
@@ -75,7 +75,7 @@ class TBulletCylinderModel : public sofa::component::collision::geometry::Cylind
 typedef TBulletCylinderModel<defaulttype::RigidTypes> BulletCylinderModel;
 
 #if  !defined(SOFA_BUILD_BULLETCOLLISIONDETECTION)
-extern template class SOFA_BULLETCOLLISIONDETECTION_API TBulletCylinderModel<defaulttype::Rigid3Types>;//je pense que les cylindres sont définis sur des rigides dans bullet
+extern template class SOFA_BULLETCOLLISIONDETECTION_API TBulletCylinderModel<defaulttype::Rigid3Types>;//je pense que les cylinders sont définis sur des rigides dans bullet
 
 #endif
 
diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h
index c72403d1092..b2e77106dc3 100644
--- a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h
+++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h
@@ -85,7 +85,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -99,7 +99,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
     collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = New<collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid3Types>>();
     obb->addObject(obbCollisionModel);
 
-    //editting the OBBModel
+    //editing the OBBModel
     obbCollisionModel->init();
     Data<collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::VecCoord> & dVecCoord = obbCollisionModel->writeExtents();
     collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::VecCoord & vecCoord = *(dVecCoord.beginEdit());
@@ -131,7 +131,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -151,7 +151,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
     cap->addObject(capCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     capCollisionModel->init();
     Data<collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::Vec3Types>::VecReal>& dVecReal = capCollisionModel->writeRadii();
     collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::Vec3Types>::VecReal& vecReal = *(dVecReal.beginEdit());
diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp
index 5060d0b87ea..d9f86ddaee8 100644
--- a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp
+++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp
@@ -103,7 +103,7 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ri
 
     dpositions.endEdit();
 
-    //Editting the velocity of the Sphere
+    //Editing the velocity of the Sphere
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -117,7 +117,7 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ri
     sph->addObject(sphCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     sphCollisionModel->init();
     Data<sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Rigid3Types>::VecReal> & dVecReal = sphCollisionModel->d_radius;
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Rigid3Types>::VecReal & vecReal = *(dVecReal.beginEdit());
@@ -549,7 +549,7 @@ bool TestCapOBB::edgeVertex(){
     return true;
 }
 
-//obb's edge 6-5 in intersection parallely with the capsule
+//obb's edge 6-5 in intersection parallelly with the capsule
 bool TestCapOBB::edgeEdge(){
     //first, we create the transformation to make the first OBB
     double angles[3];
@@ -598,7 +598,7 @@ bool TestCapOBB::edgeEdge(){
 }
 
 
-//obb's edge 6-5 in intersection parallely with the capsule
+//obb's edge 6-5 in intersection parallelly with the capsule
 bool TestCapOBB::vertexEdge(){
     //first, we create the transformation to make the first OBB
     double angles[3];
@@ -646,7 +646,7 @@ bool TestCapOBB::vertexEdge(){
 }
 
 
-//obb's edge 6-5 in intersection parallely with the capsule
+//obb's edge 6-5 in intersection parallelly with the capsule
 bool TestCapOBB::vertexVertex(){
     //first, we create the transformation to make the first OBB
     double angles[3];
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/BaseIntTool.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/BaseIntTool.h
index e0902efbd36..6d96a8faca7 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/BaseIntTool.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/BaseIntTool.h
@@ -38,7 +38,7 @@ class COLLISIONOBBCAPSULE_API BaseIntTool : public CapsuleIntTool,public OBBIntT
 
     template <class Elem1,class Elem2>
     static bool testIntersection(Elem1&,Elem2&,SReal){
-        msg_info("BaseIntTool")<<"testIntersection should not be used with theese types";
+        msg_info("BaseIntTool")<<"testIntersection should not be used with these types";
         return false;
     }
 
@@ -90,8 +90,8 @@ class COLLISIONOBBCAPSULE_API BaseIntTool : public CapsuleIntTool,public OBBIntT
         return CapsuleIntTool::computeIntersection(cap,sph,alarmDist,contactDist,contacts);
     }
 
-    template <class DataTyes>
-    inline static int computeIntersection(geometry::TCapsule<DataTyes> &cap, geometry::OBB & obb, SReal alarmDist, SReal contactDist, OutputVector *contacts){
+    template <class DataTypes>
+    inline static int computeIntersection(geometry::TCapsule<DataTypes> &cap, geometry::OBB & obb, SReal alarmDist, SReal contactDist, OutputVector *contacts){
         return CapsuleIntTool::computeIntersection(cap,obb,alarmDist,contactDist,contacts);
     }
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntTool.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntTool.inl
index 6281f227ec0..ee0c0731933 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntTool.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntTool.inl
@@ -76,13 +76,13 @@ int CapsuleIntTool::computeIntersection(geometry::TCapsule<DataTypes1> & e1,geom
     }
     else{//Capsule segments on a same plane. Here the idea to find the nearest points
         //is to project segment apexes on the other segment.
-        //Visual example with semgents AB and CD :
+        //Visual example with segments AB and CD :
         //            A----------------B
         //                     C----------------D
         //After projection :
         //            A--------c-------B
         //                     C-------b--------D
-        //So the nearest points are p and q which are respecively in the middle of cB and Cb:
+        //So the nearest points are p and q which are respectively in the middle of cB and Cb:
         //            A--------c---p---B
         //                     C---q---b--------D
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/IntrUtility3.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/IntrUtility3.inl
index 9401bb490ec..ea29d78d0be 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/IntrUtility3.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/IntrUtility3.inl
@@ -202,7 +202,7 @@ void IntrConfigManager<geometry::TOBB<TDataTypes> >::init (const type::Vec<3,Rea
     // 7 +++
     //
     // When it returns an ordering in the IntrConfiguration, it is also
-    // guarenteed to be in-order (if 4 vertices, then they are guarenteed in
+    // guaranteed to be in-order (if 4 vertices, then they are guaranteed in
     // an order that will create a box, e.g. 0,1,3,2).
 
     Real axes[3] =
@@ -830,13 +830,13 @@ void IntrUtil<Real>::segNearestPoints(const type::Vec<3,Real> & p0,const type::V
     }
     else{//segment segments on a same plane. Here the idea to find the nearest points
         //is to project segment apexes on the other segment.
-        //Visual example with semgents AB and CD :
+        //Visual example with segments AB and CD :
         //            A----------------B
         //                     C----------------D
         //After projection :
         //            A--------c-------B
         //                     C-------b--------D
-        //So the nearest points are p and q which are respecively in the middle of cB and Cb:
+        //So the nearest points are p and q which are respectively in the middle of cB and Cb:
         //            A--------c---p---B
         //                     C---q---b--------D
         type::Vec<3,Real> AD = q1 - p0;
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.cpp
index af0c5dd1ecb..5e457390a19 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.cpp
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.cpp
@@ -75,13 +75,13 @@ int MeshIntTool::doCapLineInt(const type::Vec3 & p1,const type::Vec3 & p2,SReal
     }
     else{//Segments on a same plane. Here the idea to find the nearest points
         //is to project segment apexes on the other segment.
-        //Visual example with semgents AB and CD :
+        //Visual example with segments AB and CD :
         //            A----------------B
         //                     C----------------D
         //After projection :
         //            A--------c-------B
         //                     C-------b--------D
-        //So the nearest points are p and q which are respecively in the middle of cB and Cb:
+        //So the nearest points are p and q which are respectively in the middle of cB and Cb:
         //            A--------c---p---B
         //                     C---q---b--------D
 
@@ -289,7 +289,7 @@ int MeshIntTool::doIntersectionTrianglePoint(SReal dist2, int flags, const type:
     detection->value = detection->normal.norm();
     detection->normal /= detection->value;
 
-    ///!\ CAUTION : uninitialized fields detection->elem and detection->id and detection->value, you have to substract contactDist
+    ///!\ CAUTION : uninitialized fields detection->elem and detection->id and detection->value, you have to subtract contactDist
 
     return 1;
 }
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.h
index 77ea1d9c9d2..73777b81564 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.h
@@ -66,7 +66,7 @@ class COLLISIONOBBCAPSULE_API MeshIntTool
     static int doCapLineInt(const type::Vec3 & p1,const type::Vec3 & p2,SReal cap_rad,
                          const type::Vec3 & q1, const type::Vec3 & q2,SReal alarmDist,SReal contactDist,OutputVector* contacts,bool ignore_p1 = false,bool ignore_p2 = false);
 
-    ////!\ CAUTION : uninitialized fields detection->elem and detection->id and detection->value, you have to substract contactDist, because
+    ////!\ CAUTION : uninitialized fields detection->elem and detection->id and detection->value, you have to subtract contactDist, because
     ///this function can be used also as doIntersectionTriangleSphere where the contactDist = getContactDist() + sphere_radius
     static int doIntersectionTrianglePoint(SReal dist2, int flags, const type::Vec3& p1, const type::Vec3& p2, const type::Vec3& p3,const type::Vec3& q, OutputVector* contacts,bool swapElems = false);
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h
index c226ba7cd82..d78206b9846 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h
@@ -37,7 +37,7 @@ class OBBCollisionModel;
 
 /**
   *An OBB model is a set of OBBs. It is linked to a rigid mechanical object. Each frame
-  *of the rigid machanical object represents the frame of one OBB. So an OBB is represented
+  *of the rigid mechanical object represents the frame of one OBB. So an OBB is represented
   *by its frame which orients it, a center and 3 extents.
   *A point P is inside the OBB obb if and only if P = obb.center() + a*obb.axis(0) + b*obb.axis(1) + c*obb.axis(2)
   *with -obb.extent(0) <= a <= obb.extent(0), -obb.extent(1) <= b <= obb.extent(1), -obb.extent(2) <= c <= obb.extent(2).
diff --git a/applications/plugins/DiffusionSolver/DiffusionSolver.h b/applications/plugins/DiffusionSolver/DiffusionSolver.h
index a8531ffd38c..90731ff52db 100644
--- a/applications/plugins/DiffusionSolver/DiffusionSolver.h
+++ b/applications/plugins/DiffusionSolver/DiffusionSolver.h
@@ -8,7 +8,7 @@
 /** Solving diffusion on 3D regular grids (stored as CImg)
  * @param size (in) the size of the regular domain in the 3 directions.
  * @param img (in-out) the image to diffuse. It contains the Dirichlet boundary values and contains warm-start values (must be set to 0 for no warm-start).
- * @param mask (in) represents the type of each voxel. A negative value represents the exterior of the domain, a positive value for the interior and 0 for Dirichlet boundary conditions. The boundary exterior/interior implicitely represents a Neumann boundary condition imposing null gradients along normals.
+ * @param mask (in) represents the type of each voxel. A negative value represents the exterior of the domain, a positive value for the interior and 0 for Dirichlet boundary conditions. The boundary exterior/interior implicitly represents a Neumann boundary condition imposing null gradients along normals.
  *
  * @warning the material map must be normalized between [0,1]
  * @warning at least a one pixel outside border
diff --git a/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.cpp b/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.cpp
index dd54d354a3d..6b9483eebd4 100644
--- a/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.cpp
+++ b/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.cpp
@@ -166,7 +166,7 @@ GeomagicDriver::GeomagicDriver()
     , d_frameVisu(initData(&d_frameVisu, false, "drawDeviceFrame", "Visualize the frame corresponding to the device tooltip"))
     , d_omniVisu(initData(&d_omniVisu, false, "drawDevice", "Visualize the Geomagic device in the virtual scene"))    
     , d_posDevice(initData(&d_posDevice, "positionDevice", "position of the base of the part of the device"))
-    , d_angle(initData(&d_angle, "angle", "Angluar values of joint (rad)"))
+    , d_angle(initData(&d_angle, "angle", "Angular values of joint (rad)"))
     , d_button_1(initData(&d_button_1,"button1","Button state 1"))
     , d_button_2(initData(&d_button_2,"button2","Button state 2"))    
     , l_forceFeedback(initLink("forceFeedBack", "link to the forceFeedBack component, if not set will search through graph and take first one encountered."))
diff --git a/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.h b/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.h
index e61a9f66804..373a2d8520e 100644
--- a/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.h
+++ b/applications/plugins/Geomagic/src/Geomagic/GeomagicDriver.h
@@ -84,7 +84,7 @@ class SOFA_GEOMAGIC_API GeomagicDriver : public Controller
     /// Public method to init tool. Can be called from thirdparty if @sa d_manualStart is set to true
     virtual void initDevice();
     
-    /// Method to clear sheduler and free device. Called by default at driver destruction
+    /// Method to clear scheduler and free device. Called by default at driver destruction
     virtual void clearDevice();
 
 
@@ -117,7 +117,7 @@ class SOFA_GEOMAGIC_API GeomagicDriver : public Controller
 
     //Output Data
     Data<Coord> d_posDevice; ///< position of the base of the part of the device
-    Data<type::Vec6> d_angle; ///< Angluar values of joint (rad)
+    Data<type::Vec6> d_angle; ///< Angular values of joint (rad)
     Data<bool> d_button_1; ///< Button state 1
     Data<bool> d_button_2; ///< Button state 2
     
diff --git a/applications/plugins/Geomagic/src/Geomagic/GeomagicEmulator.h b/applications/plugins/Geomagic/src/Geomagic/GeomagicEmulator.h
index 20bdb925e37..1a8fa11bc3f 100644
--- a/applications/plugins/Geomagic/src/Geomagic/GeomagicEmulator.h
+++ b/applications/plugins/Geomagic/src/Geomagic/GeomagicEmulator.h
@@ -68,7 +68,7 @@ class SOFA_GEOMAGIC_API GeomagicEmulator : public GeomagicDriver
     /// Public method to init tool. Can be called from thirdparty if @sa d_manualStart is set to true
     virtual void initDevice() override;
 
-    /// Method to clear sheduler and free device. Called by default at driver destruction
+    /// Method to clear scheduler and free device. Called by default at driver destruction
     virtual void clearDevice() override;
 
 
diff --git a/applications/plugins/Haption/CMakeLists.txt b/applications/plugins/Haption/CMakeLists.txt
index 766031f9480..e3db3247644 100644
--- a/applications/plugins/Haption/CMakeLists.txt
+++ b/applications/plugins/Haption/CMakeLists.txt
@@ -41,4 +41,4 @@ install(TARGETS ${PROJECT_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib)
 
-install(DIRECTORY exemple/ DESTINATION share/sofa/plugins/${PROJECT_NAME})
+install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME})
diff --git a/applications/plugins/Haption/exemple/haption1.scn b/applications/plugins/Haption/examples/haption1.scn
similarity index 100%
rename from applications/plugins/Haption/exemple/haption1.scn
rename to applications/plugins/Haption/examples/haption1.scn
diff --git a/applications/plugins/Haption/exemple/temp1.scn b/applications/plugins/Haption/examples/temp1.scn
similarity index 100%
rename from applications/plugins/Haption/exemple/temp1.scn
rename to applications/plugins/Haption/examples/temp1.scn
diff --git a/applications/plugins/Haption/initHaption.cpp b/applications/plugins/Haption/initHaption.cpp
index b26a579a6a4..d8a8505ba51 100644
--- a/applications/plugins/Haption/initHaption.cpp
+++ b/applications/plugins/Haption/initHaption.cpp
@@ -75,7 +75,7 @@ const char* getModuleVersion()
 
 const char* getModuleDescription()
 {
-    return "Force feedback with sensable devices into SOFA Framework";
+    return "Force feedback with sensible devices into SOFA Framework";
 }
 
 const char* getModuleComponentList()
diff --git a/applications/plugins/LeapMotion/LeapMotion/Leap.h b/applications/plugins/LeapMotion/LeapMotion/Leap.h
index fb20cc19303..a9d9d3fedbb 100644
--- a/applications/plugins/LeapMotion/LeapMotion/Leap.h
+++ b/applications/plugins/LeapMotion/LeapMotion/Leap.h
@@ -1205,7 +1205,7 @@ class CircleGesture : public Gesture
  * The ScreenTapGesture class represents a tapping gesture by a finger or tool.
  *
  * A screen tap gesture is recognized when the tip of a finger pokes forward
- * and then springs back to approximately the original postion, as if
+ * and then springs back to approximately the original position, as if
  * tapping a vertical screen. The tapping finger must pause briefly before beginning the tap.
  *
  * \image html images/Leap_Gesture_Tap2.png
@@ -1276,7 +1276,7 @@ class ScreenTapGesture : public Gesture
     LEAP_EXPORT Vector direction() const;
 
     /**
-     * The progess value is always 1.0 for a screen tap gesture.
+     * The progress value is always 1.0 for a screen tap gesture.
      *
      * @returns float The value 1.0.
      */
@@ -1294,7 +1294,7 @@ class ScreenTapGesture : public Gesture
  * The KeyTapGesture class represents a tapping gesture by a finger or tool.
  *
  * A key tap gesture is recognized when the tip of a finger rotates down toward the
- * palm and then springs back to approximately the original postion, as if
+ * palm and then springs back to approximately the original position, as if
  * tapping. The tapping finger must pause briefly before beginning the tap.
  *
  * \image html images/Leap_Gesture_Tap.png
@@ -1367,7 +1367,7 @@ class KeyTapGesture : public Gesture
     LEAP_EXPORT Vector direction() const;
 
     /**
-     * The progess value is always 1.0 for a key tap gesture.
+     * The progress value is always 1.0 for a key tap gesture.
      *
      * @returns float The value 1.0.
      */
@@ -1800,21 +1800,21 @@ class PointableList : public Interface {
     LEAP_EXPORT Pointable operator[](int index) const;
 
     /**
-     * Appends the members of the specifed PointableList to this PointableList.
+     * Appends the members of the specified PointableList to this PointableList.
      * @param other A PointableList object containing Pointable objects
      * to append to the end of this PointableList.
      */
     LEAP_EXPORT PointableList& append(const PointableList& other);
 
     /**
-     * Appends the members of the specifed FingerList to this PointableList.
+     * Appends the members of the specified FingerList to this PointableList.
      * @param other A FingerList object containing Finger objects
      * to append to the end of this PointableList.
      */
     LEAP_EXPORT PointableList& append(const FingerList& other);
 
     /**
-     * Appends the members of the specifed ToolList to this PointableList.
+     * Appends the members of the specified ToolList to this PointableList.
      * @param other A ToolList object containing Tool objects
      * to append to the end of this PointableList.
      */
@@ -1894,7 +1894,7 @@ class FingerList : public Interface {
     LEAP_EXPORT Finger operator[](int index) const;
 
     /**
-     * Appends the members of the specifed FingerList to this FingerList.
+     * Appends the members of the specified FingerList to this FingerList.
      * @param other A FingerList object containing Finger objects
      * to append to the end of this FingerList.
      */
@@ -1973,7 +1973,7 @@ class ToolList : public Interface {
     LEAP_EXPORT Tool operator[](int index) const;
 
     /**
-     * Appends the members of the specifed ToolList to this ToolList.
+     * Appends the members of the specified ToolList to this ToolList.
      * @param other A ToolList object containing Tool objects
      * to append to the end of this ToolList.
      */
@@ -2052,7 +2052,7 @@ class HandList : public Interface {
     LEAP_EXPORT Hand operator[](int index) const;
 
     /**
-     * Appends the members of the specifed HandList to this HandList.
+     * Appends the members of the specified HandList to this HandList.
      * @param other A HandList object containing Hand objects
      * to append to the end of this HandList.
      */
@@ -2445,13 +2445,13 @@ class Frame : public Interface {
     LEAP_EXPORT GestureList gestures() const;
 
     /**
-     * Returns a GestureList containing all gestures that have occured since
+     * Returns a GestureList containing all gestures that have occurred since
      * the specified frame.
      *
      * @param sinceFrame An earlier Frame object. The starting frame must
      * still be in the frame history cache, which has a default length of
      * 60 frames.
-     * @return GestureList The list of the Gesture objects that have occured
+     * @return GestureList The list of the Gesture objects that have occurred
      * since the specified frame.
      */
     LEAP_EXPORT GestureList gestures(const Frame& sinceFrame) const;
@@ -2699,7 +2699,7 @@ class Frame : public Interface {
  *
  * After setting a configuration value, you must call the Config::save method
  * to commit the changes. The configuration value changes are not persistent;
- * your application needs to set the values everytime it runs.
+ * your application needs to set the values every time it runs.
  *
  * @see CircleGesture
  * @see KeyTapGesture
@@ -2771,7 +2771,7 @@ class Config : public Interface {
      * Call ``save()`` after making a set of configuration changes. The
      * ``save()`` function transfers the configuration changes to the Leap
      * application. The configuration value changes are not persistent; your
-     * application needs to set the values everytime it runs.
+     * application needs to set the values every time it runs.
      *
      * @returns true on success, false on failure.
      */
diff --git a/applications/plugins/LeapMotion/LeapMotion/LeapMath.h b/applications/plugins/LeapMotion/LeapMotion/LeapMath.h
index e99a3e7c9a2..e84ec8eff95 100644
--- a/applications/plugins/LeapMotion/LeapMotion/LeapMath.h
+++ b/applications/plugins/LeapMotion/LeapMotion/LeapMath.h
@@ -580,7 +580,7 @@ struct Matrix
    * transformations (translations and rotations).  If the matrix is not rigid,
    * this operation will not represent an inverse.
    *
-   * Note that all matricies that are directly returned by the API are rigid.
+   * Note that all matrices that are directly returned by the API are rigid.
    *
    * @returns The rigid inverse of the matrix.
    */
diff --git a/applications/plugins/LeapMotion/src/LeapMotionDriver.cpp b/applications/plugins/LeapMotion/src/LeapMotionDriver.cpp
index 143229ce4ab..ae337e36c7a 100644
--- a/applications/plugins/LeapMotion/src/LeapMotionDriver.cpp
+++ b/applications/plugins/LeapMotion/src/LeapMotionDriver.cpp
@@ -40,7 +40,7 @@ namespace controller
 #define SCROLL_DIRECTION_THRESHOLD 0.5
 #define SWIPE_MIN_VELOCITY 500
 #define SWIPE_MAX_VELOCITY 6000
-#define PINCH_DISTANCE_THRESHOLD 40 // a pinch will be detected if the distance between two fingers is smaller than this thresold
+#define PINCH_DISTANCE_THRESHOLD 40 // a pinch will be detected if the distance between two fingers is smaller than this threshold
 #define PINCH_DOTPRODUCT_THRESHOLD 0.8
 int32_t fingersIdsArray[5] = {-1,-1,-1,-1,-1};
 
@@ -55,7 +55,7 @@ LeapMotionDriver::LeapMotionDriver()
     , gestureType(initData(&gestureType, int(-1) ,"gestureType","Type of the current gesture detected by the Leap Motion"))
     , gesturePosition(initData(&gesturePosition, "gesturePosition","Position of the current gesture detected by the Leap Motion"))
     , gestureDirection(initData(&gestureDirection, "gestureDirection","Direction of the current gesture detected by the Leap Motion"))
-    , scrollDirection(initData (&scrollDirection, int(0), "scrollDirection", "Enter 0 if no scrolling (1 if scoll increases the value, 2 if scroll decreases it)"))
+    , scrollDirection(initData (&scrollDirection, int(0), "scrollDirection", "Enter 0 if no scrolling (1 if scroll increases the value, 2 if scroll decreases it)"))
     , displayHand(initData (&displayHand, false, "displayHand", "display the hand detected by the Leap Motion"))
 {
     this->f_listening.setValue(true);
diff --git a/applications/plugins/LeapMotion/src/LeapMotionDriver.h b/applications/plugins/LeapMotion/src/LeapMotionDriver.h
index f76372793fe..8dd8d7edc9b 100644
--- a/applications/plugins/LeapMotion/src/LeapMotionDriver.h
+++ b/applications/plugins/LeapMotion/src/LeapMotionDriver.h
@@ -89,7 +89,7 @@ class LeapMotionDriver : public sofa::component::controller::Controller
     Data< int > gestureType; ///< Type of the current gesture detected by the Leap Motion
     Data< Vec3d > gesturePosition; ///< Position of the current gesture detected by the Leap Motion
     Data< Vec3d > gestureDirection; ///< Direction of the current gesture detected by the Leap Motion
-    Data< int > scrollDirection; ///< Enter 0 if no scrolling (1 if scoll increases the value, 2 if scroll decreases it)
+    Data< int > scrollDirection; ///< Enter 0 if no scrolling (1 if scroll increases the value, 2 if scroll decreases it)
     Data< bool > displayHand; ///< display the hand detected by the Leap Motion
     Data< double > speed;
 
diff --git a/applications/plugins/MultiThreading/src/MultiThreading/CollisionAnimationLoop_mt.h b/applications/plugins/MultiThreading/src/MultiThreading/CollisionAnimationLoop_mt.h
index 3ea20ac8771..f4ae5bf94c6 100644
--- a/applications/plugins/MultiThreading/src/MultiThreading/CollisionAnimationLoop_mt.h
+++ b/applications/plugins/MultiThreading/src/MultiThreading/CollisionAnimationLoop_mt.h
@@ -60,7 +60,7 @@ using namespace sofa;
  *  This class can optionally replace the default computation scheme of computing
  *  collisions then doing an integration step.
  *
- *  Note that it is in a preliminary stage, hence its fonctionnalities and API will
+ *  Note that it is in a preliminary stage, hence its functionalities and API will
  *  certainly change soon.
  *
  */
diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.h b/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.h
index 39de048fda9..6d3206c22dc 100644
--- a/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.h
+++ b/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.h
@@ -90,7 +90,7 @@ class SOFA_MULTITHREADING_PLUGIN_API BruteForcePairTest : public sofa::simulatio
 
 private:
 
-    /// Begining of a range of pairs of collision models to tests in this task
+    /// Beginning of a range of pairs of collision models to tests in this task
     PairIterator m_first;
     /// End of a range of pairs of collision models to tests in this task
     PairIterator m_last;
diff --git a/applications/plugins/PersistentContact/PersistentFrictionContact.inl b/applications/plugins/PersistentContact/PersistentFrictionContact.inl
index 18f1294f785..a6a8401c3f4 100644
--- a/applications/plugins/PersistentContact/PersistentFrictionContact.inl
+++ b/applications/plugins/PersistentContact/PersistentFrictionContact.inl
@@ -489,7 +489,7 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::activateConst
             if (this->selfCollision && use_mapper_for_state1 != use_mapper_for_state2)
             {
                 this->f_printLog.setValue(true);
-                serr << "Problem : selfColision but not same targetting state => constraint not created" << sendl;
+                serr << "Problem : selfColision but not same targeting state => constraint not created" << sendl;
                 return;
             }
 
diff --git a/applications/plugins/PersistentContact/PersistentUnilateralInteractionConstraint.inl b/applications/plugins/PersistentContact/PersistentUnilateralInteractionConstraint.inl
index 8f3a258ccdf..6c731b70c0c 100644
--- a/applications/plugins/PersistentContact/PersistentUnilateralInteractionConstraint.inl
+++ b/applications/plugins/PersistentContact/PersistentUnilateralInteractionConstraint.inl
@@ -236,7 +236,7 @@ void PersistentUnilateralInteractionConstraint<DataTypes>::getPositionViolation(
 
         v->set(c.id, dfree);
 
-        c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still usefull.
+        c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still useful.
 
         if (c.mu > 0.0)
         {
diff --git a/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp b/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp
index c53d67db33b..e1519db54d7 100644
--- a/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp
+++ b/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp
@@ -378,7 +378,7 @@ simulation::Node::SPtr addCube(simulation::Node::SPtr parent, const std::string&
                                const Deriv3& translation, const Deriv3 &rotation, const Deriv3 &scale)
 {
     //TODO(dmarchal): It is unclear to me if this message should be a msg_ (for end user)
-    // or dmsg_ for developpers.
+    // or dmsg_ for developers.
     if (parent == nullptr){
         msg_warning("SceneCreator") << "Parent node is nullptr. Returning Null Pointer." ;
         return nullptr;
@@ -449,7 +449,7 @@ simulation::Node::SPtr addCylinder(simulation::Node::SPtr parent, const std::str
                                    const Deriv3& translation, const Deriv3 &rotation, const Deriv3 &scale)
 {
     //TODO(dmarchal): It is unclear to me if this message should be a msg_ (for end user)
-    // or dmsg_ for developpers.
+    // or dmsg_ for developers.
     if (parent == nullptr){
         msg_warning("SceneCreator") << "Warning: parent node is nullptr. Returning Null Pointer." ;
         return nullptr;
@@ -513,7 +513,7 @@ simulation::Node::SPtr addSphere(simulation::Node::SPtr parent, const std::strin
                                  const Deriv3& translation, const Deriv3 &rotation, const Deriv3 &scale)
 {
     //TODO(dmarchal): It is unclear to me if this message should be a msg_ (for end user)
-    // or dmsg_ for developpers.
+    // or dmsg_ for developers.
     if (parent == nullptr){
         msg_warning("SceneCreator") << "Warning: parent node is nullptr. Returning Null Pointer." ;
         return nullptr;
@@ -573,7 +573,7 @@ simulation::Node::SPtr addPlane(simulation::Node::SPtr parent, const std::string
                                 const Deriv3& translation, const Deriv3 &rotation, const Deriv3 &scale)
 {
     //TODO(dmarchal): It is unclear to me if this message should be a msg_ (for end user)
-    // or dmsg_ for developpers.
+    // or dmsg_ for developers.
     if (parent == nullptr){
         msg_warning("SceneCreator") << " Parent node is nullptr. Returning Null Pointer." ;
         return nullptr;
diff --git a/applications/plugins/Sensable/NewOmniDriver.cpp b/applications/plugins/Sensable/NewOmniDriver.cpp
index 7bd587ea2a6..ded4863fabb 100644
--- a/applications/plugins/Sensable/NewOmniDriver.cpp
+++ b/applications/plugins/Sensable/NewOmniDriver.cpp
@@ -123,7 +123,7 @@ HDCallbackCode HDCALLBACK stateCallback(void * userData)
 
     //vector<NewOmniDriver*> autreOmniDriver = static_cast<vector<NewOmniDriver*>>(userData);
     //NewOmniData* data = static_cast<NewOmniData*>(userData);
-    //FIXME : Apparenlty, this callback is run before the mechanical state initialisation. I've found no way to know whether the mechcanical state is initialized or not, so i wait ...
+    //FIXME : Apparently, this callback is run before the mechanical state initialisation. I've found no way to know whether the mechcanical state is initialized or not, so i wait ...
 
     RigidTypes::VecCoord positionDevs;
     RigidTypes::VecDeriv forceDevs;
diff --git a/applications/plugins/Sensable/OmniDriver.cpp b/applications/plugins/Sensable/OmniDriver.cpp
index 38fa65f080e..df38dd2f33a 100644
--- a/applications/plugins/Sensable/OmniDriver.cpp
+++ b/applications/plugins/Sensable/OmniDriver.cpp
@@ -112,7 +112,7 @@ HDCallbackCode HDCALLBACK stateCallbackOmni(void *userData)
 
     //cout << "OmniDriver::stateCallback BEGIN" << endl;
     OmniData* data = static_cast<OmniData*>(userData);
-    //FIXME : Apparenlty, this callback is run before the mechanical state initialisation. I've found no way to know whether the mechcanical state is initialized or not, so i wait ...
+    //FIXME : Apparently, this callback is run before the mechanical state initialisation. I've found no way to know whether the mechcanical state is initialized or not, so i wait ...
     //static int wait = 0;
 
     if (data->servoDeviceData.stop)
diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_06.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_06.scn
index 234c4da54c2..aa3d3c290a1 100644
--- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_06.scn
+++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_06.scn
@@ -3,7 +3,7 @@ Using LCP contact detection and resolution:
  + Added a driver for the Omni phantom device 
  + Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation 
  + Added a computation (LCPForceFeedback) of the haptic forces 
- + Added VectorSpringForceField && JointSpringForceField to link the mouvements of the Omni phantom and the instrument
+ + Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument
 -->
 <Node name="root" dt="0.005">
     <RequiredPlugin name="SofaOpenglVisual"/>
diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_07.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_07.scn
index 10c9a4bf9ea..664a1f4eaac 100644
--- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_07.scn
+++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_07.scn
@@ -3,7 +3,7 @@ Using LCP contact detection and resolution:
  + Added a driver for the Omni phantom device 
  + Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation 
  + Added a computation (LCPForceFeedback) of the haptic forces 
- + Added VectorSpringForceField && JointSpringForceField to link the mouvements of the Omni phantom and the instrument
+ + Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument
 -->
 <Node name="root" dt="0.005">
     <RequiredPlugin name="SofaOpenglVisual"/>
diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_08.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_08.scn
index b7778b3dccb..b806d15d543 100644
--- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_08.scn
+++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgery_08.scn
@@ -3,7 +3,7 @@ Using LCP contact detection and resolution:
  + Added a driver for the Omni phantom device 
  + Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation 
  + Added a computation (LCPForceFeedback) of the haptic forces 
- + Added VectorSpringForceField && JointSpringForceField to link the mouvements of the Omni phantom and the instrument
+ + Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument
 -->
 <Node name="root" dt="0.005">
     <RequiredPlugin name="SofaOpenglVisual"/>
diff --git a/applications/plugins/SofaAssimp/AssimpLoader.cpp b/applications/plugins/SofaAssimp/AssimpLoader.cpp
index d292f93d631..f4a8451708d 100644
--- a/applications/plugins/SofaAssimp/AssimpLoader.cpp
+++ b/applications/plugins/SofaAssimp/AssimpLoader.cpp
@@ -94,7 +94,7 @@ bool AssimpLoader::doLoad()
     
     // And have it read the given file with some example postprocessing
     // Usually - if speed is not the most important aspect for you - you'll 
-    // propably to request more postprocessing than we do in this example.
+    // probably to request more postprocessing than we do in this example.
     m_assimpScene = (aiScene*)aiImportFile(filename, pp_Loadsteps);
        /* aiProcess_CalcTangentSpace |
         aiProcess_Triangulate |
diff --git a/applications/plugins/SofaAssimp/initAssimpPlugin.cpp b/applications/plugins/SofaAssimp/initAssimpPlugin.cpp
index 99d2bd3ae55..b6ab7c865c7 100644
--- a/applications/plugins/SofaAssimp/initAssimpPlugin.cpp
+++ b/applications/plugins/SofaAssimp/initAssimpPlugin.cpp
@@ -66,7 +66,7 @@ const char* getModuleLicense()
 
 const char* getModuleDescription()
 {
-    return "Use Assimp reader and write functionnalities into SOFA";
+    return "Use Assimp reader and write functionalities into SOFA";
 }
 
 const char* getModuleComponentList()
diff --git a/applications/plugins/SofaCUDA/CMakeLists.txt b/applications/plugins/SofaCUDA/CMakeLists.txt
index 343aa18e187..9ec20b48eda 100644
--- a/applications/plugins/SofaCUDA/CMakeLists.txt
+++ b/applications/plugins/SofaCUDA/CMakeLists.txt
@@ -230,7 +230,7 @@ set(CUDA_SOURCES
 sofa_find_package(Sofa.GL QUIET)
 if(NOT Sofa.GL_FOUND)
     message(WARNING "Sofa.GL is not active.")
-    message("OpenGL-related code wont be enabled (Sharing OpenGL buffers with CUDA)")
+    message("OpenGL-related code won't be enabled (Sharing OpenGL buffers with CUDA)")
 else()
     list(APPEND HEADER_FILES
         sofa/gpu/cuda/CudaVisualModel.h
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu
index 368d7741204..4d89ca12e59 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu
@@ -150,7 +150,7 @@ __global__ void CudaHexahedronTLEDForceField3f_calcForce_kernel0(
 
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
@@ -329,7 +329,7 @@ __global__ void CudaHexahedronTLEDForceField3f_calcForce_kernel1(
 
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
@@ -515,7 +515,7 @@ __global__ void CudaHexahedronTLEDForceField3f_calcForce_kernel2(
 
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
@@ -740,7 +740,7 @@ __global__ void CudaHexahedronTLEDForceField3f_calcForce_kernel3(
 
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMatrix.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMatrix.h
index 17ccf738a85..8fb6f13c6fe 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMatrix.h
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMatrix.h
@@ -147,7 +147,7 @@ class CudaMatrix
             const size_t oldpitch_host = pitch_host;
             pitch_host = d_x * sizeof(T);// new pitch_host larger than oldpitch_host : guarantee that data on the host are continuous
 
-            mycudaMallocPitch(&devicePointer, &pitch_device, d_x*sizeof(T), allocSizeY);// new pitch_device biger than oldpitch_device
+            mycudaMallocPitch(&devicePointer, &pitch_device, d_x*sizeof(T), allocSizeY);// new pitch_device bigger than oldpitch_device
             MemoryManager::hostAlloc( (void **) &hostPointer, pitch_host*allocSizeY);
 
             if (sizeX!=0 && sizeY!=0) {
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp
index d63d2968e7c..98bb227321c 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp
@@ -191,7 +191,7 @@ void CudaTetrahedronTLEDForceField::reinit()
             }
         }
 
-        // Tesselation of each cube into 6 tetrahedra
+        // Tessellation of each cube into 6 tetrahedra
         inputElems.reserve(nbcubes*6);
         for (int i=0; i<nbcubes; i++)
         {
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu
index e7c2b052279..218cbfe1cf2 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu
@@ -137,7 +137,7 @@ __global__ void CudaTetrahedronTLEDForceField3f_calcForce_kernel_tet0(
         XT[2][2] = Dh2.x*Node1Disp.z + Dh2.y*Node2Disp.z + Dh2.z*Node3Disp.z + Dh2.w*Node4Disp.z + 1.0f;
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
@@ -277,7 +277,7 @@ __global__ void CudaTetrahedronTLEDForceField3f_calcForce_kernel_tet1(
         XT[2][2] = Dh2.x*Node1Disp.z + Dh2.y*Node2Disp.z + Dh2.z*Node3Disp.z + Dh2.w*Node4Disp.z + 1.0f;
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
@@ -426,7 +426,7 @@ __global__ void CudaTetrahedronTLEDForceField3f_calcForce_kernel_tet2(
         XT[2][2] = Dh2.x*Node1Disp.z + Dh2.y*Node2Disp.z + Dh2.z*Node3Disp.z + Dh2.w*Node4Disp.z + 1.0f;
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
@@ -612,7 +612,7 @@ __global__ void CudaTetrahedronTLEDForceField3f_calcForce_kernel_tet3(
         XT[2][2] = Dh2.x*Node1Disp.z + Dh2.y*Node2Disp.z + Dh2.z*Node3Disp.z + Dh2.w*Node4Disp.z + 1.0f;
 
         /**
-        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symetric)
+        * Computes the right Cauchy-Green deformation tensor C = XT*X (in fact we compute only 6 terms since C is symmetric)
         */
         float C11, C12, C13, C22, C23, C33;
         C11 = XT[0][0]*XT[0][0] + XT[0][1]*XT[0][1] + XT[0][2]*XT[0][2];
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h
index 2a9faa2cfe2..5df6a461fc6 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h
@@ -86,7 +86,7 @@ class CudaVectorTypes
     static void setDPos(Deriv& d, const DPos& v) { d = v; }
 
 
-    /// @internal size dependant specializations
+    /// @internal size dependent specializations
     /// @{
 
     /// default implementation for size >= 3
diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h
index 357d55f9ee2..916b9718454 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h
@@ -77,7 +77,7 @@ class CudaVisualModel : public core::visual::VisualModel
     int nbElement; ///< number of elements
     int nbVertex; ///< number of vertices to process to compute all elements
     int nbElementPerVertex; ///< max number of elements connected to a vertex
-    /// Index of elements attached to each points (layout per bloc of NBLOC vertices, with first element of each vertex, then second element, etc)
+    /// Index of elements attached to each points (layout per block of NBLOC vertices, with first element of each vertex, then second element, etc)
     gpu::cuda::CudaVector<int> velems;
 
     Data<type::Vec4f> matAmbient; ///< material ambient color
@@ -132,9 +132,9 @@ class CudaVisualModel : public core::visual::VisualModel
 
     void setV(int vertex, int num, int index)
     {
-        const int bloc = vertex/BSIZE;
+        const int block = vertex/BSIZE;
         const int b_x  = vertex%BSIZE;
-        velems[ bloc*BSIZE*nbElementPerVertex // start of the bloc
+        velems[ block*BSIZE*nbElementPerVertex // start of the block
                 + num*BSIZE                     // offset to the element
                 + b_x                           // offset to the vertex
               ] = index+1;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl
index 6042beabb6e..8f2ef0afc67 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/response/contact/CudaPenalityContactForceField.inl
@@ -179,7 +179,7 @@ void PenalityContactForceField<CudaVec3fTypes>::addDForce(const core::Mechanical
             Coord du = dx2[i]-dx1[i];
             Coord norm(c[0],c[1],c[2]);
             Real dpen = - du*norm;
-            //if (c.pen < 0) dpen += c.pen; // start penality at distance 0
+            //if (c.pen < 0) dpen += c.pen; // start penalty at distance 0
             //Real dfN = c.ks * dpen;
             Deriv dforce = -norm*(dpen*kFactor); //dfN;
             df1[i]+=dforce;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f.cpp
index 78039dbf244..4ec1b36e0ad 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f.cpp
@@ -250,7 +250,7 @@ void BarycentricMapperMeshTopology<CudaVec3fTypes,CudaVec3fTypes>::resize( core:
 
 ////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////
-// Spread the instanciations over multiple files for more efficient and lightweight compilation
+// Spread the instantiations over multiple files for more efficient and lightweight compilation
 
 // Instantiations involving only CudaVec3fTypes
 template class SOFA_GPU_CUDA_API BarycentricMapping< CudaVec3fTypes, CudaVec3fTypes>;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-3f.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-3f.cpp
index 62549453c1f..3622e7a752d 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-3f.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-3f.cpp
@@ -408,9 +408,9 @@ void BarycentricMapperMeshTopology<CudaVec3fTypes,CudaVec3f1Types>::resize( core
 
 ////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////
-// Spread the instanciations over multiple files for more efficient and lightweight compilation
+// Spread the instantiations over multiple files for more efficient and lightweight compilation
 
-// instanciations involving CudaVec3f1Types with CudaVec3fTypes
+// instantiations involving CudaVec3f1Types with CudaVec3fTypes
 
 template class SOFA_GPU_CUDA_API BarycentricMapping< CudaVec3f1Types, CudaVec3fTypes>;
 template class SOFA_GPU_CUDA_API BarycentricMapping< CudaVec3fTypes, CudaVec3f1Types>;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-d.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-d.cpp
index aab64d19366..4ff9260c226 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-d.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-d.cpp
@@ -32,9 +32,9 @@ using namespace sofa::core;
 using namespace sofa::core::behavior;
 using namespace sofa::gpu::cuda;
 
-// Spread the instanciations over multiple files for more efficient and lightweight compilation
+// Spread the instantiations over multiple files for more efficient and lightweight compilation
 
-// instanciations involving both CudaVec3f1Types and Vec3dTypes
+// instantiations involving both CudaVec3f1Types and Vec3dTypes
 
 
 
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-f.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-f.cpp
index 5cd861a0b7c..61862e6bdad 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-f.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1-f.cpp
@@ -36,9 +36,9 @@ using namespace sofa::core;
 using namespace sofa::core::behavior;
 using namespace sofa::gpu::cuda;
 
-// Spread the instanciations over multiple files for more efficient and lightweight compilation
+// Spread the instantiations over multiple files for more efficient and lightweight compilation
 
-// instanciations involving both CudaVec3f1Types and Vec3fTypes
+// instantiations involving both CudaVec3f1Types and Vec3fTypes
 
 
 } // namespace component::mapping
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1.cpp
index fea6f7e1bd4..c411530e6d4 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-3f1.cpp
@@ -225,9 +225,9 @@ void BarycentricMapperMeshTopology<CudaVec3f1Types,CudaVec3f1Types>::resize( cor
 
 ////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////
-// Spread the instanciations over multiple files for more efficient and lightweight compilation
+// Spread the instantiations over multiple files for more efficient and lightweight compilation
 
-// instanciations involving only CudaVec3f1Types with CudaVec3f1Types
+// instantiations involving only CudaVec3f1Types with CudaVec3f1Types
 
 template class SOFA_GPU_CUDA_API BarycentricMapping< CudaVec3f1Types, CudaVec3f1Types>;
 
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-f.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-f.cpp
index 044cd32411c..62f78160fa3 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-f.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping-f.cpp
@@ -37,7 +37,7 @@ using namespace sofa::core::behavior;
 using namespace sofa::gpu::cuda;
 
 
-// Spread the instanciations over multiple files for more efficient and lightweight compilation. See CudaBarycentricMapping-*.cpp files.
+// Spread the instantiations over multiple files for more efficient and lightweight compilation. See CudaBarycentricMapping-*.cpp files.
 
 // Instantiations involving both CudaVec3fTypes and Vec3fTypes
 
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.cpp
index 7cd2cf9c3d7..39d994729b7 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.cpp
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.cpp
@@ -33,7 +33,7 @@ using namespace sofa::core::behavior;
 using namespace sofa::gpu::cuda;
 
 
-// Spread the instanciations over multiple files for more efficient and lightweight compilation. See CudaBarycentricMapping-*.cpp files.
+// Spread the instantiations over multiple files for more efficient and lightweight compilation. See CudaBarycentricMapping-*.cpp files.
 
 // Instantiations involving both CudaVec3fTypes and Vec3dTypes
 template class SOFA_GPU_CUDA_API BarycentricMapping< Vec3Types, CudaVec3Types>;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.inl
index c5895413dfd..8e5026922ac 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.inl
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/mapping/linear/CudaBarycentricMapping.inl
@@ -162,7 +162,7 @@ void BarycentricMapperRegularGridTopology<gpu::cuda::CudaVectorTypes<VecIn,VecIn
         for (Index i=0; i<insize; i++)
             if (Index(nout[i]) > maxNOut) maxNOut = nout[i];
         const int nbloc = (insize+BSIZE-1)/BSIZE;
-        msg_info() << "CudaBarycentricMapping: mapT with "<<maxNOut<<" entries per DOF and "<<nbloc<<" blocs.";
+        msg_info() << "CudaBarycentricMapping: mapT with "<<maxNOut<<" entries per DOF and "<<nbloc<<" blocks.";
         mapT.resize(nbloc*(BSIZE*maxNOut));
         for (unsigned int i=0; i<mapT.size(); i++)
             mapT[i] = std::make_pair(-1,0.0f);
@@ -648,7 +648,7 @@ void BarycentricMapperMeshTopology<gpu::cuda::CudaVectorTypes<VecIn,VecIn,float>
                 addPointInCube(index-c0, coefs.ptr());
         }
     }
-    msg_info() << "CUDA: BarycentricMapperMeshTopology: map initialized, "<<size<<" output points, " << outside << " points ouside input mesh, max "<<maxNIn<<" inputs points per output, "<<map.size()*BSIZE<<" contributions total.";
+    msg_info() << "CUDA: BarycentricMapperMeshTopology: map initialized, "<<size<<" output points, " << outside << " points outside input mesh, max "<<maxNIn<<" inputs points per output, "<<map.size()*BSIZE<<" contributions total.";
 }
 
 
@@ -681,7 +681,7 @@ void BarycentricMapperMeshTopology<gpu::cuda::CudaVectorTypes<VecIn,VecIn,float>
         for (Index i=0; i<Index(insize); i++)
             if (Index(nout[i]) > maxNOut) maxNOut = nout[i];
         const int nbloc = (insize+BSIZE-1)/BSIZE;
-        msg_info() << "CudaBarycentricMapping: mapT with "<<maxNOut<<" entries per DOF and "<<nbloc<<" blocs.";
+        msg_info() << "CudaBarycentricMapping: mapT with "<<maxNOut<<" entries per DOF and "<<nbloc<<" blocks.";
         mapT.clear();
         mapT.resize(nbloc*maxNOut);
         //for (unsigned int i=0;i<mapT.size();i++)
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
index 23be7504c10..1e39d2bfdd4 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
@@ -181,7 +181,7 @@ class HexahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord, TD
     int GATHER_PT;
     int GATHER_BSIZE;
 
-    /// Index of elements attached to each points (layout per bloc of NBLOC vertices, with first element of each vertex, then second element, etc)
+    /// Index of elements attached to each points (layout per block of NBLOC vertices, with first element of each vertex, then second element, etc)
     /// Note that each integer is actually equal to the index of the element * 8 + the index of this vertex inside the hexahedron.
     gpu::cuda::CudaVector<int> velems;
 
@@ -217,9 +217,9 @@ class HexahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord, TD
     void setV(int vertex, int num, int index)
     {
         vertex -= vertex0;
-        const int bloc = vertex/BSIZE;
+        const int block = vertex/BSIZE;
         const int b_x = vertex%BSIZE;
-        velems[ bloc*BSIZE*nbElementPerVertex // start of the bloc
+        velems[ block*BSIZE*nbElementPerVertex // start of the block
               + num*BSIZE                     // offset to the element
               + b_x                           // offset to the vertex
               ] = index+1;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h
index d9133a5a4f4..2af9fdf1f33 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h
@@ -190,7 +190,7 @@ class TetrahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord,TD
     int vertex0; ///< index of the first vertex connected to an element
     int nbVertex; ///< number of vertices to process to compute all elements
     int nbElementPerVertex; ///< max number of elements connected to a vertex
-    /// Index of elements attached to each points (layout per bloc of NBLOC vertices, with first element of each vertex, then second element, etc)
+    /// Index of elements attached to each points (layout per block of NBLOC vertices, with first element of each vertex, then second element, etc)
     /// Note that each integer is actually equat the the index of the element * 4 + the index of this vertex inside the tetrahedron.
     int GATHER_PT;
     int GATHER_BSIZE;
@@ -220,9 +220,9 @@ class TetrahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord,TD
     void setV(int vertex, int num, int index)
     {
         vertex -= vertex0;
-        const int bloc = vertex/BSIZE;
+        const int block = vertex/BSIZE;
         const int b_x  = vertex%BSIZE;
-        velems[ bloc*BSIZE*nbElementPerVertex // start of the bloc
+        velems[ block*BSIZE*nbElementPerVertex // start of the block
                 + num*BSIZE                     // offset to the element
                 + b_x                           // offset to the vertex
               ] = index+1;
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/spring/CudaSpringForceField.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/spring/CudaSpringForceField.h
index 9cc83fc0086..6356c18b1c9 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/spring/CudaSpringForceField.h
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/spring/CudaSpringForceField.h
@@ -89,7 +89,7 @@ namespace sofa::component::solidmechanics::spring
             int vertex0; ///< index of the first vertex connected to a spring
             int nbVertex; ///< number of vertices to process to compute all springs
             int nbSpringPerVertex; ///< max number of springs connected to a vertex
-            gpu::cuda::CudaVector<GPUSpring> springs; ///< springs attached to each points (layout per bloc of NBLOC vertices, with first spring of each vertex, then second spring, etc)
+            gpu::cuda::CudaVector<GPUSpring> springs; ///< springs attached to each points (layout per block of NBLOC vertices, with first spring of each vertex, then second spring, etc)
             gpu::cuda::CudaVector<Real> dfdx;
             GPUSpringSet() : vertex0(0), nbVertex(0), nbSpringPerVertex(0) {}
             void init(int v0, int nbv, int nbsperv)
@@ -102,13 +102,13 @@ namespace sofa::component::solidmechanics::spring
             }
             void set(int vertex, int spring, int index, float initpos, float ks, float kd)
             {
-                const int bloc = vertex / BSIZE;
+                const int block = vertex / BSIZE;
                 const int b_x = vertex % BSIZE;
-                springs[2 * bloc * BSIZE * nbSpringPerVertex // start of the bloc
+                springs[2 * block * BSIZE * nbSpringPerVertex // start of the block
                     + 2 * spring * BSIZE                 // offset to the spring
                     + b_x                          // offset to the vertex
                 ].set(index, initpos, ks, kd);
-                (*(GPUSpring2*)&(springs[2 * bloc * BSIZE * nbSpringPerVertex // start of the bloc
+                (*(GPUSpring2*)&(springs[2 * block * BSIZE * nbSpringPerVertex // start of the block
                     + 2 * spring * BSIZE                 // offset to the spring
                     + b_x + BSIZE                    // offset to the vertex
                 ])).set(index, initpos, ks, kd);
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.cu b/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.cu
index 4562b1cb829..6790785bbe3 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.cu
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.cu
@@ -2255,7 +2255,7 @@ void MechanicalObjectCudaVec1f_vDot(unsigned int size, float* res, const void* a
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<float>*/ <<< grid, threads , RED_BSIZE * sizeof(float) >>>(size, (float*)tmp, (const float*)a, (const float*)b);
         if (nblocs == 1)
         {
@@ -2294,7 +2294,7 @@ void MechanicalObjectCudaVec2f_vDot(unsigned int size, float* res, const void* a
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<float>*/ <<< grid, threads , RED_BSIZE * sizeof(float) >>>(size, (float*)tmp, (const float*)a, (const float*)b);
         if (nblocs == 1)
         {
@@ -2339,7 +2339,7 @@ void MechanicalObjectCudaVec3f_vDot(unsigned int size, float* res, const void* a
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<float>*/ <<< grid, threads , RED_BSIZE * sizeof(float) >>>(size, (float*)tmp, (const float*)a, (const float*)b);
         if (nblocs == 1)
         {
@@ -2384,7 +2384,7 @@ void MechanicalObjectCudaVec3f1_vDot(unsigned int size, float* res, const void*
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<float>*/ <<< grid, threads , RED_BSIZE * sizeof(float) >>>(size, (float*)tmp, (const float*)a, (const float*)b);
         if (nblocs == 1)
         {
@@ -2429,7 +2429,7 @@ void MechanicalObjectCudaVec6f_vDot(unsigned int size, float* res, const void* a
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<float>*/ <<< grid, threads , RED_BSIZE * sizeof(float) >>>(size, (float*)tmp, (const float*)a, (const float*)b);
         if (nblocs == 1)
         {
@@ -2474,7 +2474,7 @@ void MechanicalObjectCudaRigid3f_vDot(unsigned int size, float* res, const void*
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<float>*/ <<< grid, threads , RED_BSIZE * sizeof(float) >>>(size, (float*)tmp, (const float*)a, (const float*)b);
         if (nblocs == 1)
         {
@@ -3071,7 +3071,7 @@ void MechanicalObjectCudaVec2d_vDot(unsigned int size, double* res, const void*
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<double>*/ <<< grid, threads , RED_BSIZE * sizeof(double) >>>(size, (double*)tmp, (const double*)a, (const double*)b);
         if (nblocs == 1)
         {
@@ -3116,7 +3116,7 @@ void MechanicalObjectCudaVec3d_vDot(unsigned int size, double* res, const void*
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<double>*/ <<< grid, threads , RED_BSIZE * sizeof(double) >>>(size, (double*)tmp, (const double*)a, (const double*)b);
         if (nblocs == 1)
         {
@@ -3161,7 +3161,7 @@ void MechanicalObjectCudaVec3d1_vDot(unsigned int size, double* res, const void*
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<double>*/ <<< grid, threads , RED_BSIZE * sizeof(double) >>>(size, (double*)tmp, (const double*)a, (const double*)b);
         if (nblocs == 1)
         {
@@ -3206,7 +3206,7 @@ void MechanicalObjectCudaVec6d_vDot(unsigned int size, double* res, const void*
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<double>*/ <<< grid, threads , RED_BSIZE * sizeof(double) >>>(size, (double*)tmp, (const double*)a, (const double*)b);
         if (nblocs == 1)
         {
@@ -3251,7 +3251,7 @@ void MechanicalObjectCudaRigid3d_vDot(unsigned int size, double* res, const void
         if (nblocs > 256) nblocs = 256;
         dim3 threads(RED_BSIZE,1);
         dim3 grid(nblocs,1);
-        //myprintf("size=%d, blocs=%dx%d\n",size,nblocs,RED_BSIZE);
+        //myprintf("size=%d, blocks=%dx%d\n",size,nblocs,RED_BSIZE);
         MechanicalObjectCudaVec_vDot_kernel /*<double>*/ <<< grid, threads , RED_BSIZE * sizeof(double) >>>(size, (double*)tmp, (const double*)a, (const double*)b);
         if (nblocs == 1)
         {
diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.inl
index 7caa05432e3..ddb03b7d716 100644
--- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.inl
+++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/statecontainer/CudaMechanicalObject.inl
@@ -1322,7 +1322,7 @@ void MechanicalObjectInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TRea
 
         (ops[0].first.getId(m).type == sofa::core::V_COORD) ? m->write(core::VecCoordId(ops[0].first.getId(m)))->endEdit() : m->write(core::VecDerivId(ops[0].first.getId(m)))->endEdit();
     }
-    // optimize the solve for MCNAB sovler
+    // optimize the solve for MCNAB solver
     // 1) x += v*dt
     // 2) prevReac=reac
     // 3) prevDiff=diff
diff --git a/applications/plugins/SofaDistanceGrid/applications/meshconv/tesselate.cpp b/applications/plugins/SofaDistanceGrid/applications/meshconv/tesselate.cpp
index af338aa83b1..3b74aa71eb7 100644
--- a/applications/plugins/SofaDistanceGrid/applications/meshconv/tesselate.cpp
+++ b/applications/plugins/SofaDistanceGrid/applications/meshconv/tesselate.cpp
@@ -88,7 +88,7 @@ void tesselateMesh(Mesh& obj, int rec=1, bool onSphere=false)
 
     for (int r=0; r<rec; r++)
     {
-        std::cout << "Tesselation level "<<r+1<<"..."<<std::endl;
+        std::cout << "Tessellation level "<<r+1<<"..."<<std::endl;
         obj.calcEdges();
 
         std::cout << "Creating new points..."<<std::endl;
@@ -235,7 +235,7 @@ void tesselateMesh(Mesh& obj, int rec=1, bool onSphere=false)
                 projectOnSphere(obj.PP(i),obj.PN(i),center,radius[0]);
             obj.calcNormals();
         }
-        std::cout << "Tesselation level "<<r<<" DONE: "<<obj.nbp()<<" points, "<<obj.nbf()<<" faces."<<std::endl;
+        std::cout << "Tessellation level "<<r<<" DONE: "<<obj.nbp()<<" points, "<<obj.nbf()<<" faces."<<std::endl;
     }
     if (!groups)
     {
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/mesh.h b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/mesh.h
index cb977e00f08..4e1a6f9463d 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/mesh.h
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/mesh.h
@@ -368,7 +368,7 @@ class Mesh
   /// Check if the mesh is closed
   bool isClosed();
 
-  /// Close the mesh, creating intermediate vertices no further appart than given dist.
+  /// Close the mesh, creating intermediate vertices no further apart than given dist.
   /// Note: the mesh must be correctly flipped
   void closeDist(float dist);
 
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/noise.h b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/noise.h
index 7ed5aa528ac..6eff19cff69 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/noise.h
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/flowvr/render/noise.h
@@ -82,7 +82,7 @@ inline float rrand()
 
 // a nice piecewise-cubic spline function, defined between 0.0<=x<=2.0
 // approximates a windowed sinc function - negative lobes (sharpens slightly)
-// using a = -0.75 = contraint parameter -0.5<=a<=-1.0 recommended
+// using a = -0.75 = constraint parameter -0.5<=a<=-1.0 recommended
 inline float cubic(float x)
 {
   const float a = -0.75;
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/cmdline.h b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/cmdline.h
index 5ae04d7e6ef..1a86753d9cf 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/cmdline.h
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/cmdline.h
@@ -306,7 +306,7 @@ class CmdLine
   /** Parse the arguments.
    * @param error Pointer to a boolean for retrieving if the command line has errors.
    * @return True if the program should continue, false if the program should end
-   *  (either because the option --help was used or because an error occured).
+   *  (either because the option --help was used or because an error occurred).
    */
   bool parse(int argc, char** argv, bool* error=NULL);
 
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/mat.h b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/mat.h
index 96f89ec685b..d0b0edb6b8a 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/mat.h
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/mat.h
@@ -130,7 +130,7 @@ class Mat : public fixed_array<Vec<C,real>,L>
     return c;
   }
 
-  /// Write acess to line i.
+  /// Write access to line i.
   Line& operator[](int i)
   {
     return this->elems[i];
@@ -142,7 +142,7 @@ class Mat : public fixed_array<Vec<C,real>,L>
     return this->elems[i];
   }
 
-  /// Write acess to line i.
+  /// Write access to line i.
   Line& operator()(int i)
   {
     return this->elems[i];
@@ -203,7 +203,7 @@ class Mat : public fixed_array<Vec<C,real>,L>
   const Line& x() const { static_assert(L >= 1, ""); return this->elems[0]; }
   /// Special access to second line (read-only).
   const Line& y() const { static_assert(L >= 2, ""); return this->elems[1]; }
-  /// Special access to thrid line (read-only).
+  /// Special access to third line (read-only).
   const Line& z() const { static_assert(L >= 3, ""); return this->elems[2]; }
   /// Special access to fourth line (read-only).
   const Line& w() const { static_assert(L >= 4, ""); return this->elems[3]; }
@@ -557,7 +557,7 @@ Mat4x4f matrixTransform(const Vec3f& pos, const Vec3f& scale);
 Mat4x4f matrixTransform(const Vec3f& pos, float scale);
 Mat4x4f matrixTransform(const Vec3f& pos);
 
-// Assignement from typed data
+// Assignment from typed data
 
 namespace Type
 {
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/quat.h b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/quat.h
index eec6f3dc068..24ccea1b7af 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/quat.h
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/include/ftl/quat.h
@@ -86,7 +86,7 @@ class Quat
 
 };
 
-// Assignement from typed data
+// Assignment from typed data
 
 namespace Type
 {
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/ftlm/quat.cpp b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/ftlm/quat.cpp
index e2d8a7ee75f..c56e697051f 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/ftlm/quat.cpp
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/ftlm/quat.cpp
@@ -280,7 +280,7 @@ bool Quat::isIdentity() const
   return w>=1.0f;
 }
 
-// Assignement from typed data
+// Assignment from typed data
 
 namespace Type
 {
diff --git a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/librender/mesh_io_obj.cpp b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/librender/mesh_io_obj.cpp
index af92ba64bf9..630491bbf4b 100644
--- a/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/librender/mesh_io_obj.cpp
+++ b/applications/plugins/SofaDistanceGrid/extlibs/miniFlowVR/src/librender/mesh_io_obj.cpp
@@ -222,7 +222,7 @@ class MeshObjData
 	mat.shininess = (float)strtod(skip(c),(char**)&c);
       }
       else if (t == "Tf")
-      { // transmisssion filter
+      { // transmission filter
 	mat.alpha = readColor(c)[0];
       }
       else if (t == "d")
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h
index d011c6c8f21..a003e79d812 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h
@@ -37,7 +37,7 @@ namespace sofa::helper::io
 ////// DistanceGrid declaration
 namespace sofa
 {
-//todo(dmarchal) I see no reason why this is into component as DistanceGrid obvisouly isn't one
+//todo(dmarchal) I see no reason why this is into component as DistanceGrid obviously isn't one
 // can someone suggest a refactoring to have things in the right location.
 namespace component
 {
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp
index 9848302edb8..066e9bb8f45 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp
@@ -399,7 +399,7 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid
 #if 0
             // -rotationT*translation is the position of cube2 center in cube1 space
             // we use its largest component as the dominant contact face normal
-            /// \TODO use the relative velocity as an additionnal factor
+            /// \TODO use the relative velocity as an additional factor
             type::Vec3 normal = rotation.multTranspose(-translation);
             //normal[2] *= 1.1f; // we like Z contact better ;)
             if (rabs(normal[0]) > rabs(normal[1]))
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h
index 5c16e45ea92..ab1ceadead0 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h
@@ -38,7 +38,7 @@ namespace component
 namespace forcefield
 {
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class DistanceGridForceFieldInternalData
 {
@@ -166,7 +166,7 @@ class DistanceGridForceField : public core::behavior::ForceField<DataTypes>
     Data<bool> drawPoints; ///< enable/disable drawing of distancegrid
     Data<Real> drawSize; ///< display size if draw is enabled
 
-    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)
+    /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)
     Data< type::Vec<2,int> > localRange;
 protected:
     DistanceGridForceField()
@@ -189,7 +189,7 @@ class DistanceGridForceField : public core::behavior::ForceField<DataTypes>
         , bDraw(initData(&bDraw, false, "draw", "enable/disable drawing of distancegrid"))
         , drawPoints(initData(&drawPoints, false, "drawPoints", "enable/disable drawing of distancegrid"))
         , drawSize(initData(&drawSize, (Real)10.0f, "drawSize", "display size if draw is enabled"))
-        , localRange( initData(&localRange, type::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)" ) )
+        , localRange( initData(&localRange, type::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning)" ) )
     {
         this->addAlias(&stiffnessIn,"stiffness");
         this->addAlias(&stiffnessOut,"stiffness");
diff --git a/applications/plugins/SofaHAPI/doc/Doxyfile b/applications/plugins/SofaHAPI/doc/Doxyfile
index a5b7d03580c..2b6957fe895 100644
--- a/applications/plugins/SofaHAPI/doc/Doxyfile
+++ b/applications/plugins/SofaHAPI/doc/Doxyfile
@@ -289,10 +289,10 @@ TYPEDEF_HIDES_STRUCT   = NO
 # For small to medium size projects (<1000 input files) the default value is 
 # probably good enough. For larger projects a too small cache size can cause 
 # doxygen to be busy swapping symbols to and from disk most of the time 
-# causing a significant performance penality. 
+# causing a significant performance penalty. 
 # If the system has enough physical memory increasing the cache will improve the 
 # performance by keeping more symbols in memory. Note that the value works on 
-# a logarithmic scale so increasing the size by one will rougly double the 
+# a logarithmic scale so increasing the size by one will roughly double the 
 # memory usage. The cache size is given by this formula: 
 # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, 
 # corresponding to a cache size of 2^16 = 65536 symbols
diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
index 5234a16f206..948cb9f820c 100644
--- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
+++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
@@ -162,7 +162,7 @@ void randMoving(sofa::core::CollisionModel* cm,const Vector3 & min_vect,const Ve
     Data<MechanicalObjectRigid3::VecCoord> & dpositions = *dof->write( sofa::core::VecId::position() );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *dof->write( sofa::core::VecId::velocity() );
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
 
@@ -417,7 +417,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -432,7 +432,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = New<sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types> >();
     obb->addObject(obbCollisionModel);
 
-    //editting the OBBModel
+    //editing the OBBModel
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::Real & def_ext = *(obbCollisionModel->default_ext.beginEdit());
     def_ext = default_extent;
 
diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h
index 5c7590a809e..d704f48b952 100644
--- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h
+++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h
@@ -84,7 +84,7 @@ inline sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Ty
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -98,7 +98,7 @@ inline sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Ty
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = New<sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>>();
     obb->addObject(obbCollisionModel);
 
-    //editting the OBBModel
+    //editing the OBBModel
     obbCollisionModel->init();
     Data<sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::VecCoord> & dVecCoord = obbCollisionModel->writeExtents();
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::VecCoord & vecCoord = *(dVecCoord.beginEdit());
@@ -130,7 +130,7 @@ inline sofa::component::collision::CapsuleCollisionModel<sofa::defaulttype::Vec3
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -150,7 +150,7 @@ inline sofa::component::collision::CapsuleCollisionModel<sofa::defaulttype::Vec3
     cap->addObject(capCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     capCollisionModel->init();
     Data<sofa::component::collision::CapsuleCollisionModel<sofa::defaulttype::Vec3Types>::VecReal>& dVecReal = capCollisionModel->writeRadii();
     sofa::component::collision::CapsuleCollisionModel<sofa::defaulttype::Vec3Types>::VecReal& vecReal = *(dVecReal.beginEdit());
diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp
index f3adc0e9e4e..a6abe0204f6 100644
--- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp
+++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp
@@ -104,7 +104,7 @@ sofa::component::collision::SphereCollisionModel<sofa::defaulttype::Rigid3Types>
 
     dpositions.endEdit();
 
-    //Editting the velocity of the Sphere
+    //Editing the velocity of the Sphere
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -118,7 +118,7 @@ sofa::component::collision::SphereCollisionModel<sofa::defaulttype::Rigid3Types>
     sph->addObject(sphCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     sphCollisionModel->init();
     Data<sofa::component::collision::SphereCollisionModel<sofa::defaulttype::Rigid3Types>::VecReal> & dVecReal = sphCollisionModel->radius;
     sofa::component::collision::SphereCollisionModel<sofa::defaulttype::Rigid3Types>::VecReal & vecReal = *(dVecReal.beginEdit());
@@ -550,7 +550,7 @@ bool TestCapOBB::edgeVertex(){
     return true;
 }
 
-//obb's edge 6-5 in intersection parallely with the capsule
+//obb's edge 6-5 in intersection parallelly with the capsule
 bool TestCapOBB::edgeEdge(){
     //first, we create the transformation to make the first OBB
     double angles[3];
@@ -599,7 +599,7 @@ bool TestCapOBB::edgeEdge(){
 }
 
 
-//obb's edge 6-5 in intersection parallely with the capsule
+//obb's edge 6-5 in intersection parallelly with the capsule
 bool TestCapOBB::vertexEdge(){
     //first, we create the transformation to make the first OBB
     double angles[3];
@@ -647,7 +647,7 @@ bool TestCapOBB::vertexEdge(){
 }
 
 
-//obb's edge 6-5 in intersection parallely with the capsule
+//obb's edge 6-5 in intersection parallelly with the capsule
 bool TestCapOBB::vertexVertex(){
     //first, we create the transformation to make the first OBB
     double angles[3];
diff --git a/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn b/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn
index 0531b6a07f9..b9cab087713 100644
--- a/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn
+++ b/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <!--
-	The mapping do that the beam do not fall in a symetric way. (try to delete the forcefield in the MappedTetrahedronA node) 
+	The mapping do that the beam do not fall in a symmetric way. (try to delete the forcefield in the MappedTetrahedronA node) 
 	Accuracy of matrix computation can compare with the iterative solver (CG) 
 -->
 <Node name="root" gravity="0 -9.8 0" dt="0.01">
diff --git a/applications/plugins/SofaOpenCL/OpenCLProgramParser.h b/applications/plugins/SofaOpenCL/OpenCLProgramParser.h
index 7e9f4e70d68..9207fefad14 100644
--- a/applications/plugins/SofaOpenCL/OpenCLProgramParser.h
+++ b/applications/plugins/SofaOpenCL/OpenCLProgramParser.h
@@ -54,15 +54,15 @@ class OpenCLProgramParser
         _program=*program;
     }
 
-    // find args used by the fonction
+    // find args used by the function
     void parseFonction(std::string name = "__OP__")
     {
-        //find the name of the fonction
+        //find the name of the function
         int begin = _operation.find(name);
         begin = _operation.find("(",begin+name.size());
         int end = _operation.find(")",begin);
 
-        //find args of the fonction
+        //find args of the function
         int i,n;
         int j=begin;
         while(begin<=j && j<end)
@@ -86,16 +86,16 @@ class OpenCLProgramParser
         			std::cout << (*it).first << " => " << (*it).second << std::endl;*/
     }
 
-    // find args used by the program for fonction
+    // find args used by the program for function
     void parseProgram(int beginParser, int &beginFunction, int &endFunction,std::string name = "__OP__")
     {
-        //find the fonction
+        //find the function
         beginFunction = _program.find(name,beginParser);
         int beginArg = _program.find("(",beginFunction);
         endFunction = _program.find(")",beginFunction);
 
 
-        //find args of the fonction
+        //find args of the function
         int i,n;
         int j=beginArg;
         std::map<std::string,std::string>::iterator it=_map.begin();
diff --git a/applications/plugins/SofaOpenCL/OpenCLSpringForceField.h b/applications/plugins/SofaOpenCL/OpenCLSpringForceField.h
index 568837f18a5..52a91ddfa34 100644
--- a/applications/plugins/SofaOpenCL/OpenCLSpringForceField.h
+++ b/applications/plugins/SofaOpenCL/OpenCLSpringForceField.h
@@ -103,7 +103,7 @@ class SpringForceFieldInternalData< gpu::opencl::OpenCLVectorTypes<TCoord,TDeriv
         int vertex0; ///< index of the first vertex connected to a spring
         int nbVertex; ///< number of vertices to process to compute all springs
         int nbSpringPerVertex; ///< max number of springs connected to a vertex
-        gpu::opencl::OpenCLVector<GPUSpring> springs; ///< springs attached to each points (layout per bloc of NBLOC vertices, with first spring of each vertex, then second spring, etc)
+        gpu::opencl::OpenCLVector<GPUSpring> springs; ///< springs attached to each points (layout per block of NBLOC vertices, with first spring of each vertex, then second spring, etc)
         gpu::opencl::OpenCLVector<Real> dfdx; ///< only used for StiffSpringForceField
         GPUSpringSet() : vertex0(0), nbVertex(0), nbSpringPerVertex(0) {}
         void init(int v0, int nbv, int nbsperv)
@@ -116,13 +116,13 @@ class SpringForceFieldInternalData< gpu::opencl::OpenCLVectorTypes<TCoord,TDeriv
         }
         void set(int vertex, int spring, int index, float initpos, float ks, float kd)
         {
-            int bloc = vertex/BSIZE;
+            int block = vertex/BSIZE;
             int b_x  = vertex%BSIZE;
-            springs[ 2*bloc*BSIZE*nbSpringPerVertex // start of the bloc
+            springs[ 2*block*BSIZE*nbSpringPerVertex // start of the block
                     + 2*spring*BSIZE                 // offset to the spring
                     + b_x                          // offset to the vertex
                    ].set(index, initpos, ks, kd);
-            (*(GPUSpring2*)&(springs[ 2*bloc*BSIZE*nbSpringPerVertex // start of the bloc
+            (*(GPUSpring2*)&(springs[ 2*block*BSIZE*nbSpringPerVertex // start of the block
                     + 2*spring*BSIZE                 // offset to the spring
                     + b_x+BSIZE                    // offset to the vertex
                                     ])).set(index, initpos, ks, kd);
diff --git a/applications/plugins/SofaSimpleGUI/PickedPoint.h b/applications/plugins/SofaSimpleGUI/PickedPoint.h
index 87f96ca53ce..640bb9079b9 100644
--- a/applications/plugins/SofaSimpleGUI/PickedPoint.h
+++ b/applications/plugins/SofaSimpleGUI/PickedPoint.h
@@ -16,7 +16,7 @@ namespace sofa::simplegui
 /**
  * @brief The PickedPoint struct represents a vertex of a State, typically picked using the mouse.
  * It is returned by the Sofa interface to the user application to set up an interaction.
- * We call it vaild if it corresponds to a valid index of an existing mechanical state, and invalid if not so (the pointer to the mechanical state is null)
+ * We call it valid if it corresponds to a valid index of an existing mechanical state, and invalid if not so (the pointer to the mechanical state is null)
  * @author Francois Faure, 2014
  */
 struct SOFA_SOFASIMPLEGUI_API PickedPoint
diff --git a/applications/plugins/SofaSimpleGUI/SimpleGUI.dox b/applications/plugins/SofaSimpleGUI/SimpleGUI.dox
index 3f2c231bca0..b01676e9893 100644
--- a/applications/plugins/SofaSimpleGUI/SimpleGUI.dox
+++ b/applications/plugins/SofaSimpleGUI/SimpleGUI.dox
@@ -11,7 +11,7 @@ This plugin proposes a simple API to include Sofa in a graphics interface:
 
 The main differences with the standard Sofa GUI are:
 
-- The main loop is controled by the user application
+- The main loop is controlled by the user application
 - No viewer nor camera are provided, but helpers are available in SofaGL
 - Picking simply returns basic information about the particle under the cursor:
   PickedPoint. Based on this, it is the application's job to create, manage and
diff --git a/applications/plugins/SofaSimpleGUI/SofaScene.h b/applications/plugins/SofaSimpleGUI/SofaScene.h
index 11565dbbb5e..83de56ad63b 100644
--- a/applications/plugins/SofaSimpleGUI/SofaScene.h
+++ b/applications/plugins/SofaSimpleGUI/SofaScene.h
@@ -58,7 +58,7 @@ class SOFA_SOFASIMPLEGUI_API  SofaScene
      */
     void setScene( simulation::Node* graph );
     /**
-     * @brief Print the scene graph on the standard ouput, for debugging.
+     * @brief Print the scene graph on the standard output, for debugging.
      */
     void printGraph();
     /**
diff --git a/applications/plugins/SofaTest/BroadPhase_test.h b/applications/plugins/SofaTest/BroadPhase_test.h
index 4f2d05e7dcb..44ac2880e5e 100644
--- a/applications/plugins/SofaTest/BroadPhase_test.h
+++ b/applications/plugins/SofaTest/BroadPhase_test.h
@@ -147,7 +147,7 @@ void randMoving(sofa::core::CollisionModel* cm,const sofa::type::Vec3 & min_vect
     sofa::core::objectmodel::Data<MechanicalObjectRigid3::VecCoord> & dpositions = *dof->write( sofa::core::VecId::position() );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     sofa::core::objectmodel::Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *dof->write( sofa::core::VecId::velocity() );
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
 
@@ -403,7 +403,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     sofa::core::objectmodel::Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -418,7 +418,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::SPtr obbCollisionModel = sofa::core::objectmodel::New<sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types> >();
     obb->addObject(obbCollisionModel);
 
-    //editting the OBBModel
+    //editing the OBBModel
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::Real & def_ext = *(obbCollisionModel->default_ext.beginEdit());
     def_ext = default_extent;
 
diff --git a/applications/plugins/SofaTest/ForceField_test.h b/applications/plugins/SofaTest/ForceField_test.h
index 1c4f1ff8246..14d0012dee2 100644
--- a/applications/plugins/SofaTest/ForceField_test.h
+++ b/applications/plugins/SofaTest/ForceField_test.h
@@ -48,7 +48,7 @@ namespace sofa {
 
 
 /** @brief Helper for writing ForceField tests.
- * The constructor creates a root node and adds it a State and a ForceField (of the paremeter type of this template class).
+ * The constructor creates a root node and adds it a State and a ForceField (of the parameter type of this template class).
  * Pointers to node, state and force are available.
  * Deriving the ForceField test from this class makes it easy to write: just call function run_test with positions, velocities and the corresponding expected forces.
  * This function automatically checks not only the forces (function addForce), but also the stiffness (methods addDForce and addKToMatrix), using finite differences.
@@ -79,7 +79,7 @@ struct ForceField_test : public Sofa_test<typename _ForceFieldType::DataTypes::R
     /// @name Precision and control parameters
     /// {
     SReal errorMax;       ///< tolerance in precision test. The actual value is this one times the epsilon of the Real numbers (typically float or double)
-    SReal errorFactorPotentialEnergy;  ///< The test for potential energy is successfull if the (infinite norm of the) difference is less than  errorFactorPotentialEnergy * errorMax *epsilon (default = 1)
+    SReal errorFactorPotentialEnergy;  ///< The test for potential energy is successful if the (infinite norm of the) difference is less than  errorFactorPotentialEnergy * errorMax *epsilon (default = 1)
     /**
      * @brief Minimum/Maximum amplitudes of the random perturbation used to check the stiffness using finite differences
      * @warning Should be more than errorMax/stiffness. This is not checked automatically.
diff --git a/applications/plugins/SofaTest/InitPlugin_test.h b/applications/plugins/SofaTest/InitPlugin_test.h
index 58dea36b8ca..7307fa24fc3 100644
--- a/applications/plugins/SofaTest/InitPlugin_test.h
+++ b/applications/plugins/SofaTest/InitPlugin_test.h
@@ -97,7 +97,7 @@ Other solver tests are available in Compliant_test: AssembledSolver_test and Dam
 
 Some projective constraint tests are available in SofaTest_test: LineProjectiveConstraint and ProjectToPlaneConstraint.
 
-- Engine test: To test engine you set input values and check if the ouput values correspond to the expected ones. The test Engine_test tests if the update method is called only if necessary. To test this a minimal engine TestEngine was created with a counter in its update method.
+- Engine test: To test engine you set input values and check if the output values correspond to the expected ones. The test Engine_test tests if the update method is called only if necessary. To test this a minimal engine TestEngine was created with a counter in its update method.
 
 
 <h3> Test entirely written in python </h3>
diff --git a/applications/plugins/SofaTest/Mapping_test.h b/applications/plugins/SofaTest/Mapping_test.h
index 9e3fbb6b799..507283e179f 100644
--- a/applications/plugins/SofaTest/Mapping_test.h
+++ b/applications/plugins/SofaTest/Mapping_test.h
@@ -112,8 +112,8 @@ struct Mapping_test: public Sofa_test<typename _Mapping::Real>
     simulation::Node::SPtr root;         ///< Root of the scene graph, created by the constructor an re-used in the tests
     simulation::Simulation* simulation;  ///< created by the constructor an re-used in the tests
     std::pair<Real,Real> deltaRange; ///< The minimum and maximum magnitudes of the change of each scalar value of the small displacement is perturbation * numeric_limits<Real>::epsilon. This epsilon is 1.19209e-07 for float and 2.22045e-16 for double.
-    Real errorMax;     ///< The test is successfull if the (infinite norm of the) difference is less than  errorMax * numeric_limits<Real>::epsilon
-    Real errorFactorDJ;     ///< The test for geometric stiffness is successfull if the (infinite norm of the) difference is less than  errorFactorDJ * errorMax * numeric_limits<Real>::epsilon
+    Real errorMax;     ///< The test is successful if the (infinite norm of the) difference is less than  errorMax * numeric_limits<Real>::epsilon
+    Real errorFactorDJ;     ///< The test for geometric stiffness is successful if the (infinite norm of the) difference is less than  errorFactorDJ * errorMax * numeric_limits<Real>::epsilon
 
 
     static const unsigned char TEST_getJs = 1; ///< testing getJs used in assembly API
@@ -167,7 +167,7 @@ struct Mapping_test: public Sofa_test<typename _Mapping::Real>
     }
 
 
-    /** Returns OutCoord substraction a-b */
+    /** Returns OutCoord subtraction a-b */
     virtual OutDeriv difference( const OutCoord& a, const OutCoord& b )
     {
         return Out::coordDifference(a,b);
diff --git a/applications/plugins/SofaTest/Multi2Mapping_test.h b/applications/plugins/SofaTest/Multi2Mapping_test.h
index 861a8786b79..8964cec245e 100644
--- a/applications/plugins/SofaTest/Multi2Mapping_test.h
+++ b/applications/plugins/SofaTest/Multi2Mapping_test.h
@@ -110,7 +110,7 @@ struct Multi2Mapping_test : public Sofa_test<typename _MultiMapping::Real>
     simulation::Node::SPtr parentsIn1, parentsIn2; ///< Parent nodes, created by setupScene
     simulation::Simulation* simulation; ///< created by the constructor an re-used in the tests
     std::pair<Real, Real> deltaRange; ///< The minimum and maximum magnitudes of the change of each scalar value of the small displacement is deltaRange * numeric_limits<Real>::epsilon. This epsilon is 1.19209e-07 for float and 2.22045e-16 for double.
-    Real errorMax; ///< The test is successfull if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
+    Real errorMax; ///< The test is successful if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
 
 
     /// Constructor
@@ -126,7 +126,7 @@ struct Multi2Mapping_test : public Sofa_test<typename _MultiMapping::Real>
             sofa::simulation::getSimulation()->unload(root);
     }
 
-    /** Returns OutCoord substraction a-b (should return a OutDeriv, but???)
+    /** Returns OutCoord subtraction a-b (should return a OutDeriv, but???)
     */
     OutDeriv difference(const OutCoord& c1, const OutCoord& c2)
     {
@@ -163,7 +163,7 @@ struct Multi2Mapping_test : public Sofa_test<typename _MultiMapping::Real>
     * the resulting child position is compared with the expected one.
     * Additionally, the Jacobian-related methods are tested using finite differences.
     *
-    * The parent coordinates are transfered in the parent states, then the scene is initialized, then various mapping functions are applied.
+    * The parent coordinates are transferred in the parent states, then the scene is initialized, then various mapping functions are applied.
     * The parent states are resized based on the size of the parentCoords vectors. The child state is not resized. Its should be already sized,
     * or its size set automatically during initialization.
     *
diff --git a/applications/plugins/SofaTest/MultiMapping_test.h b/applications/plugins/SofaTest/MultiMapping_test.h
index 3c16e4dd103..845690b3f4e 100644
--- a/applications/plugins/SofaTest/MultiMapping_test.h
+++ b/applications/plugins/SofaTest/MultiMapping_test.h
@@ -85,7 +85,7 @@ struct MultiMapping_test : public Sofa_test<typename _MultiMapping::Real>
     type::vector<simulation::Node::SPtr> parents; ///< Parent nodes, created by setupScene
     simulation::Simulation* simulation;  ///< created by the constructor an re-used in the tests
     std::pair<Real,Real> deltaRange; ///< The minimum and maximum magnitudes of the change of each scalar value of the small displacement is deltaRange * numeric_limits<Real>::epsilon. This epsilon is 1.19209e-07 for float and 2.22045e-16 for double.
-    Real errorMax;     ///< The test is successfull if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
+    Real errorMax;     ///< The test is successful if the (infinite norm of the) difference is less than  maxError * numeric_limits<Real>::epsilon
 
 
     MultiMapping_test():deltaRange(1,1000),errorMax(10)
@@ -122,7 +122,7 @@ struct MultiMapping_test : public Sofa_test<typename _MultiMapping::Real>
 
 
 
-    /** Returns OutCoord substraction a-b (should return a OutDeriv, but???)
+    /** Returns OutCoord subtraction a-b (should return a OutDeriv, but???)
       */
     OutDeriv difference( const OutCoord& c1, const OutCoord& c2 )
     {
@@ -136,7 +136,7 @@ struct MultiMapping_test : public Sofa_test<typename _MultiMapping::Real>
      * the resulting child position is compared with the expected one.
      * Additionally, the Jacobian-related methods are tested using finite differences.
      *
-     * The parent coordinates are transfered in the parent states, then the scene is initialized, then various mapping functions are applied.
+     * The parent coordinates are transferred in the parent states, then the scene is initialized, then various mapping functions are applied.
      * The parent states are resized based on the size of the parentCoords vectors. The child state is not resized. Its should be already sized,
      * or its size set automatically during initialization.
      *
diff --git a/applications/plugins/SofaTest/PrimitiveCreation.cpp b/applications/plugins/SofaTest/PrimitiveCreation.cpp
index 04b83599e12..436d9164b2e 100644
--- a/applications/plugins/SofaTest/PrimitiveCreation.cpp
+++ b/applications/plugins/SofaTest/PrimitiveCreation.cpp
@@ -78,7 +78,7 @@ sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaulttype::
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv> & dvelocities = *triDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObject3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -103,7 +103,7 @@ sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaulttype::
     tri->addObject(triCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     triCollisionModel->init();
 
     return triCollisionModel;
@@ -144,7 +144,7 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ri
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphereDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -187,7 +187,7 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ve
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv> & dvelocities = *sphereDOF->write( sofa::core::VecId::velocity() );
 
     MechanicalObject3::VecDeriv & velocities = *dvelocities.beginEdit();
@@ -201,7 +201,7 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ve
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>::SPtr sphereCollisionModel = New<sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>>();
     sphere->addObject(sphereCollisionModel);
 
-    //editting the RigidSphereModel
+    //editing the RigidSphereModel
     sphereCollisionModel->init();
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>::VecReal & vecRad = *(sphereCollisionModel->radius.beginEdit());
 
diff --git a/applications/plugins/SofaTest/doc/Doxyfile b/applications/plugins/SofaTest/doc/Doxyfile
index b0556df29f6..d7c8533d06f 100644
--- a/applications/plugins/SofaTest/doc/Doxyfile
+++ b/applications/plugins/SofaTest/doc/Doxyfile
@@ -289,10 +289,10 @@ TYPEDEF_HIDES_STRUCT   = NO
 # For small to medium size projects (<1000 input files) the default value is 
 # probably good enough. For larger projects a too small cache size can cause 
 # doxygen to be busy swapping symbols to and from disk most of the time 
-# causing a significant performance penality. 
+# causing a significant performance penalty. 
 # If the system has enough physical memory increasing the cache will improve the 
 # performance by keeping more symbols in memory. Note that the value works on 
-# a logarithmic scale so increasing the size by one will rougly double the 
+# a logarithmic scale so increasing the size by one will roughly double the 
 # memory usage. The cache size is given by this formula: 
 # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, 
 # corresponding to a cache size of 2^16 = 65536 symbols
diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.inl b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.inl
index 107c9374cac..39cf0ec285e 100644
--- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.inl
+++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.inl
@@ -57,7 +57,7 @@ void OglTetrahedralModel<DataTypes>::init()
     sofa::core::objectmodel::BaseContext* context = this->getContext();
     m_topology = context->getMeshTopology();
 
-    //instanciate the mapping tables
+    //instantiate the mapping tables
     //Useful for the PT algorithm only
     sofa::type::vector<sofa::gl::component::shader::OglFloatVector4Variable::SPtr > listVec4Variables;
     this->getContext()->core::objectmodel::BaseContext::template get<sofa::gl::component::shader::OglFloatVector4Variable, sofa::type::vector<sofa::gl::component::shader::OglFloatVector4Variable::SPtr> >
@@ -80,7 +80,7 @@ void OglTetrahedralModel<DataTypes>::init()
 
     if (!m_mappingTableValues)
     {
-        msg_info() << "No MappingTable found, instanciating one";
+        msg_info() << "No MappingTable found, instantiating one";
         m_mappingTableValues = sofa::core::objectmodel::New<sofa::gl::component::shader::OglFloatVector4Variable>();
         m_mappingTableValues->setName("MappingTable");
         m_mappingTableValues->setID("MappingTable");
@@ -103,7 +103,7 @@ void OglTetrahedralModel<DataTypes>::init()
     }
     if (!m_runSelectTableValues)
     {
-        msg_info() << "No RunSelectTable found, instanciating one";
+        msg_info() << "No RunSelectTable found, instantiating one";
 
         m_runSelectTableValues = sofa::core::objectmodel::New<sofa::gl::component::shader::OglFloatVector4Variable>();
         m_runSelectTableValues->setName("RunSelectTable");
diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp
index a583a8dcf11..af943ece023 100644
--- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp
+++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp
@@ -71,7 +71,7 @@ void OglVolumetricModel::init()
 
   
 
-    //instanciate the mapping tables
+    //instantiate the mapping tables
     //Useful for the PT algorithm only
     sofa::type::vector<sofa::gl::component::shader::OglFloatVector4Variable::SPtr > listVec4Variables;
     this->getContext()->core::objectmodel::BaseContext::template get<sofa::gl::component::shader::OglFloatVector4Variable, sofa::type::vector<sofa::gl::component::shader::OglFloatVector4Variable::SPtr> >
@@ -94,7 +94,7 @@ void OglVolumetricModel::init()
 
     if (!m_mappingTableValues)
     {
-        msg_info() << "No MappingTable found, instanciating one";
+        msg_info() << "No MappingTable found, instantiating one";
         m_mappingTableValues = sofa::core::objectmodel::New<sofa::gl::component::shader::OglFloatVector4Variable>();
         m_mappingTableValues->setName("MappingTable");
         m_mappingTableValues->setID("MappingTable");
@@ -115,7 +115,7 @@ void OglVolumetricModel::init()
     }
     if (!m_runSelectTableValues)
     {
-        msg_info() << "No RunSelectTable found, instanciating one";
+        msg_info() << "No RunSelectTable found, instantiating one";
 
         m_runSelectTableValues = sofa::core::objectmodel::New<sofa::gl::component::shader::OglFloatVector4Variable>();
         m_runSelectTableValues->setName("RunSelectTable");
@@ -198,7 +198,7 @@ void OglVolumetricModel::doInitVisual(const core::visual::VisualParams* vparams)
     }
     if (!m_vertexColors)
     {
-        msg_error() << "No attributes called a_vertexColor found, instanciating one with a default color";
+        msg_error() << "No attributes called a_vertexColor found, instantiating one with a default color";
         m_vertexColors = sofa::core::objectmodel::New<sofa::gl::component::shader::OglFloat4Attribute>();
         m_vertexColors->setName("a_vertexColor");
         m_vertexColors->setID("a_vertexColor");
diff --git a/applications/plugins/Xitact/ITPDriver.cpp b/applications/plugins/Xitact/ITPDriver.cpp
index 733e2611833..c7d85cd6634 100644
--- a/applications/plugins/Xitact/ITPDriver.cpp
+++ b/applications/plugins/Xitact/ITPDriver.cpp
@@ -129,7 +129,7 @@ void ITPDriver::bwdInit()
     if (dynamic_cast<core::behavior::MechanicalState<Vec1dTypes>*>(context->getMechanicalState()) == NULL)
     {
         this->f_printLog.setValue(true);
-        serr<<"ERROR : no MechanicalState<Vec1dTypes> defined... init of ITPDriver faild "<<sendl;
+        serr<<"ERROR : no MechanicalState<Vec1dTypes> defined... init of ITPDriver failed "<<sendl;
         this->_mstate = NULL;
         return ;
     }
@@ -220,7 +220,7 @@ void ITPDriver::handleEvent(core::objectmodel::Event *event)
     {
 
 
-        // calcul des angles à partir de la direction proposée par l'interface...
+        // calcul des angles � partir de la direction propos�e par l'interface...
         // cos(ThetaX) = cx   sin(ThetaX) = sx  cos(ThetaZ) = cz   sin(ThetaZ) = sz .
         // au repos (si cx=1 et cz=1) on a  Axe y
         // on commence par tourner autour de x   puis autour de z
@@ -236,7 +236,7 @@ void ITPDriver::handleEvent(core::objectmodel::Event *event)
         xiTrocarQueryStates();
         xiTrocarGetState(indexTool.getValue(), &state);
 
-        // saving informations in class structure.
+        // saving information in class structure.
         data.simuState = state;
 
         Vector3 dir;
diff --git a/applications/plugins/Xitact/PaceMaker.cpp b/applications/plugins/Xitact/PaceMaker.cpp
index b139ae6f9bb..cd4f0fda251 100644
--- a/applications/plugins/Xitact/PaceMaker.cpp
+++ b/applications/plugins/Xitact/PaceMaker.cpp
@@ -194,7 +194,7 @@ bool PaceMaker::createPace()
 
 } // namespace controller
 
-} // namepace component
+} // namespace component
 
 } // namespace sofa
 
diff --git a/applications/plugins/Xitact/PaceMaker.h b/applications/plugins/Xitact/PaceMaker.h
index 057af36012c..b8dc79daf05 100644
--- a/applications/plugins/Xitact/PaceMaker.h
+++ b/applications/plugins/Xitact/PaceMaker.h
@@ -105,7 +105,7 @@ class SOFA_XITACTPLUGIN_API PaceMaker
 
 } // namespace controller
 
-} // namepace component
+} // namespace component
 
 } // namespace sofa
 
diff --git a/applications/plugins/image/CImgData.h b/applications/plugins/image/CImgData.h
index 12851a34a44..d1034010ea7 100644
--- a/applications/plugins/image/CImgData.h
+++ b/applications/plugins/image/CImgData.h
@@ -229,7 +229,7 @@ struct Image : public BaseImage
         return res;
     }
 
-    // returns an image corresponing to a plane indexed by "coord" along "axis" and inside a bounding box
+    // returns an image corresponding to a plane indexed by "coord" along "axis" and inside a bounding box
     cimg_library::CImg<T> get_plane(const unsigned int coord,const unsigned int axis,const type::Mat<2,3,unsigned int>& ROI,const unsigned int t=0, const bool mergeChannels=false) const
     {
         if(mergeChannels)    return get_plane(coord,axis,ROI,t,false).norm();
@@ -581,7 +581,7 @@ struct ImageTypeInfo : public BaseImageTypeInfo
 
     enum { ValidInfo       = BaseTypeInfo::ValidInfo       }; ///< 1 if this type has valid infos
     enum { FixedSize       = 1                             }; ///< 1 if this type has a fixed size  -> always 1 Image
-    enum { ZeroConstructor = 0                             }; ///< 1 if the constructor is equivalent to setting memory to 0  -> I guess so, a default Image is initialzed with nothing
+    enum { ZeroConstructor = 0                             }; ///< 1 if the constructor is equivalent to setting memory to 0  -> I guess so, a default Image is initialized with nothing
     enum { SimpleCopy      = 0                             }; ///< 1 if copying the data can be done with a memcpy
     enum { SimpleLayout    = 0                             }; ///< 1 if the layout in memory is simply N values of the same base type
     enum { Integer         = 0                             }; ///< 1 if this type uses integer values
diff --git a/applications/plugins/image/Containers.h b/applications/plugins/image/Containers.h
index dbd60c4bf79..0da1fb02165 100644
--- a/applications/plugins/image/Containers.h
+++ b/applications/plugins/image/Containers.h
@@ -134,7 +134,7 @@ class NoPreallocationVector
         }
     }
 
-    /// \return the index of the first occurence, if !present \return -1
+    /// \return the index of the first occurrence, if !present \return -1
     int find( const T& v ) const
     {
         for( unsigned i = 0 ; i<_size ; ++i )
@@ -150,7 +150,7 @@ class NoPreallocationVector
         return false;
     }
 
-    /// \return the index of the occurence, if !present \return -1
+    /// \return the index of the occurrence, if !present \return -1
     int getOffset( const T* v ) const
     {
         int offset = v - _array;
diff --git a/applications/plugins/image/ImageAlgorithms.h b/applications/plugins/image/ImageAlgorithms.h
index b29d85b475d..1ba4dfa2ec7 100644
--- a/applications/plugins/image/ImageAlgorithms.h
+++ b/applications/plugins/image/ImageAlgorithms.h
@@ -159,7 +159,7 @@ real Eikonal(const sofa::type::Vec<6,real>& d,const sofa::type::Vec<6,real>& d2,
 * Update geodesic distances in the image, given a bias distance function b(x).
 * This is equivalent to solve for the eikonal equation || grad d(x) || = 1/b(x) with d(p)=0 at @param pos
 * using fast marching method presented from sethian http://math.berkeley.edu/~sethian/2006/Publications/Book/2006/
-* distances should be intialized (<0 outside the object, >=0 inside, and = 0 for seeds)
+* distances should be initialized (<0 outside the object, >=0 inside, and = 0 for seeds)
 * returns @param voronoi and @param distances
 */
 
@@ -229,7 +229,7 @@ void fastMarching (std::set<std::pair<real,sofa::type::Vec<3,int> > > &trial,cim
 * Update geodesic distances in the image given a bias distance function b(x).
 * This is equivalent to solve for the eikonal equation || grad d(x) || = 1/b(x) with d(p)=0 at @param pos
 * using dijkstra minimum path algorithm
-* distances should be intialized (<0 outside the object, >=0 inside, and = 0 for seeds)
+* distances should be initialized (<0 outside the object, >=0 inside, and = 0 for seeds)
 * returns @param voronoi and @param distances
 */
 
diff --git a/applications/plugins/image/ImageContainer.h b/applications/plugins/image/ImageContainer.h
index 810334fda40..6481efa906b 100644
--- a/applications/plugins/image/ImageContainer.h
+++ b/applications/plugins/image/ImageContainer.h
@@ -299,7 +299,7 @@ struct ImageContainerSpecialization< defaulttype::Image<T> >
    *
    *  <b>template</b>
    *
-   *  <b>filename</> - the name of the image file to be loaded. Currently supported filtypes:
+   *  <b>filename</> - the name of the image file to be loaded. Currently supported filetypes:
    *
    */
 template<class _ImageTypes>
diff --git a/applications/plugins/image/ImageSampler.h b/applications/plugins/image/ImageSampler.h
index 782db9b33f8..f27ac624ef4 100644
--- a/applications/plugins/image/ImageSampler.h
+++ b/applications/plugins/image/ImageSampler.h
@@ -89,7 +89,7 @@ struct ImageSamplerSpecialization<defaulttype::Image<T>>
         typedef typename ImageSamplerT::Hexa Hexa;
 
 
-        // get tranform and image at time t
+        // get transform and image at time t
         typename ImageSamplerT::raImage in(sampler->image);
         typename ImageSamplerT::raTransform inT(sampler->transform);
         const cimg_library::CImg<T>& inimg = in->getCImg(sampler->time);
@@ -161,7 +161,7 @@ struct ImageSamplerSpecialization<defaulttype::Image<T>>
 
         clock_t timer = clock();
 
-        // get tranform and image at time t
+        // get transform and image at time t
         typename ImageSamplerT::raImage in(sampler->image);
         typename ImageSamplerT::raTransform inT(sampler->transform);
         const cimg_library::CImg<T>& inimg = in->getCImg(sampler->time);
@@ -276,7 +276,7 @@ struct ImageSamplerSpecialization<defaulttype::Image<T>>
 
         clock_t timer = clock();
 
-        // get tranform and image at time t
+        // get transform and image at time t
         typename ImageSamplerT::raImage in(sampler->image);
         typename ImageSamplerT::raTransform inT(sampler->transform);
         const cimg_library::CImg<T>& inimg = in->getCImg(sampler->time);
diff --git a/applications/plugins/image/ImageViewer.h b/applications/plugins/image/ImageViewer.h
index 16c3edde896..c350ecce182 100644
--- a/applications/plugins/image/ImageViewer.h
+++ b/applications/plugins/image/ImageViewer.h
@@ -68,7 +68,7 @@ namespace misc
    *
    *  <b>plane</b> -
    *
-   *  <b>vectorvis</b> - Describes the settings for vizualizing vectors and tensors. Input string should be in the form:
+   *  <b>vectorvis</b> - Describes the settings for visualizing vectors and tensors. Input string should be in the form:
    *	"subsampleXY subsampleZ scale rgb shape tensorOrder", where:
    *	subsampleXY is an integer <i>n</i> where in the X and Y planes, a shape is drawn every <i>n</i> voxels.
    *    subsampleZ is an integer <i>n</i> where in the Z plane, a shape is drawn every <i>n</i> voxels.
diff --git a/applications/plugins/image/Kinect.h b/applications/plugins/image/Kinect.h
index e0f144f60cf..cf3dccbeb69 100644
--- a/applications/plugins/image/Kinect.h
+++ b/applications/plugins/image/Kinect.h
@@ -256,7 +256,7 @@ class Kinect : public virtual core::objectmodel::BaseObject
         int user_device_number = (int)this->deviceID.getValue();
         if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) { serr<<"Could not open device "<<user_device_number<<sendl; return; }
 
-        // allocate buffers with maximum posible resolution (used in kinect thread)
+        // allocate buffers with maximum possible resolution (used in kinect thread)
         depth_back = (unsigned char*)malloc(640*480*3);
         depth_mid = (unsigned char*)malloc(640*480*3);
         rgb_back = (unsigned char*)malloc(1280*1024*3);
diff --git a/applications/plugins/image/VectorVis.h b/applications/plugins/image/VectorVis.h
index ba8fe3e95ef..5ac3f6aab0f 100644
--- a/applications/plugins/image/VectorVis.h
+++ b/applications/plugins/image/VectorVis.h
@@ -78,7 +78,7 @@ class VectorVis
     /**@}*/
 
     /**
-    * Stream operator that allows data to be recieved from the GUI
+    * Stream operator that allows data to be received from the GUI
     */
     inline friend std::istream& operator >> (std::istream& in, VectorVis& v)
     {
diff --git a/applications/plugins/image/VoronoiToMeshEngine.h b/applications/plugins/image/VoronoiToMeshEngine.h
index 31a4d240bab..e09f6a158c3 100644
--- a/applications/plugins/image/VoronoiToMeshEngine.h
+++ b/applications/plugins/image/VoronoiToMeshEngine.h
@@ -88,7 +88,7 @@ class VoronoiToMeshEngine : public core::DataEngine
     typedef helper::WriteOnlyAccessor<Data< SeqTriangles > > waTriangles;
     Data< SeqTriangles > triangles; ///< output triangles
 
-    Data< Real > minLength; ///< minimun edge length in pixels
+    Data< Real > minLength; ///< minimum edge length in pixels
 
     VoronoiToMeshEngine()    :   Inherited()
       , showMesh(initData(&showMesh,false,"showMesh","show reconstructed mesh"))
@@ -98,7 +98,7 @@ class VoronoiToMeshEngine : public core::DataEngine
       , position(initData(&position,SeqPositions(),"position","output positions"))
       , edges(initData(&edges,SeqEdges(),"edges","output edges"))
       , triangles(initData(&triangles,SeqTriangles(),"triangles","output triangles"))
-      , minLength(initData(&minLength,(Real)2.,"minLength","minimun edge length in pixels"))
+      , minLength(initData(&minLength,(Real)2.,"minLength","minimum edge length in pixels"))
       , time((unsigned int)0)
     {
         image.setReadOnly(true);
@@ -170,7 +170,7 @@ class VoronoiToMeshEngine : public core::DataEngine
         return true;
     }
 
-    // remove edges bellow a certain length
+    // remove edges below a certain length
     inline bool removeSmallEdges(IDtoInd& neighbors,IDtoInd& regions,IDtoCoord& coords, IDtoCoordAndUI& sums,const Real& tol) const
     {
         Real tol2=tol*tol;
@@ -296,7 +296,7 @@ class VoronoiToMeshEngine : public core::DataEngine
         // merge points close to each other
         count = 0;
         IDtoCoordAndUI coordsum;
-        for(IDtoCoordIt p=coords.begin();p!=coords.end();++p) coordsum[p->first]=std::pair<Coord,unsigned int>(p->second,1);        // intitialize accumulator of coords
+        for(IDtoCoordIt p=coords.begin();p!=coords.end();++p) coordsum[p->first]=std::pair<Coord,unsigned int>(p->second,1);        // initialize accumulator of coords
         while(!removeSmallEdges(neighbors,regions,coords,coordsum,minLength.getValue())) count++;
         for(IDtoCoordIt p=coords.begin();p!=coords.end();++p) p->second = coordsum[p->first].first/(Real)coordsum[p->first].second;        // average to get mean of merged points
         if(this->f_printLog.getValue()) std::cout<<this->name<<": removed "<<count<<" edges"<<std::endl;
diff --git a/applications/plugins/image/examples/MeshesToImage_Diffusion.scn b/applications/plugins/image/examples/MeshesToImage_Diffusion.scn
index 898cd86b29d..23919a851c1 100644
--- a/applications/plugins/image/examples/MeshesToImage_Diffusion.scn
+++ b/applications/plugins/image/examples/MeshesToImage_Diffusion.scn
@@ -12,7 +12,7 @@
   <MeshOBJLoader name="mesh3" filename="mesh/bubille_out.obj" triangulate="1"/>
 
 
-  <Node name="Voxelizing several meshes in one image (the prefered solution in most cases)" >
+  <Node name="Voxelizing several meshes in one image (the preferred solution in most cases)" >
     
     
     <!-- First, rasterize outside and 1 ball with multiple values -->
diff --git a/applications/plugins/image/examples/MeshesToImage_Fill.scn b/applications/plugins/image/examples/MeshesToImage_Fill.scn
index 215382a2173..efdd8d15e61 100644
--- a/applications/plugins/image/examples/MeshesToImage_Fill.scn
+++ b/applications/plugins/image/examples/MeshesToImage_Fill.scn
@@ -12,7 +12,7 @@
   <MeshOBJLoader name="mesh3" filename="mesh/bubille_out.obj" triangulate="1"/>
 
 
-  <Node name="Voxelizing several meshes in one image (the prefered solution in most cases)" >
+  <Node name="Voxelizing several meshes in one image (the preferred solution in most cases)" >
     
     
     <!-- First, rasterize outside and 1 ball with multiple values -->
diff --git a/applications/plugins/image/examples/openMeshToImage.html b/applications/plugins/image/examples/openMeshToImage.html
index 8a50a6a9d90..98a5d47e3a5 100644
--- a/applications/plugins/image/examples/openMeshToImage.html
+++ b/applications/plugins/image/examples/openMeshToImage.html
@@ -6,7 +6,7 @@
 <meta content="text/html; charset=ISO-8859-1" http-equiv="content-type"><title>PluginImage</title></head><body>
 <h1>PluginImage openMeshToImage Example</h1>
 <br>This scene shows an example of the image plugin. It constructs a 3D voxel image from a surface mesh (cf. MeshToImage.scn) however
-in this case the mesh given is not a closed one, which means with holes. It shows also the possiblity of filling holes in the mesh
+in this case the mesh given is not a closed one, which means with holes. It shows also the possibility of filling holes in the mesh
 from the 3D voxel image. 
 To run it, you need to load image Plugin using the Plugin Manager of the GUI, or the command line.
 
diff --git a/applications/plugins/image/examples/sampler_meshSpring.html b/applications/plugins/image/examples/sampler_meshSpring.html
index 2b08f02a9ad..e526aca5972 100644
--- a/applications/plugins/image/examples/sampler_meshSpring.html
+++ b/applications/plugins/image/examples/sampler_meshSpring.html
@@ -6,7 +6,7 @@
 <meta content="text/html; charset=ISO-8859-1" http-equiv="content-type"><title>PluginImage</title></head><body>
 <h1>PluginImage Sampler_meshSpring Example</h1>
 <br/>
-This scene shows anohter example of the sampler of image plugin. It shows the use of the sampler with meshSpring model for simulation. 
+This scene shows another example of the sampler of image plugin. It shows the use of the sampler with meshSpring model for simulation. 
 <br/>
 Run and shift+rightclick the object to get it moving. 
 <br/>
diff --git a/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h b/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h
index c14c8874b19..43d1bdab573 100644
--- a/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h
+++ b/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h
@@ -564,7 +564,7 @@ class imageplane_data_widget_container: public QObject
     Q_OBJECT;
 
 public slots:
-    virtual void handleSliderPolicies()=0; // needed for synchronization of slider visiblity
+    virtual void handleSliderPolicies()=0; // needed for synchronization of slider visibility
 };
 
 template<class T>
diff --git a/applications/plugins/image/image_test/ImageEngine_test.cpp b/applications/plugins/image/image_test/ImageEngine_test.cpp
index 50ad94855fa..7890e89d929 100644
--- a/applications/plugins/image/image_test/ImageEngine_test.cpp
+++ b/applications/plugins/image/image_test/ImageEngine_test.cpp
@@ -40,7 +40,7 @@ namespace sofa {
 /**  Test suite for engine data image.
  * Create a simple scene with an engine which computes an output image from an input image at each time step.
  * Visualize the output image of the engine with ImageViewer.
- * The input image of ImageViewer is then linked to the ouput image of the engine.
+ * The input image of ImageViewer is then linked to the output image of the engine.
  * Copy on Write option is true.
  * Note: the function draw of ImageViewer is actually not called in this test (it works with the gui).
   */
@@ -58,7 +58,7 @@ struct ImageEngine_test : public sofa::testing::BaseTest
     }
 
     // Test link
-    /// To suceed this test need imagemagick to be installed.
+    /// To succeed this test need imagemagick to be installed.
     void testDataLink()
     {
         typedef defaulttype::Image<unsigned char> Image;
@@ -342,10 +342,10 @@ typedef ::testing::Types<
 ,TestDataEngine< component::engine::TestImageEngine<defaulttype::ImageUC> >
 ,TestDataEngine< component::engine::TransferFunction<defaulttype::ImageUC,defaulttype::ImageUC> >
 ,TestDataEngine< component::engine::VoronoiToMeshEngine<defaulttype::ImageUC> >
-> TestTypes; // the types to instanciate.
+> TestTypes; // the types to instantiate.
 
 
-//// ========= Tests to run for each instanciated type
+//// ========= Tests to run for each instantiated type
 TYPED_TEST_SUITE( ImageDataEngine_test, TestTypes );
 
 //// test number of call to DataEngine::update
diff --git a/applications/plugins/image/image_test/TestImageEngine.h b/applications/plugins/image/image_test/TestImageEngine.h
index 49dff4822b9..bb66c5c2856 100644
--- a/applications/plugins/image/image_test/TestImageEngine.h
+++ b/applications/plugins/image/image_test/TestImageEngine.h
@@ -41,7 +41,7 @@ namespace engine
 
 /**
  * This class is only used to test engine with image data.
- * Given a input image the ouput image will have the same dimension as input image and all pixels will be 0.
+ * Given a input image the output image will have the same dimension as input image and all pixels will be 0.
  */
 template <class _ImageTypes>
 class TestImageEngine : public core::DataEngine
@@ -62,11 +62,11 @@ class TestImageEngine : public core::DataEngine
     typedef helper::ReadAccessor<Data< ImageTypes > > raImage;
 
     Data< ImageTypes > inputImage; ///< input image
-    Data< ImageTypes > outputImage; ///< ouput image
+    Data< ImageTypes > outputImage; ///< output image
 
     TestImageEngine() :   Inherited()
         , inputImage(initData(&inputImage,ImageTypes(),"inputImage","input image"))
-        , outputImage(initData(&outputImage,ImageTypes(),"outputImage","ouput image"))
+        , outputImage(initData(&outputImage,ImageTypes(),"outputImage","output image"))
     {
         inputImage.setReadOnly(true);
     }
diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h b/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h
index 3a34726e309..6377ddda388 100644
--- a/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h
+++ b/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h
@@ -140,7 +140,7 @@ class SOFA_IMAGE_GUI_API ImageToolBoxCentralWidget: public QWidget
     Q_OBJECT
 
 public slots:
-    virtual void handleSliderPolicies()=0; // needed for synchronization of slider visiblity
+    virtual void handleSliderPolicies()=0; // needed for synchronization of slider visibility
     virtual void setVisibleXY(bool)=0;
     virtual void setVisibleXZ(bool)=0;
     virtual void setVisibleZY(bool)=0;
diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h b/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h
index 11b3b184cf9..dfb343d5454 100644
--- a/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h
+++ b/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h
@@ -52,7 +52,7 @@ class SOFA_IMAGE_GUI_API imagetoolbox_data_widget_container: public QObject
     Q_OBJECT;
 
 public slots:
-    virtual void handleSliderPolicies()=0; // needed for synchronization of slider visiblity
+    virtual void handleSliderPolicies()=0; // needed for synchronization of slider visibility
     //virtual void draw()=0;
 
 signals:
diff --git a/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolbox.h b/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolbox.h
index 268cdc6cd87..b20193bdf0f 100644
--- a/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolbox.h
+++ b/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolbox.h
@@ -438,7 +438,7 @@ class SOFA_IMAGE_GUI_API LabelGridImageToolBoxNoTemplated: public LabelImageTool
      * @brief cutSection
      * @return
      *
-     * @todo fix error when the vector is composed of 2 points (out of the box, the lines pass throuth the box )
+     * @todo fix error when the vector is composed of 2 points (out of the box, the lines pass through the box )
      */
 
     bool cutSection()
diff --git a/applications/plugins/image/imagetoolbox/labelimagetoolbox.h b/applications/plugins/image/imagetoolbox/labelimagetoolbox.h
index 031d2e5b60d..bd1a247a06c 100644
--- a/applications/plugins/image/imagetoolbox/labelimagetoolbox.h
+++ b/applications/plugins/image/imagetoolbox/labelimagetoolbox.h
@@ -67,7 +67,7 @@ using type::Mat;
 using namespace cimg_library;
 
 /**
- * This class coorespond to a label visualized by imagetoolbox
+ * This class corresponds to a label visualized by imagetoolbox
  */
 
 class SOFA_IMAGE_GUI_API LabelImageToolBox : public core::DataEngine
diff --git a/applications/plugins/image/python/SofaImage/API.py b/applications/plugins/image/python/SofaImage/API.py
index c8c6096f2d7..8fb6a1190b1 100644
--- a/applications/plugins/image/python/SofaImage/API.py
+++ b/applications/plugins/image/python/SofaImage/API.py
@@ -99,7 +99,7 @@ def __addMesh(self, mesh, closingValue=None, roiIndices=list(), roiValue=list(),
             mesh.mergeROIs = self.node.createObject('MergeROIs', name="mergeROIs_"+name, nbROIs=len(roiIndices), **args)
             mesh.roiIndices=mesh.mergeROIs.getLinkPath()+".roiIndices"
             # use mergeROIs to potentially combine other rois (from meshclosing, boxRois, etc.)
-            # but here, roiIndices reformating to "[i,j,..] [k,l,..]" would work..
+            # but here, roiIndices reformatting to "[i,j,..] [k,l,..]" would work..
 
         self.meshes[name] = mesh
         self.meshSeq.append(name)
diff --git a/applications/plugins/image/python/SofaImage/Tools.py b/applications/plugins/image/python/SofaImage/Tools.py
index c8cb4241c00..2901b59b676 100644
--- a/applications/plugins/image/python/SofaImage/Tools.py
+++ b/applications/plugins/image/python/SofaImage/Tools.py
@@ -109,7 +109,7 @@ def transformToData(scale,offset,timeOffset=0,timeScale=1,isPerspective=0):
     """
     return concat(offset[:3])+' '+concat(quat.to_euler(offset[3:])*180./math.pi)+' '+concat(scale)+' '+str(timeOffset)+' '+str(timeScale)+' '+str(int(isPerspective))
 
-# controller you must derived from and instanciate in the same context than your ImageViewer if you want to define actions to manually add / remove point from an image plane
+# controller you must derived from and instantiate in the same context than your ImageViewer if you want to define actions to manually add / remove point from an image plane
 class ImagePlaneController(Sofa.PythonScriptController):
     def addPoint(self, id, x, y, z):
         return
diff --git a/applications/projects/Modeler/exec/Main.cpp b/applications/projects/Modeler/exec/Main.cpp
index f55716f2c7b..6fc1e106b31 100644
--- a/applications/projects/Modeler/exec/Main.cpp
+++ b/applications/projects/Modeler/exec/Main.cpp
@@ -48,7 +48,7 @@ int main(int argc, char** argv)
 {
     sofa::component::initSofaComponentAll();
 
-    // TODO: create additionnal handlers depending on command-line parameters
+    // TODO: create additional handlers depending on command-line parameters
 
     QApplication* application = new QApplication(argc, argv);
     (void)application;
diff --git a/applications/projects/Modeler/lib/GraphModeler.h b/applications/projects/Modeler/lib/GraphModeler.h
index 4ef7d664b00..07cdd79abc8 100644
--- a/applications/projects/Modeler/lib/GraphModeler.h
+++ b/applications/projects/Modeler/lib/GraphModeler.h
@@ -169,7 +169,7 @@ class GraphModeler : public SofaSceneGraphWidget
     void openModifyObject(QTreeWidgetItem *);
     /// Add the component in the PropertyWidget
     void addInPropertyWidget(QTreeWidgetItem *, bool clear = true);
-    /// Delete a componnent
+    /// Delete a component
     void deleteComponent(QTreeWidgetItem *item, bool saveHistory=true);
     /// Construct a node from a BaseElement, by passing the factory
     Node::SPtr buildNodeFromBaseElement(Node::SPtr node,xml::BaseElement *elem, bool saveHistory=false);
@@ -202,7 +202,7 @@ public slots:
     void doubleClick(QTreeWidgetItem *, int column);
     void leftClick(QTreeWidgetItem *, const QPoint &, int );
     void rightClick(const QPoint & p);
-    /// Context Menu Operation: collasping all the nodes below the current one
+    /// Context Menu Operation: collapsing all the nodes below the current one
     void collapseNode();
     /// Context Menu Operation: expanding all the nodes below the current one
     void expandNode();
@@ -226,7 +226,7 @@ public slots:
     void openModifyObject();
     /// Context Menu Operation: Add the component in the PropertyWidget
     void addInPropertyWidget();
-    /// Context Menu Operation: Deleting a componnent
+    /// Context Menu Operation: Deleting a component
     void deleteComponent();
 
     /// Close all opened configuration windows
diff --git a/applications/projects/Modeler/lib/SofaModeler.cpp b/applications/projects/Modeler/lib/SofaModeler.cpp
index 429c0ff48ce..f35c8d42475 100644
--- a/applications/projects/Modeler/lib/SofaModeler.cpp
+++ b/applications/projects/Modeler/lib/SofaModeler.cpp
@@ -1187,7 +1187,7 @@ void SofaModeler::runInSofa(	const std::string &sceneFilename, Node* root)
         }
     }
 
-    //retrive plugins
+    //retrieve plugins
     typedef sofa::helper::system::PluginManager::PluginMap PluginMap;
     PluginMap& pluginMap = PluginManager::getInstance().getPluginMap();
     PluginManager::PluginIterator it;
diff --git a/applications/projects/Modeler/lib/SofaModeler.h b/applications/projects/Modeler/lib/SofaModeler.h
index 2c95abf4e35..ef5e08f5336 100644
--- a/applications/projects/Modeler/lib/SofaModeler.h
+++ b/applications/projects/Modeler/lib/SofaModeler.h
@@ -244,7 +244,7 @@ protected slots:
     QMenu *windowMenu;
 
     QTextBrowser *infoItem;
-    /// Correspondance between a name clicked in the menu and a path to the preset
+    /// Correspondence between a name clicked in the menu and a path to the preset
     std::map< QMenu*, std::map< std::string, std::string > > mapPreset;
 
 
diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckAPIChange.cpp b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckAPIChange.cpp
index 43baeedd416..4a09f2ea0e9 100644
--- a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckAPIChange.cpp
+++ b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckAPIChange.cpp
@@ -107,7 +107,7 @@ void SceneCheckAPIChange::doCheckOn(sofa::simulation::Node* node)
 void SceneCheckAPIChange::installDefaultChangeSets()
 {
     // Template of addHookInChangeSet
-    // addHookInChangeSet warns the user about changes that occured within a component
+    // addHookInChangeSet warns the user about changes that occurred within a component
     // (change in API, behavior, default values, etc.)
     /*
     addHookInChangeSet("17.06", [this](Base* o){
diff --git a/applications/projects/SofaFlowVR/Main.cpp b/applications/projects/SofaFlowVR/Main.cpp
index 9a40896bba4..949148f5814 100644
--- a/applications/projects/SofaFlowVR/Main.cpp
+++ b/applications/projects/SofaFlowVR/Main.cpp
@@ -385,7 +385,7 @@ class FlowVRInputMesh : public FlowVRObject
     Data<double> maxVDist;
 
     // Velocity is estimated by searching the nearest primitive from each new point
-    // To do it we need to create an additionnal PointCollisionModel<sofa::defaulttype::Vec3Types> collision model, as well as a Detection and Intersection class
+    // To do it we need to create an additional PointCollisionModel<sofa::defaulttype::Vec3Types> collision model, as well as a Detection and Intersection class
     sofa::simulation::tree::GNode * newPointsNode;
     typedef sofa::simulation::tree::GNode::Sequence<sofa::core::CollisionModel>::iterator CMIterator;
     sofa::component::container::MechanicalObject<Vec3Types> * newPoints;
diff --git a/applications/projects/SofaGuiGlut/CMakeLists.txt b/applications/projects/SofaGuiGlut/CMakeLists.txt
index 495668cfcb2..705817ead2c 100644
--- a/applications/projects/SofaGuiGlut/CMakeLists.txt
+++ b/applications/projects/SofaGuiGlut/CMakeLists.txt
@@ -22,7 +22,7 @@ else()
     # Workaround: on OS X, "${GLUT_glut_LIBRARY}" is not a target (it is
     # actually "-framework GLUT"), so we use find_library to find
     # something better (like /System/Library/Frameworks/GLUT.framework.)
-    # (Fun fact: FindGLUT.cmake litterally reads "These values for Apple
+    # (Fun fact: FindGLUT.cmake literally reads "These values for Apple
     # could probably do with improvement.)"
 	find_library(ACTUAL_GLUT_LIBRARIES "GLUT")
 	set(GLUT_ACTUAL_LIBRARIES  ${ACTUAL_GLUT_LIBRARIES} )
diff --git a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsAPI.h b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsAPI.h
index f565b17272a..3149872b8c6 100644
--- a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsAPI.h
+++ b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsAPI.h
@@ -152,7 +152,7 @@ class SOFA_SOFAPHYSICSAPI_API SofaPhysicsAPI
     double getCurrentFPS() const;
 
     double* getGravity() const;
-    /// Get the current scene gravity using the ouptut @param values which is a double[3]. Return error code.
+    /// Get the current scene gravity using the output @param values which is a double[3]. Return error code.
     int getGravity(double* values) const;
     /// Set the current scene gravity using the input @param gravity which is a double[3]
     void setGravity(double* gravity);
@@ -197,11 +197,11 @@ class SOFA_SOFAPHYSICSAPI_API SofaPhysicsOutputMesh
 
     unsigned int getNbVertices(); ///< number of vertices
     const Real* getVPositions();  ///< vertices positions (Vec3)
-    int getVPositions(Real* values); ///< get the positions/vertices of this mesh inside ouput @param values, of type Real[ 3*nbVertices ]. Return error code.
+    int getVPositions(Real* values); ///< get the positions/vertices of this mesh inside output @param values, of type Real[ 3*nbVertices ]. Return error code.
     const Real* getVNormals();    ///< vertices normals   (Vec3)
-    int getVNormals(Real* values); ///< get the normals per vertex of this mesh inside ouput @param values, of type Real[ 3*nbVertices ]. Return error code.
+    int getVNormals(Real* values); ///< get the normals per vertex of this mesh inside output @param values, of type Real[ 3*nbVertices ]. Return error code.
     const Real* getVTexCoords();  ///< vertices UVs       (Vec2)
-    int getVTexCoords(Real* values); ///< get the texture coordinates (UV) per vertex of this mesh inside ouput @param values, of type Real[ 2*nbVertices ]. Return error code.
+    int getVTexCoords(Real* values); ///< get the texture coordinates (UV) per vertex of this mesh inside output @param values, of type Real[ 2*nbVertices ]. Return error code.
     int getTexCoordRevision();    ///< changes each time texture coord data are updated
     int getVerticesRevision();    ///< changes each time vertices data are updated
 
@@ -218,12 +218,12 @@ class SOFA_SOFAPHYSICSAPI_API SofaPhysicsOutputMesh
 
     unsigned int getNbTriangles(); ///< number of triangles
     const Index* getTriangles();   ///< triangles topology (3 indices / triangle)
-    int getTriangles(int* values); ///< get the triangle topology inside ouput @param values, of type int[ 3*nbTriangles ]. Return error code.
+    int getTriangles(int* values); ///< get the triangle topology inside output @param values, of type int[ 3*nbTriangles ]. Return error code.
     int getTrianglesRevision();    ///< changes each time triangles data is updated
 
     unsigned int getNbQuads(); ///< number of quads
     const Index* getQuads();   ///< quads topology (4 indices / quad)
-    int getQuads(int* values); ///< get the quad topology inside ouput @param values, of type int[ 4*nbQuads ]. Return error code.
+    int getQuads(int* values); ///< get the quad topology inside output @param values, of type int[ 4*nbQuads ]. Return error code.
     int getQuadsRevision();    ///< changes each time quads data is updated
 
     /// Internal implementation sub-class
diff --git a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsBindings.h b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsBindings.h
index a13cc2f671a..ffcb8ca2838 100644
--- a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsBindings.h
+++ b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsBindings.h
@@ -64,7 +64,7 @@ EXPORT_API float sofaPhysicsAPI_time(void* api_ptr); ///< Getter to the current
 EXPORT_API float sofaPhysicsAPI_timeStep(void* api_ptr); ///< Getter to the current simulation time stepping
 EXPORT_API void sofaPhysicsAPI_setTimeStep(void* api_ptr, double value); ///< Setter to the current simulation time stepping
 
-EXPORT_API int sofaPhysicsAPI_getGravity(void* api_ptr, double* values); ///< Getter of scene gravity using the ouptut @param values which is a double[3]. Return error code.
+EXPORT_API int sofaPhysicsAPI_getGravity(void* api_ptr, double* values); ///< Getter of scene gravity using the output @param values which is a double[3]. Return error code.
 EXPORT_API int sofaPhysicsAPI_setGravity(void* api_ptr, double* values); ///< Setter of current scene gravity using the input @param gravity which is a double[3]. Return error code.
 
 // API for message logging
@@ -84,15 +84,15 @@ EXPORT_API const char* sofaVisualModel_getName(void* api_api_ptr, int VModelID);
 /// API to get SofaPhysicsOutputMesh position and topology information. 
 /// SofaPhysicsOutputMesh Name is used as identifier as the index of registration could change from one loading to another. Or if scene is modified.
 EXPORT_API int sofaVisualModel_getNbVertices(void* api_api_ptr, const char* name); ///< Return the number of vertices of the SofaPhysicsOutputMesh with name: @param name
-EXPORT_API int sofaVisualModel_getVertices(void* api_api_ptr, const char* name, float* buffer); ///< Get the positions/vertices using ouput @param values (type float[ 3*nbVertices ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
-EXPORT_API int sofaVisualModel_getNormals(void* api_ptr, const char* name, float* buffer); ///< Get the normals using ouput @param values (type float[ 3*nbVertices ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
-EXPORT_API int sofaVisualModel_getTexCoords(void* api_ptr, const char* name, float* buffer); ///< Get the texture coordinates using ouput @param values (type float[ 2*nbVertices ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
+EXPORT_API int sofaVisualModel_getVertices(void* api_api_ptr, const char* name, float* buffer); ///< Get the positions/vertices using output @param values (type float[ 3*nbVertices ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
+EXPORT_API int sofaVisualModel_getNormals(void* api_ptr, const char* name, float* buffer); ///< Get the normals using output @param values (type float[ 3*nbVertices ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
+EXPORT_API int sofaVisualModel_getTexCoords(void* api_ptr, const char* name, float* buffer); ///< Get the texture coordinates using output @param values (type float[ 2*nbVertices ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
 
 EXPORT_API int sofaVisualModel_getNbEdges(void* api_ptr, const char* name); ///< Return the number of edges of the SofaPhysicsOutputMesh with name: @param name
-EXPORT_API int sofaVisualModel_getEdges(void* api_ptr, const char* name, int* buffer); ///< Get the edges using ouput @param values (type int[ 2*nbEdges ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
+EXPORT_API int sofaVisualModel_getEdges(void* api_ptr, const char* name, int* buffer); ///< Get the edges using output @param values (type int[ 2*nbEdges ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
 
 EXPORT_API int sofaVisualModel_getNbTriangles(void* api_ptr, const char* name); ///< Return the number of triangles of the SofaPhysicsOutputMesh with name: @param name
-EXPORT_API int sofaVisualModel_getTriangles(void* api_ptr, const char* name, int* buffer); ///< Get the triangles using ouput @param values (type int[ 3*nbTriangles ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
+EXPORT_API int sofaVisualModel_getTriangles(void* api_ptr, const char* name, int* buffer); ///< Get the triangles using output @param values (type int[ 3*nbTriangles ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
 
 EXPORT_API int sofaVisualModel_getNbQuads(void* api_ptr, const char* name); ///< Return the number of quads of the SofaPhysicsOutputMesh with name: @param name
-EXPORT_API int sofaVisualModel_getQuads(void* api_ptr, const char* name, int* buffer); ///< Get the quads using ouput @param values (type int[ 4*nbQuads ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
+EXPORT_API int sofaVisualModel_getQuads(void* api_ptr, const char* name, int* buffer); ///< Get the quads using output @param values (type int[ 4*nbQuads ]) of the SofaPhysicsOutputMesh with name: @param name. Return error code.
diff --git a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsOutputMesh_impl.h b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsOutputMesh_impl.h
index 189c8930a24..8a4dda07d5c 100644
--- a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsOutputMesh_impl.h
+++ b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsOutputMesh_impl.h
@@ -40,11 +40,11 @@ class SOFA_SOFAPHYSICSAPI_API SofaPhysicsOutputMesh::Impl
 
     unsigned int getNbVertices(); ///< number of vertices
     const Real* getVPositions();  ///< vertices positions (Vec3)
-    int getVPositions(Real* values); ///< get the positions/vertices of this mesh inside ouput @param values, of type Real[ 3*nbVertices ]
+    int getVPositions(Real* values); ///< get the positions/vertices of this mesh inside output @param values, of type Real[ 3*nbVertices ]
     const Real* getVNormals();    ///< vertices normals   (Vec3)
-    int getVNormals(Real* values); ///< get the normals per vertex of this mesh inside ouput @param values, of type Real[ 3*nbVertices ]
+    int getVNormals(Real* values); ///< get the normals per vertex of this mesh inside output @param values, of type Real[ 3*nbVertices ]
     const Real* getVTexCoords();  ///< vertices UVs       (Vec2)
-    int getVTexCoords(Real* values); ///< get the texture coordinates (UV) per vertex of this mesh inside ouput @param values, of type Real[ 2*nbVertices ]
+    int getVTexCoords(Real* values); ///< get the texture coordinates (UV) per vertex of this mesh inside output @param values, of type Real[ 2*nbVertices ]
     int getTexCoordRevision();    ///< changes each time texture coord data are updated
     int getVerticesRevision();    ///< changes each time vertices data are updated
     
@@ -61,12 +61,12 @@ class SOFA_SOFAPHYSICSAPI_API SofaPhysicsOutputMesh::Impl
 
     unsigned int getNbTriangles(); ///< number of triangles
     const Index* getTriangles();   ///< triangles topology (3 indices / triangle)
-    int getTriangles(int* values); ///< get the triangle topology inside ouput @param values, of type int[ 3*nbTriangles ]
+    int getTriangles(int* values); ///< get the triangle topology inside output @param values, of type int[ 3*nbTriangles ]
     int getTrianglesRevision();    ///< changes each time triangles data is updated
 
     unsigned int getNbQuads(); ///< number of quads
     const Index* getQuads();   ///< quads topology (4 indices / quad)
-    int getQuads(int* values); ///< get the quad topology inside ouput @param values, of type int[ 4*nbQuads ]
+    int getQuads(int* values); ///< get the quad topology inside output @param values, of type int[ 4*nbQuads ]
     int getQuadsRevision();    ///< changes each time quads data is updated
 
     typedef sofa::core::visual::VisualModel SofaVisualOutputMesh;
diff --git a/applications/projects/myCfExport/myCfExport.cpp b/applications/projects/myCfExport/myCfExport.cpp
index da17e331dab..afdad2c397f 100644
--- a/applications/projects/myCfExport/myCfExport.cpp
+++ b/applications/projects/myCfExport/myCfExport.cpp
@@ -140,7 +140,7 @@ int main(int argc, char** argv)
         fileName = files[0];
     else
     {
-        fileName = "scenes"; // defaut file for storing the list of scenes
+        fileName = "scenes"; // default file for storing the list of scenes
     }
 
     fileName = std::string(MyCfExport_DIR) + "/" + fileName;  // MyCfExport_DIR defined in CMakeLists.txt
diff --git a/applications/projects/runSofa/Main.cpp b/applications/projects/runSofa/Main.cpp
index 1b5bd15f88b..6688d961f1e 100644
--- a/applications/projects/runSofa/Main.cpp
+++ b/applications/projects/runSofa/Main.cpp
@@ -377,7 +377,7 @@ int main(int argc, char** argv)
     BaseGUI::setConfigDirectoryPath(Utils::getSofaPathPrefix() + "/config", true);
     BaseGUI::setScreenshotDirectoryPath(Utils::getSofaPathPrefix() + "/screenshots", true);
 
-    // Add Batch GUI (runSofa without any GUIs wont be useful)
+    // Add Batch GUI (runSofa without any GUIs won't be useful)
     sofa::gui::batch::init();
 
     auto& pluginManager = PluginManager::getInstance();
@@ -413,7 +413,7 @@ int main(int argc, char** argv)
     }
 
     sofa::core::ObjectFactory* objectFactory = sofa::core::ObjectFactory::getInstance();
-    // calling explicitely registerObjects from loadedPlugins
+    // calling explicitly registerObjects from loadedPlugins
     for (const auto& [pluginPath, plugin] : pluginManager.getPluginMap())
     {
         const auto& pluginName = plugin.getModuleName();
@@ -424,7 +424,7 @@ int main(int argc, char** argv)
     addGUIParameters(argParser);
     argParser->parse();
 
-    // Fetching file name must be done after the additionnal potential options have been added
+    // Fetching file name must be done after the additional potential options have been added
     // otherwise the first parsing will take the unknown options as the file name
     // (because of its positional parameter)
     files = argParser->getInputFileList();
diff --git a/applications/projects/sofaInitTimer/runInitTimer.sh b/applications/projects/sofaInitTimer/runInitTimer.sh
index 167137341f7..9e5606da313 100755
--- a/applications/projects/sofaInitTimer/runInitTimer.sh
+++ b/applications/projects/sofaInitTimer/runInitTimer.sh
@@ -48,7 +48,7 @@ declare -i nerrors=0
 if [[ $resetMode == 1 ]] 
 then
     arguments=$(echo $arguments -r)
-    echo Reseting the InitTimer of files
+    echo Resetting the InitTimer of files
 else
     echo Run InitTimer with $iterations iterations: Set of files $iniFile
 fi
diff --git a/applications/tutorials/anatomyModelling/anatomyModelling.cpp b/applications/tutorials/anatomyModelling/anatomyModelling.cpp
index a3770228914..d161aac7edc 100644
--- a/applications/tutorials/anatomyModelling/anatomyModelling.cpp
+++ b/applications/tutorials/anatomyModelling/anatomyModelling.cpp
@@ -582,7 +582,7 @@ simulation::Node::SPtr createScene()
     multiMapping->addInputModel(insertionFrameDof.get()); // third parent
     multiMapping->addOutputModel(frameDof.get()); // deformable structure
 	////////// init subsetmultimapping position //////////
-	// origin and inertion
+	// origin and insertion
 	multiMapping->addPoint( originFrameDof.get(), 0 );
 	multiMapping->addPoint( insertionFrameDof.get(), 0 );
 	// moving frame
diff --git a/cmake/Modules/FindICU.cmake b/cmake/Modules/FindICU.cmake
index 59dd891afaa..7790e0ce314 100644
--- a/cmake/Modules/FindICU.cmake
+++ b/cmake/Modules/FindICU.cmake
@@ -172,7 +172,7 @@ if(${ICU_PUBLIC_VAR_NS}_INCLUDE_DIR)
         set(${ICU_PUBLIC_VAR_NS}_VERSION_PATCH "0")
     elseif(${ICU_PRIVATE_VAR_NS}_VERSION_HEADER_CONTENTS MATCHES ".*# *define *U_ICU_VERSION_MAJOR_NUM *([0-9]+).*")
         #
-        # Since version 4.9.1, ICU release version numbering was totaly changed, see:
+        # Since version 4.9.1, ICU release version numbering was totally changed, see:
         # - http://site.icu-project.org/download/49
         # - http://userguide.icu-project.org/design#TOC-Version-Numbers-in-ICU
         #
@@ -339,9 +339,9 @@ endfunction(_icu_extract_locale_from_rb)
 #   - none (default):
 #       * PACKAGE     : if present, package all resource bundles together. Default is to stop after building individual *.res files
 #       * TYPE <name> : one of :
-#           + common or archive (default) : archive all ressource bundles into a single .dat file
-#           + library or dll              : assemble all ressource bundles into a separate and loadable library (.dll/.so)
-#           + static                      : integrate all ressource bundles to targets designed by DEPENDS parameter (as a static library)
+#           + common or archive (default) : archive all resource bundles into a single .dat file
+#           + library or dll              : assemble all resource bundles into a separate and loadable library (.dll/.so)
+#           + static                      : integrate all resource bundles to targets designed by DEPENDS parameter (as a static library)
 #       * NO_SHARED_FLAGS                 : only with TYPE in ['library', 'dll', 'static'], do not append ICU_C(XX)_SHARED_FLAGS to targets given as DEPENDS argument
 #   - JAVA:
 #       * BUNDLE <name> : required, prefix for generated classnames
diff --git a/cmake/Modules/FindOpenCTM.cmake b/cmake/Modules/FindOpenCTM.cmake
index 2b9e37d188e..40279e49a33 100644
--- a/cmake/Modules/FindOpenCTM.cmake
+++ b/cmake/Modules/FindOpenCTM.cmake
@@ -6,7 +6,7 @@
 # OPENCTM_INCLUDE_PATH
 # OPENCTM_LIBRARY
 # 
-# lib directory of OpenCTM library should be linked to on of the path below under teh directory openctm
+# lib directory of OpenCTM library should be linked to on of the path below under the directory openctm
 
 #include( Common )
 
diff --git a/cmake/Modules/FindOptiX.cmake b/cmake/Modules/FindOptiX.cmake
index 8f93c447ad3..47ee7eccae6 100644
--- a/cmake/Modules/FindOptiX.cmake
+++ b/cmake/Modules/FindOptiX.cmake
@@ -134,7 +134,7 @@ if(APPLE)
             # the optix library.
             get_filename_component(_optix_name_of_optixu "${optixu_LIBRARY}" NAME)
             if(EXISTS "${_optix_path_to_optix}/${_optix_name_of_optixu}")
-                message(WARNING " optixu library found next to optix library that is not being used.  Due to the way we are usin
+                message(WARNING " optixu library found next to optix library that is not being used.  Due to the way we are using
 g rpath, the copy of optixu next to optix will be used during loading instead of the one you intended.  Consider putting the libraries in the same directory or moving ${optixu_LIBRARY} out of the way.")
             endif()
         endif()
diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn
index 01f2c6d497c..df78a57426d 100644
--- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn
+++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn
@@ -28,7 +28,7 @@ The differences are in the way the global system matrix is built and solved:
 
         <!--
             Iterative linear solver using the template parameter CompressedRowSparseMatrixMat3x3d.
-            It means the global system matrix is built explicitly using 3x3 bloc entries, and solved iteratively.
+            It means the global system matrix is built explicitly using 3x3 block entries, and solved iteratively.
          -->
         <CGLinearSolver iterations="1000" tolerance="1e-9" threshold="1e-9" template="CompressedRowSparseMatrixMat3x3"/>
 
diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn
index 3a1e7a22ab2..0fd032ab6ac 100644
--- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn
+++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn
@@ -29,7 +29,7 @@ The differences are in the way the global system matrix is built and solved:
         <!--
             Direct solver: the system matrix is explicitly built by the ODE solver
             and provided to the linear solver.
-            The template CompressedRowSparseMatrixMat3x3d indicates that the matrix is defined by 3x3 blocs.
+            The template CompressedRowSparseMatrixMat3x3d indicates that the matrix is defined by 3x3 blocks.
          -->
         <SparseLDLSolver template="CompressedRowSparseMatrixMat3x3"/>
 
diff --git a/examples/Component/Engine/GL/TextureInterpolation.scn b/examples/Component/Engine/GL/TextureInterpolation.scn
index e19ca4360d5..238fd82d3b6 100644
--- a/examples/Component/Engine/GL/TextureInterpolation.scn
+++ b/examples/Component/Engine/GL/TextureInterpolation.scn
@@ -26,7 +26,7 @@
             <EulerImplicitSolver name="euler" tags="elec"  rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" tags="elec" />
             <MechanicalObject template="Vec1" name="ElecObj" position="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 9 10 10 9 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0&#x0A;&#x09;&#x09;&#x09;&#x09;  0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" tags="elec" />
-            <!-- Components used in heat diffusion, still in work in Sophia. the potentiel
+            <!-- Components used in heat diffusion, still in work in Sophia. the potential
 	evolve and interpolation is computed at the same time to display the diffusion. -->
             <!--   <TriangularDiffusionForceField template="Vec1" name="ffDiffusion" tags="elec"/>
              <MeshMatrixMass template="Vec1" name="mass" tags="elec" />   -->
diff --git a/examples/Component/IO/Mesh/LiverUseNewLoaders.scn b/examples/Component/IO/Mesh/LiverUseNewLoaders.scn
index 33fc1206e06..7ccbbfd370c 100644
--- a/examples/Component/IO/Mesh/LiverUseNewLoaders.scn
+++ b/examples/Component/IO/Mesh/LiverUseNewLoaders.scn
@@ -39,7 +39,7 @@
             <MeshOBJLoader name="ObjLoader" filename="mesh/liver-smooth.obj" />
             <!--<OglModel name="VisualModel" src="@Obj"/>-->
             <!-- Can not work because fields are already written by the mapping.
-                 Attribut src is not allowed to overwrite non empty fields -->
+                 Attribute src is not allowed to overwrite non empty fields -->
             <OglModel name="VisualModel" position="@ObjLoader.position" vertices="@ObjLoader.position" normal="@ObjLoader.normals" triangles="@ObjLoader.triangles" color="red" />
             <BarycentricMapping input="@.." output="@VisualModel" name="visual mapping" />
         </Node>
diff --git a/examples/Tutorials/Basic/TutorialBasicCube.html b/examples/Tutorials/Basic/TutorialBasicCube.html
index c6e3fa6b9cd..f09b1b94c97 100644
--- a/examples/Tutorials/Basic/TutorialBasicCube.html
+++ b/examples/Tutorials/Basic/TutorialBasicCube.html
@@ -11,7 +11,7 @@
 		<br>
                 In this tutorial, a deformable cube undergoes internal and external forces. This is one of the simplest scenes we can simulate using Sofa. We use it to introduce the component structure.<br>
                 <br>
-                The shape is modeled using a MechanicalObject which desribes the particle states, and a Topology which describes how the particles are connected.<br>
+                The shape is modeled using a MechanicalObject which describes the particle states, and a Topology which describes how the particles are connected.<br>
                 <br>
                 The forces are the MeshSpringForceField, which defines springs according to the edges of the mesh (the Topology), and the PlaneForceField which try to prevent the particles to cross planes.<br>
                 <br>
diff --git a/examples/Tutorials/Mappings/TutorialMappingBarycentric.html b/examples/Tutorials/Mappings/TutorialMappingBarycentric.html
index 800bf2db824..33a475df199 100644
--- a/examples/Tutorials/Mappings/TutorialMappingBarycentric.html
+++ b/examples/Tutorials/Mappings/TutorialMappingBarycentric.html
@@ -72,7 +72,7 @@
 		You can interact with the mouse to see how the two barycentric mappings work together in the scene.
         <ul>
 		<li>
-		With the mouse interaction you can accumlate forces at the level of the collision mechanical object in the "Surf" node. These forces are propagated back at the level of the "Liver" node using the barycentric mechanical mapping. 
+		With the mouse interaction you can accumulate forces at the level of the collision mechanical object in the "Surf" node. These forces are propagated back at the level of the "Liver" node using the barycentric mechanical mapping. 
 		</li>
 		<li>
 		The forces computed at the level of the behaviour model - the "Liver" node - create a motion, and our liver object now moves. In the "Visual" node the visual model now moves in a consistent way with respect to the behaviour model positions and velocities, thanks to the barycentric mapping.
diff --git a/examples/Tutorials/Mappings/TutorialMappingIdentity.html b/examples/Tutorials/Mappings/TutorialMappingIdentity.html
index 06b8f3b303e..13a0c3c31f5 100644
--- a/examples/Tutorials/Mappings/TutorialMappingIdentity.html
+++ b/examples/Tutorials/Mappings/TutorialMappingIdentity.html
@@ -18,7 +18,7 @@
         <br>
 	<div id="orangeText">Key points</div>
 	<br>	
-	IdentityMapping can be used between two MechanicalObjects. Indeed, it will result in a duplication of the positions with the nicety that modifications of the first MechanicalObject will be transfered to the second MechanicalObject.
+	IdentityMapping can be used between two MechanicalObjects. Indeed, it will result in a duplication of the positions with the nicety that modifications of the first MechanicalObject will be transferred to the second MechanicalObject.
 	<br>
 	<div id="orangeText">Results</div>
 	<br>
diff --git a/examples/Tutorials/Mappings/TutorialMappingRigid.html b/examples/Tutorials/Mappings/TutorialMappingRigid.html
index 9b04ddab40e..0bdba6f3b3f 100644
--- a/examples/Tutorials/Mappings/TutorialMappingRigid.html
+++ b/examples/Tutorials/Mappings/TutorialMappingRigid.html
@@ -15,14 +15,14 @@
                 A rigid body (perfectly rigid) is an undeformable body. Because its  undeformable property, a rigid body composed 
 		a set of particles ensures that the distance of any pair of points and the angle of any pair of vectors 
 		remains constant in relation to time. Rigid bodies in SOFA are presented by different models (Visual Model,
-		 Colision Model, Behaviour Model) ensuring their appropriate task. These models are related by a mapping 
+		 Collision Model, Behaviour Model) ensuring their appropriate task. These models are related by a mapping 
 		(rigid mapping in this case).
 	
 
 		<div id="orangeText">Key points:</div>
                 <ul>
                   <li>Model Behaviour Rigid : Position and orientation (quaternion) of the center(s) of mass.</li>
-                  <li>Model Colision Rigid : A set of particles used for computing the collision with other objects.</li>
+                  <li>Model Collision Rigid : A set of particles used for computing the collision with other objects.</li>
 				  <li>Model Visual Rigid : A set of particles used for visualizing.</li>
                 </ul>
 	    <center>
diff --git a/examples/Tutorials/Mappings/TutorialMappingSkinning.html b/examples/Tutorials/Mappings/TutorialMappingSkinning.html
index fab70565a72..2f1efcf4aec 100644
--- a/examples/Tutorials/Mappings/TutorialMappingSkinning.html
+++ b/examples/Tutorials/Mappings/TutorialMappingSkinning.html
@@ -32,7 +32,7 @@
 		<br>
 		<li><u>Distance algorithms:</u> To know this influence, we can use the distance of the particle of the skin to each simulated node. This distance can be:
 		   <ul>
-		      <li>Euclidian</li>
+		      <li>Euclidean</li>
 		      <li>Geodesic</li>
 		      <li>Harmonic</li>
 		  </ul>
diff --git a/examples/Tutorials/Solvers/ExplicitRungeKutta4.html b/examples/Tutorials/Solvers/ExplicitRungeKutta4.html
index 90eaaeb482d..8ceab079c3b 100644
--- a/examples/Tutorials/Solvers/ExplicitRungeKutta4.html
+++ b/examples/Tutorials/Solvers/ExplicitRungeKutta4.html
@@ -11,7 +11,7 @@
 		<div id="orangeText">Description</div><br>
 	<div align="left">	
 		Like EulerSolver in Sofa, RungeKuttaSolver denotes the ODE solver using the explicit integration scheme for computing of 
-		the dynamic system. This integration scheme explicitely resolves the system in relation to time: given the mechanical state
+		the dynamic system. This integration scheme explicitly resolves the system in relation to time: given the mechanical state
 		at time T<sub>n</sub>, compute the state at time T<sub>n+1</sub>=T<sub>n</sub> + dt. The difference with RungeKuttaSolver is that this 
 		integration use a more sophisticated algorithm for the computation of the state at time T<sub>n+1</sub>. Therefore there is more stability
 		and can use a higher time step than the EulerSolver one. Otherwise, RungeKuttaSolver uses a more general explicit method than EulerSolver.
@@ -20,7 +20,7 @@
 		<div id="orangeText" align="left">Key points</div>
 		<br>
 		As with every Explicit Integration method, RungeKutta accumulates errors for each time step. Therefore, two criteria must be 
-		controled when using it : 
+		controlled when using it : 
 		<ul>
                   <li>The time step dt.</li>
                   <li>The dynamic of the system.</li>
diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06.html b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06.html
index 3de5e94d087..b9c88e731df 100644
--- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06.html
+++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06.html
@@ -18,7 +18,7 @@ <h3>Connection with the Omni device</h3></center>
 			<li>Added a driver for the Omni phantom device</li>
 			<li>Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation </li>
 			<li>Added a computation (LCPForceFeedback) of the haptic forces </li>
-			<li>Added VectorSpringForceField & JointSpringForceField to link the mouvements of the Omni phantom and the instrument</li>
+			<li>Added VectorSpringForceField & JointSpringForceField to link the movements of the Omni phantom and the instrument</li>
 		</ul>
 
 		<br><center><h3><a href="dentalSurgery_07.scn">Next</a></center></h3>
diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06a.html b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06a.html
index d226f628a7a..4c809cdcb5e 100644
--- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06a.html
+++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06a.html
@@ -14,7 +14,7 @@ <h3>Instrument visual model</h3></center>
 		Added a driver for the Omni phantom device <br>
 		Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation <br>
 		Added a computation (EnslavementForceFeedback) of the haptic forces <br>
-		Added VectorSpringForceField && JointSpringForceField to link the mouvements of the Omni phantom and the instrument<br>
+		Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument<br>
 
 		<br><center><h3><a href="dentalSurgery_04.scn">Redo this tutorial with proximity collision</a></center></h3>
 </body>
diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06b.html b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06b.html
index e24eb249fcc..f27e30fd3a0 100644
--- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06b.html
+++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_06b.html
@@ -14,7 +14,7 @@ <h3>Instrument visual model</h3></center>
 		Added a driver for the Omni phantom device <br>
 		Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation <br>
 		Added a computation (LCPForceFeedback) of the haptic forces <br>
-		Added VectorSpringForceField && JointSpringForceField to link the mouvements of the Omni phantom and the instrument<br>
+		Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument<br>
 
 		<br><center><h3><a href="dentalSurgery_05a.scn">Redo this tutorial with distance grid collision</a></center></h3>
 
diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_07.html b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_07.html
index 3a4c0b5b66d..4955c1d380b 100644
--- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_07.html
+++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_07.html
@@ -43,7 +43,7 @@ <h3>Deformable model of the Tongue</h3></center>
 
 		<li>
 		<p align="left">
-			The mass choosen for the deformable model of the tongue is a DiagonalMass. It has been choosen to show the diversity of masses available in SOFA. This kind of mass computes the mass matrix with non uniform diagonal values, depending on the tetrahedra size.
+			The mass chosen for the deformable model of the tongue is a DiagonalMass. It has been chosen to show the diversity of masses available in SOFA. This kind of mass computes the mass matrix with non uniform diagonal values, depending on the tetrahedra size.
 		</p>
 		</li>
 		</ul>
diff --git a/examples/Tutorials/StepByStep/Getyourbearings/1_getyourbearings.html b/examples/Tutorials/StepByStep/Getyourbearings/1_getyourbearings.html
index 5f31654695b..6d00042d337 100644
--- a/examples/Tutorials/StepByStep/Getyourbearings/1_getyourbearings.html
+++ b/examples/Tutorials/StepByStep/Getyourbearings/1_getyourbearings.html
@@ -14,7 +14,7 @@ <h3>Get your bearings in SOFA</h3></center>
 		</p>
 
 		<p align="left">
-		In this tutorial, we added the component OglGrid. It display a simple grid on a choosen plane. By default, the grid is displayed on the plane xy.
+		In this tutorial, we added the component OglGrid. It display a simple grid on a chosen plane. By default, the grid is displayed on the plane xy.
 		If we know the size of the grid (10 units in the example), we can have a visual hint on the size of the liver.
 		It also gives the orientation of the liver compared to the grid.
 		</p>
diff --git a/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.html b/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.html
index c250fcc95ee..36e14939b99 100644
--- a/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.html
+++ b/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.html
@@ -20,7 +20,7 @@
                 We used 3 components:
                 <ul>
                   <li> A <b>Node</b> "FirstObject" to store the components describing the object we want to simulate. It is important that the hierarchy of the nodes in the scene graph reflects the scene you want to model.</li>
-                  <li> The shape is modeled using a <b>MechanicalObject</b> which desribes the particle states. </li>
+                  <li> The shape is modeled using a <b>MechanicalObject</b> which describes the particle states. </li>
                   <li> A <b>UniformMass</b> is added for the MechanicalObject, giving  the same mass for each particle of the MechanicalObject. </li>
                 </ul>
 
diff --git a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.html b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.html
index 70ffad2c1f5..df4e78d9ca4 100644
--- a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.html
+++ b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.html
@@ -8,7 +8,7 @@
 		<center><h3>Creation of a Pendulum (4/8)</h3></center>
 		<div id="orangeText">Description</div>
                
-        <p>We saw that when the scene is animated, the particle doesn't move, just like the first scene in this tutorial. However, contrary to the first scene, our scene now results in a simulation being launched, forces accumulated, and an ODE computes the new positions and velocities! To be sure of that, we will add one particle to the <strong>MechanicalObject</strong>. The particle of index "0" will still be constrained to its origional position.</p>
+        <p>We saw that when the scene is animated, the particle doesn't move, just like the first scene in this tutorial. However, contrary to the first scene, our scene now results in a simulation being launched, forces accumulated, and an ODE computes the new positions and velocities! To be sure of that, we will add one particle to the <strong>MechanicalObject</strong>. The particle of index "0" will still be constrained to its original position.</p>
        
        <p><div id="tutorialAction">Double click the <strong>MechanicalObject</strong> node in the Modeler's scene graph. Click on the <strong>Vector 1/4</strong> tab. At the top, you will see the <strong>position</strong> section. <br>
        By using the arrows on the right or typing in the box, change the <strong>1</strong>  to "2". In the <strong>X</strong>, <strong>Y</strong>, and <strong>Z</strong> position of the new row of the matrix (with index 1), enter "1", "0", and "0", respectively.</div></p>
diff --git a/examples/Tutorials/Tutorials.html b/examples/Tutorials/Tutorials.html
index 1df5c285638..0a8fc11f8ff 100644
--- a/examples/Tutorials/Tutorials.html
+++ b/examples/Tutorials/Tutorials.html
@@ -19,7 +19,7 @@ <h3>Tutorials for SOFA</h3></center>
 You can 
 <a href="Basic/TutorialBasicCube.html" name="Changing HTML"> Change the description HTML</a> to do step by step procedures
 <br>
-you can modify the graph, and drop objets from the Library of the Modeler
+you can modify the graph, and drop objects from the Library of the Modeler
 </div>
 </body>
 </html>
diff --git a/scripts/deprecated/replace-object12-IO.sh b/scripts/deprecated/replace-object12-IO.sh
index b6c2b72a879..7bf9de83726 100755
--- a/scripts/deprecated/replace-object12-IO.sh
+++ b/scripts/deprecated/replace-object12-IO.sh
@@ -5,7 +5,7 @@
 # object2 --> output
 
 # WARNING: this script may modify your scene
-# make sure you saved/commited all local changes before apply this script
+# make sure you saved/committed all local changes before apply this script
 
 DIR0=$PWD
 cd "${0%/*}"
diff --git a/scripts/rm-ObjectType.sh b/scripts/rm-ObjectType.sh
index 749afdbc188..852c3e8666f 100755
--- a/scripts/rm-ObjectType.sh
+++ b/scripts/rm-ObjectType.sh
@@ -3,7 +3,7 @@
 # This script removes in all the scenes the deprecated structure <Object type="MyComponent"
 
 # WARNING: this script may modify your scene
-# make sure you saved/commited all local changes before apply this script
+# make sure you saved/committed all local changes before apply this script
 
 DIR0=$PWD
 cd "${0%/*}"
diff --git a/scripts/set-paramsfirst.sh b/scripts/set-paramsfirst.sh
index dbabc0619a0..11bfd225825 100755
--- a/scripts/set-paramsfirst.sh
+++ b/scripts/set-paramsfirst.sh
@@ -3,9 +3,9 @@ DIR0=$PWD
 cd "${0%/*}"
 SCRIPTS=$PWD
 cd -
-echo 'This script move all ExecParams/MechanicalParams/... in method prototypes and invokations as the first argument instead of the last in all source files within the given directories (or the current directory if none where specified).'
+echo 'This script move all ExecParams/MechanicalParams/... in method prototypes and invocations as the first argument instead of the last in all source files within the given directories (or the current directory if none where specified).'
 echo 'When the parameter is successfully moved, a /* PARAMS FIRST */ comment is added.'
-echo 'If the auto-update fails, occurences of "@@@@" tags will remain and will have to be manually corrected.'
+echo 'If the auto-update fails, occurrences of "@@@@" tags will remain and will have to be manually corrected.'
 echo ''
 echo 'WARNING: Your files will be modified. Use at your own risk !'
 echo 'Press Enter to continue, or Ctrl+C to abort.'
diff --git a/share/mesh/dragon-1500.obj b/share/mesh/dragon-1500.obj
index 2d9db05068f..dde33351fb0 100644
--- a/share/mesh/dragon-1500.obj
+++ b/share/mesh/dragon-1500.obj
@@ -1663,7 +1663,7 @@ vt 2.74963 1.86835
 vt 2.94179 2.25793
 vt 2.97225 2.97799
 vt 2.55937 1.99093
-# 792 texture verticies
+# 792 texture vertices
 vn -0.304453 -0.392388 -0.867952
 vn -0.281931 -0.344348 -0.895511
 vn -0.310496 -0.384297 -0.86943
diff --git a/share/mesh/liver2.obj b/share/mesh/liver2.obj
index e71b3380737..95c89ceddc4 100644
--- a/share/mesh/liver2.obj
+++ b/share/mesh/liver2.obj
@@ -1177,7 +1177,7 @@ v -0.940337 -1.01156 14.6654
 v -0.563638 -1.04228 15.1295
 v -0.575005 -1.01364 15.2107
 v -0.47137 -1.03615 15.2455
-# 1170 verticies
+# 1170 vertices
 vn 0.584371 -0.689704 -0.427573
 vn 0.423815 -0.879951 -0.214633
 vn 0.482345 -0.751867 -0.449488
diff --git a/share/shaders/generalRenderingShader.frag b/share/shaders/generalRenderingShader.frag
index ef8f3a6ffd6..56bb355dd62 100644
--- a/share/shaders/generalRenderingShader.frag
+++ b/share/shaders/generalRenderingShader.frag
@@ -241,11 +241,11 @@ vec4 dnoise(vec3 p)
 	return dnoise(p.x,p.y,p.z);
 }
 
-float perlin_noise(vec3 p, float freq, int octave, float persistance)
+float perlin_noise(vec3 p, float freq, int octave, float persistence)
 {
     float res = 0.0;
     float o=freq;
-    float f=persistance;
+    float f=persistence;
         
     for(int i = 0;i<octave;i++)
     {
@@ -257,11 +257,11 @@ float perlin_noise(vec3 p, float freq, int octave, float persistance)
     return res;
 }
 
-vec4 perlin_dnoise(vec3 p, float freq, int octave, float persistance)
+vec4 perlin_dnoise(vec3 p, float freq, int octave, float persistence)
 {
     vec4 res = vec4(0.0,0.0,0.0,0.0);
     float o=freq;
-    float f=persistance;
+    float f=persistence;
         
     for(int i = 0;i<octave;i++)
     {
@@ -289,7 +289,7 @@ void main()
 #endif //TEXTURE_UNIT_0
 
 #ifdef TRI_TEXTURING
-	// To compute unlit color and normal, only vPositionW and vNormalW should be used, so that it is independant of the current deformation
+	// To compute unlit color and normal, only vPositionW and vNormalW should be used, so that it is independent of the current deformation
 	//XY = 1 0 0
 	//XZ = 0 1 0
 	//YZ = 0 0 1
diff --git a/share/shaders/shaderLibrary.glsl b/share/shaders/shaderLibrary.glsl
index 455ece47c5c..c9c20dc0c3a 100644
--- a/share/shaders/shaderLibrary.glsl
+++ b/share/shaders/shaderLibrary.glsl
@@ -24,7 +24,7 @@ vec3 Pow(vec3 x, vec3 y) { POW }
 vec4 Pow(vec4 x, vec4 y) { POW }
 
 ///////////////////////////////////////////////////////////////////////////////
-// Constrast adjustment.
+// Contrast adjustment.
 ///////////////////////////////////////////////////////////////////////////////
 
 vec3 AdjustContrast(vec3 Color, vec2 ScaleBias)
@@ -68,9 +68,9 @@ vec3 BluredNormal(vec3 Position, vec3 Tangent, sampler3D NoiseMap)
 vec3 BrushedMetalNormal(vec3 Normal, vec3 Position, vec3 Direction, float Roughness, float Distance, float Strength, sampler3D NoiseMap)
 {
     vec3 Tangent = normalize(VectorOrthogonalize(Normal, Direction));
-    vec3 Blured = BluredNormal(Position * Roughness, Tangent * Distance, NoiseMap);
+    vec3 Blurred = BluredNormal(Position * Roughness, Tangent * Distance, NoiseMap);
 
-    return normalize(Normal + Blured * Strength);
+    return normalize(Normal + Blurred * Strength);
 }
 
 ///////////////////////////////////////////////////////////////////////////////
diff --git a/share/shaders/shaderLibrary_cataract.glsl b/share/shaders/shaderLibrary_cataract.glsl
index 2c64acce628..f000b7e3947 100644
--- a/share/shaders/shaderLibrary_cataract.glsl
+++ b/share/shaders/shaderLibrary_cataract.glsl
@@ -26,7 +26,7 @@ vec4 Pow(vec4 x, vec4 y) { POW }
 #define Saturate(x) clamp(x, 0.0, 1.0)
 
 ///////////////////////////////////////////////////////////////////////////////
-// Constrast adjustment.
+// Contrast adjustment.
 ///////////////////////////////////////////////////////////////////////////////
 
 vec3 AdjustContrast(vec3 Color, vec2 ScaleBias)
@@ -69,9 +69,9 @@ vec3 BluredNormal(vec3 Position, vec3 Tangent, sampler3D NoiseMap)
 vec3 BrushedMetalNormal(vec3 Normal, vec3 Position, vec3 Direction, float Roughness, float Distance, float Strength, sampler3D NoiseMap)
 {
     vec3 Tangent = normalize(VectorOrthogonalize(Normal, Direction));
-    vec3 Blured = BluredNormal(Position * Roughness, Tangent * Distance, NoiseMap);
+    vec3 Blurred = BluredNormal(Position * Roughness, Tangent * Distance, NoiseMap);
 
-    return normalize(Normal + Blured * Strength);
+    return normalize(Normal + Blurred * Strength);
 }
 
 ///////////////////////////////////////////////////////////////////////////////
diff --git a/share/shaders/tritexturing.frag b/share/shaders/tritexturing.frag
index a9fe57c8632..d7e0f61b747 100644
--- a/share/shaders/tritexturing.frag
+++ b/share/shaders/tritexturing.frag
@@ -19,7 +19,7 @@ uniform sampler2D normalMap;
 
 void main()
 {
-	// To compute unlit color and normal, only vPositionW and vNormalW should be used, so that it is independant of the current deformation
+	// To compute unlit color and normal, only vPositionW and vNormalW should be used, so that it is independent of the current deformation
 	//XY = 1 0 0
 	//XZ = 0 1 0
 	//YZ = 0 0 1
diff --git a/tools/postinstall-fixup/linux-postinstall-fixup.sh b/tools/postinstall-fixup/linux-postinstall-fixup.sh
index 963d425effa..f90ce9cb9fc 100644
--- a/tools/postinstall-fixup/linux-postinstall-fixup.sh
+++ b/tools/postinstall-fixup/linux-postinstall-fixup.sh
@@ -91,7 +91,7 @@ get-lib-deps-assoc() {
     ldd $libs | # get all deps from libs in build_dir/[bin,lib] and install_dir/[bin,lib]
         grep " => [^ \.].* " | # remove unneeded results
         grep -v "$base_dir" | # remove deps already satisfied locally
-        cut -c2- | # remove tabulation at beggining of each line
+        cut -c2- | # remove tabulation at beginning of each line
         sed -e 's/ (.*//g' | # keep only "libname => libpath"
         sort | uniq > "$output"
 
diff --git a/tools/sofa-launcher/example.py b/tools/sofa-launcher/example.py
index 6086a3315f4..13ff09cdbaa 100644
--- a/tools/sofa-launcher/example.py
+++ b/tools/sofa-launcher/example.py
@@ -43,7 +43,7 @@ def oneParticleSample(node):
 
 
 ############################################################################################
-# following defs are optionnal entry points, called by the PythonScriptController component;
+# following defs are optional entry points, called by the PythonScriptController component;
 ############################################################################################
 
 
@@ -54,7 +54,7 @@ def onLoaded(self,node):
 		print 'Controller script loaded from node %s'%node.findData('name').value
 		return 0
 
-	# optionnally, script can create a graph...
+	# optionally, script can create a graph...
 	def createGraph(self,node):
 		print 'createGraph called (python side)'
 
diff --git a/tools/sofa-launcher/integration_example.py b/tools/sofa-launcher/integration_example.py
index 87076b29e0d..10a950e32e1 100755
--- a/tools/sofa-launcher/integration_example.py
+++ b/tools/sofa-launcher/integration_example.py
@@ -73,7 +73,7 @@
                     filesandtemplates, launcher=SSHLauncher(hosts, "YOULOGIN", 
                     runSofaAbsPath="THEPATHTOSOFA/runSofa"))
                     
-# Start sofa returns a dictionnary 
+# Start sofa returns a dictionary 
 for res in results:
        print("Results: ")
        print("    directory: "+res["directory"])
diff --git a/tools/sofa-launcher/launcher.py b/tools/sofa-launcher/launcher.py
index 9798c2461dd..c237d53c33a 100644
--- a/tools/sofa-launcher/launcher.py
+++ b/tools/sofa-launcher/launcher.py
@@ -187,7 +187,7 @@ def startSofa(parameters, filesandtemplates, launcher):
         tasks = []
         
         if not isinstance(parameters, list):
-                raise TypeError("the first parameter must be an list like structure of dictionnaries")
+                raise TypeError("the first parameter must be an list like structure of dictionaries")
 
         if not isinstance(parameters, list):
                 raise TypeError("parameters must be a list like structure of tuple")

From 0c87f1943da1491699cd2393cb40738bc2c493cd Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Tue, 22 Oct 2024 15:47:37 +0200
Subject: [PATCH 31/43] [Helper] Ensure exactly one directory separator (#5073)

---
 .../framework/Helper/src/sofa/helper/system/FileSystem.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp
index 04b0eaf7c34..7e8675e5f27 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp
@@ -259,10 +259,9 @@ int FileSystem::findFiles(const std::string& directoryPath,
         return -1;
 
     // Filter files
-    for (std::size_t i=0 ; i!=files.size() ; i++)
+    for (const auto& filename : files)
     {
-        const std::string& filename = files[i];
-        const std::string& filepath = directoryPath + "/" + files[i];
+        const std::string& filepath = append(directoryPath, filename);
 
         if ( isDirectory(filepath) && filename[0] != '.' && depth > 0 )
         {
@@ -385,7 +384,7 @@ std::string FileSystem::findOrCreateAValidPath(const std::string path)
 
     const std::string parentPath = FileSystem::getParentDirectory(path) ;
     const std::string currentFile = FileSystem::stripDirectory(path) ;
-    FileSystem::createDirectory(findOrCreateAValidPath( parentPath )+"/"+currentFile) ;
+    FileSystem::createDirectory(append(findOrCreateAValidPath( parentPath ), currentFile)) ;
     return path ;
 }
 

From ecd9225e60fdc87dce021e073254db4eac9eda81 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Sun, 27 Oct 2024 00:59:46 +0900
Subject: [PATCH 32/43] [Constraint] Apply new factory registration mechanism
 (#5052)

* apply new register mechanism to constraint

* Apply suggestions from code review (update descriptions)

Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>

---------

Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>
---
 .../GenericConstraintCorrection.cpp           |  7 ++-
 .../LinearSolverConstraintCorrection.cpp      | 11 ++--
 .../PrecomputedConstraintCorrection.cpp       | 12 ++---
 .../UncoupledConstraintCorrection.cpp         |  9 ++--
 .../constraint/lagrangian/correction/init.cpp | 19 +++++++
 .../model/BilateralLagrangianConstraint.cpp   | 10 ++--
 .../model/FixedLagrangianConstraint.cpp       |  9 ++--
 .../model/SlidingLagrangianConstraint.cpp     |  9 ++--
 .../model/StopperLagrangianConstraint.cpp     | 11 ++--
 .../model/UniformLagrangianConstraint.cpp     |  8 +--
 .../model/UnilateralLagrangianConstraint.cpp  | 12 ++---
 .../constraint/lagrangian/model/init.cpp      | 23 +++++++++
 .../solver/GenericConstraintSolver.cpp        |  8 +--
 .../lagrangian/solver/LCPConstraintSolver.cpp |  7 ++-
 .../constraint/lagrangian/solver/init.cpp     | 14 +++++
 .../component/constraint/lagrangian/init.cpp  | 19 ++++++-
 .../AffineMovementProjectiveConstraint.cpp    |  8 +--
 .../projective/AttachProjectiveConstraint.cpp | 11 ++--
 .../DirectionProjectiveConstraint.cpp         | 11 ++--
 .../FixedPlaneProjectiveConstraint.cpp        | 11 ++--
 .../projective/FixedProjectiveConstraint.cpp  |  9 ++--
 .../FixedRotationProjectiveConstraint.cpp     | 10 ++--
 .../FixedTranslationProjectiveConstraint.cpp  | 10 ++--
 .../HermiteSplineProjectiveConstraint.cpp     | 10 ++--
 .../projective/LineProjectiveConstraint.cpp   | 10 ++--
 .../LinearMovementProjectiveConstraint.cpp    | 11 ++--
 .../LinearVelocityProjectiveConstraint.cpp    | 10 ++--
 .../OscillatorProjectiveConstraint.cpp        |  9 ++--
 .../ParabolicProjectiveConstraint.cpp         |  8 +--
 .../PartialFixedProjectiveConstraint.cpp      | 10 ++--
 ...tialLinearMovementProjectiveConstraint.cpp |  9 ++--
 .../PatchTestMovementProjectiveConstraint.cpp |  9 ++--
 .../projective/PlaneProjectiveConstraint.cpp  | 10 ++--
 .../projective/PointProjectiveConstraint.cpp  | 10 ++--
 ...itionBasedDynamicsProjectiveConstraint.cpp | 13 ++---
 .../SkeletalMotionProjectiveConstraint.cpp    |  9 ++--
 .../component/constraint/projective/init.cpp  | 51 +++++++++++++++++++
 .../src/sofa/component/constraint/init.cpp    | 13 +++++
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 39 files changed, 300 insertions(+), 151 deletions(-)

diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
index 30a0efcfdcd..fddcc8fde5c 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
@@ -264,7 +264,10 @@ void GenericConstraintCorrection::applyPredictiveConstraintForce(const Constrain
 
 void GenericConstraintCorrection::resetContactForce(){}
 
-int GenericConstraintCorrectionClass = RegisterObject("")
-    .add< GenericConstraintCorrection >();
+void registerGenericConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Generic Constraint Correction.")
+        .add< GenericConstraintCorrection >());
+}
 
 } //namespace sofa::component::constraint::lagrangian::correction
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp
index 86e7a2b64d9..55c270756bd 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp
@@ -27,20 +27,21 @@
 
 namespace sofa::component::constraint::lagrangian::correction
 {
+
 using namespace sofa::defaulttype;
 
-int LinearSolverContactCorrectionClass = core::RegisterObject("")
+void registerLinearSolverConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Constraint Correction for Linear Solvers.")
         .add< LinearSolverConstraintCorrection<Vec3Types> >()
         .add< LinearSolverConstraintCorrection<Vec2Types> >()
         .add< LinearSolverConstraintCorrection<Vec1Types> >()
-        .add< LinearSolverConstraintCorrection<Rigid3Types> >()
+        .add< LinearSolverConstraintCorrection<Rigid3Types> >());
+}
 
-        ;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Vec2Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Vec1Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Rigid3Types>;
 
-
-
 } //namespace sofa::component::constraint::lagrangian::correction
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp
index f276fe52a75..9a69337d036 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp
@@ -121,17 +121,15 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void PrecomputedConstraintCo
 {
 }
 
-
-
-
 using namespace sofa::defaulttype;
 
-int PrecomputedConstraintCorrectionClass = core::RegisterObject("Component computing constraint forces within a simulated body using the compliance method.")
+void registerPrecomputedConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Component precomputing constraint forces within a simulated body using the compliance method.")
         .add< PrecomputedConstraintCorrection<Vec3Types> >()
         .add< PrecomputedConstraintCorrection<Vec1Types> >()
-        .add< PrecomputedConstraintCorrection<Rigid3Types> >()
-
-        ;
+        .add< PrecomputedConstraintCorrection<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API PrecomputedConstraintCorrection<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API PrecomputedConstraintCorrection<Vec1Types>;
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp
index bfa4e4ec3e1..541d30d660b 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp
@@ -155,13 +155,14 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr
     }
 }
 
-
-int UncoupledConstraintCorrectionClass = core::RegisterObject("Component computing constraint forces within a simulated body using the compliance method.")
+void registerUncoupledConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Component computing constraint forces within a simulated body using the compliance method.")
         .add< UncoupledConstraintCorrection< Vec1Types > >()
         .add< UncoupledConstraintCorrection< Vec2Types > >()
         .add< UncoupledConstraintCorrection< Vec3Types > >()
-        .add< UncoupledConstraintCorrection< Rigid3Types > >()
-    ;
+        .add< UncoupledConstraintCorrection< Rigid3Types > >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API UncoupledConstraintCorrection< Vec1Types >;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API UncoupledConstraintCorrection< Vec2Types >;
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp
index 814cfc507c7..a0173c9e2b2 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp
@@ -21,13 +21,21 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/correction/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::lagrangian::correction
 {
 
+extern void registerGenericConstraintCorrection(sofa::core::ObjectFactory* factory);
+extern void registerLinearSolverConstraintCorrection(sofa::core::ObjectFactory* factory);
+extern void registerPrecomputedConstraintCorrection(sofa::core::ObjectFactory* factory);
+extern void registerUncoupledConstraintCorrection(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +53,22 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerGenericConstraintCorrection(factory);
+    registerLinearSolverConstraintCorrection(factory);
+    registerPrecomputedConstraintCorrection(factory);
+    registerUncoupledConstraintCorrection(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
index 9d9c5a28167..e6932abfdae 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
@@ -317,12 +317,12 @@ void BilateralLagrangianConstraint<defaulttype::Rigid3Types>::addContact(Deriv n
                                                                         id, localid) ;
 }
 
-
-
-int BilateralLagrangianConstraintClass = core::RegisterObject("BilateralLagrangianConstraint defining an holonomic equality constraint (attachment)")
+void registerBilateralLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("BilateralLagrangianConstraint defining an holonomic equality constraint (attachment).")
         .add< BilateralLagrangianConstraint<Vec3Types> >()
-        .add< BilateralLagrangianConstraint<Rigid3Types> >()
-        ;
+        .add< BilateralLagrangianConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint<Rigid3Types>;
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp
index dd1c908d3cd..34c719a02dd 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp
@@ -237,14 +237,15 @@ void FixedLagrangianConstraint<Rigid3Types>::doGetSingleConstraintResolution(std
     offset += 3;
 }
 
-
-
-int FixedLagrangianConstraintClass = core::RegisterObject("Lagrangian-based fixation of DOFs of the model")
+void registerFixedLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based fixation of DOFs of the model.")
         .add< FixedLagrangianConstraint<Vec6Types> >()
         .add< FixedLagrangianConstraint<Vec3Types> >()
         .add< FixedLagrangianConstraint<Vec2Types> >()
         .add< FixedLagrangianConstraint<Vec1Types> >()
-        .add< FixedLagrangianConstraint<Rigid3Types> >();
+        .add< FixedLagrangianConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API FixedLagrangianConstraint<Vec6Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API FixedLagrangianConstraint<Vec3Types>;
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp
index 86f42c1935b..d004c21de25 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp
@@ -30,12 +30,13 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int SlidingLagrangianConstraintClass = core::RegisterObject("TODO-SlidingLagrangianConstraint")
-        .add< SlidingLagrangianConstraint<Vec3Types> >(true);
+void registerSlidingLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based partial fixation of DOFs of the model, along an axis.")
+        .add< SlidingLagrangianConstraint<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingLagrangianConstraint<Vec3Types>;
 
-
 } //namespace sofa::component::constraint::lagrangian::model
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp
index 431a80e8428..097d012e46f 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp
@@ -29,14 +29,13 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int StopperLagrangianConstraintClass = core::RegisterObject("TODO-StopperLagrangianConstraint")
-        .add< StopperLagrangianConstraint<Vec1Types> >()
-
-        ;
+void registerStopperLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based constraint forcing a 1D DoF to be  inside a given range.")
+        .add< StopperLagrangianConstraint<Vec1Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API StopperLagrangianConstraint<Vec1Types>;
 
-
 } //namespace sofa::component::constraint::lagrangian::model
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp
index eb993968042..1c9265e65ef 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp
@@ -28,9 +28,11 @@
 namespace sofa::component::constraint::lagrangian::model
 {
 
-int UniformLagrangianConstraintClass = sofa::core::RegisterObject("A constraint equation applied on all dofs.")
-.add< UniformLagrangianConstraint<sofa::defaulttype::Vec1Types> >()
-;
+void registerUniformLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A constraint equation applied on all dofs.")
+        .add< UniformLagrangianConstraint<sofa::defaulttype::Vec1Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UniformLagrangianConstraint<sofa::defaulttype::Vec1Types>;
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp
index 911955ed2e5..ab1fa1724c8 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp
@@ -28,14 +28,12 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
-
-//TODO(dmarchal) What does this TODO mean ?
-int UnilateralLagrangianConstraintClass = core::RegisterObject("TODO-UnilateralLagrangianConstraint")
-        .add< UnilateralLagrangianConstraint<Vec3Types> >()
-
-        ;
 
+void registerUnilateralLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based inequality constraint")
+        .add< UnilateralLagrangianConstraint<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint<Vec3Types>;
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
index 4e24afdcaad..de09f9f65d9 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
@@ -21,13 +21,23 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/model/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::lagrangian::model
 {
 
+extern void registerBilateralLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerSlidingLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerStopperLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerUniformLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerUnilateralLagrangianConstraint(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +55,24 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBilateralLagrangianConstraint(factory);
+    registerFixedLagrangianConstraint(factory);
+    registerSlidingLagrangianConstraint(factory);
+    registerStopperLagrangianConstraint(factory);
+    registerUniformLagrangianConstraint(factory);
+    registerUnilateralLagrangianConstraint(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
index e76b5eac8b9..cf3d4e1a770 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
@@ -617,8 +617,10 @@ sofa::core::MultiVecDerivId GenericConstraintSolver::getDx() const
     return m_dxId;
 }
 
-
-int GenericConstraintSolverClass = core::RegisterObject("A Generic Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components")
-        .add< GenericConstraintSolver >();
+void registerGenericConstraintSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A Generic Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components")
+        .add< GenericConstraintSolver >());
+}
 
 } //namespace sofa::component::constraint::lagrangian::solver
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
index 42b9179f220..9a938934b73 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
@@ -1331,7 +1331,10 @@ void LCPConstraintSolver::draw(const core::visual::VisualParams* vparams)
 
 }
 
-int LCPConstraintSolverClass = core::RegisterObject("A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components")
-        .add< LCPConstraintSolver >();
+void registerLCPConstraintSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components.")
+        .add< LCPConstraintSolver >());
+}
 
 } //namespace sofa::component::constraint::lagrangian::solver
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
index 49035665928..d814d090dd3 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
@@ -21,14 +21,19 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/solver/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
 
 namespace sofa::component::constraint::lagrangian::solver
 {
 
+extern void registerGenericConstraintSolver(sofa::core::ObjectFactory* factory);
+extern void registerLCPConstraintSolver(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -46,11 +51,20 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerGenericConstraintSolver(factory);
+    registerLCPConstraintSolver(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
index db4109f59f4..b0f8cbd6009 100644
--- a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
@@ -21,10 +21,13 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/init.h>
 
-#include <sofa/component/constraint/lagrangian/model/init.h>
 #include <sofa/component/constraint/lagrangian/correction/init.h>
+#include <sofa/component/constraint/lagrangian/model/init.h>
 #include <sofa/component/constraint/lagrangian/solver/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::lagrangian
 {
 
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,15 +53,26 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Correction");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Model");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Solver");
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
         // force dependencies at compile-time
-        sofa::component::constraint::lagrangian::model::init();
         sofa::component::constraint::lagrangian::correction::init();
+        sofa::component::constraint::lagrangian::model::init();
         sofa::component::constraint::lagrangian::solver::init();
+
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp
index a34416970dc..92545757a7d 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp
@@ -31,10 +31,12 @@
 namespace sofa::component::constraint::projective
 {
 
-int AffineMovementProjectiveConstraintRegister = core::RegisterObject("Constraint the movement by a rigid transform.")
+void registerAffineMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Constraint the movement by a rigid transform.")
         .add< AffineMovementProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< AffineMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< AffineMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint<defaulttype::Rigid3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp
index 2c2683c9d1c..6fa5cd004f7 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp
@@ -28,15 +28,16 @@ namespace sofa::component::constraint::projective
 
 using namespace sofa::type;
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int AttachProjectiveConstraintClass = core::RegisterObject("Attach given pair of particles, projecting the positions of the second particles to the first ones")
+void registerAttachProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given pair of particles, projecting the positions of the second particles to the first ones.")
         .add< AttachProjectiveConstraint<Vec3Types> >()
         .add< AttachProjectiveConstraint<Vec2Types> >()
         .add< AttachProjectiveConstraint<Vec1Types> >()
         .add< AttachProjectiveConstraint<Rigid3Types> >()
-        .add< AttachProjectiveConstraint<Rigid2Types> >()
-        ;
+        .add< AttachProjectiveConstraint<Rigid2Types> >());
+}
 
 template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API
 void AttachProjectiveConstraint<Rigid3Types>::calcRestRotations()
@@ -67,6 +68,4 @@ template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstrai
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint<Rigid3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint<Rigid2Types>;
 
-
-
 } // namespace sofa::component::constraint::projective
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp
index 2d0a68442dd..7b080f6ea8e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp
@@ -29,16 +29,15 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int DirectionProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerDirectionProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions.")
         .add< DirectionProjectiveConstraint<Vec3Types> >()
-        .add< DirectionProjectiveConstraint<Vec2Types> >()
-        ;
+        .add< DirectionProjectiveConstraint<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint<Vec2Types>;
 
-
 } // namespace sofa::component::constraint::projective
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp
index ab9c9e49cc6..14fd1b6c8e6 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp
@@ -29,15 +29,14 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int FixedPlaneProjectiveConstraintClass = core::RegisterObject("Project particles on a given plane")
+void registerFixedPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project particles on a given plane.")
         .add< FixedPlaneProjectiveConstraint<Rigid3Types> >()
         .add< FixedPlaneProjectiveConstraint<Vec3Types> >()
-        .add< FixedPlaneProjectiveConstraint<Vec6Types> >()
-
-        ;
+        .add< FixedPlaneProjectiveConstraint<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint<defaulttype::Rigid3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint<defaulttype::Vec3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
index 86f1a9bca7d..1854302ef87 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
@@ -31,15 +31,16 @@ namespace sofa::component::constraint::projective
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
 
-
-int FixedProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerFixedProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions.")
         .add< FixedProjectiveConstraint<Vec3Types> >()
         .add< FixedProjectiveConstraint<Vec2Types> >()
         .add< FixedProjectiveConstraint<Vec1Types> >()
         .add< FixedProjectiveConstraint<Vec6Types> >()
         .add< FixedProjectiveConstraint<Rigid3Types> >()
-        .add< FixedProjectiveConstraint<Rigid2Types> >()
-        ;
+        .add< FixedProjectiveConstraint<Rigid2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp
index d812af0e473..d0fd218cd2b 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp
@@ -30,11 +30,11 @@ namespace sofa::component::constraint::projective
 
 using namespace sofa::defaulttype;
 
-
-int FixedRotationProjectiveConstraintClass = core::RegisterObject("Prevents rotation around x or/and y or/and z axis")
-        .add< FixedRotationProjectiveConstraint<Rigid3Types> >()
-
-        ;
+void registerFixedRotationProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Prevents rotation around x or/and y or/and z axis.")
+        .add< FixedRotationProjectiveConstraint<Rigid3Types> >());
+}
 
 template class FixedRotationProjectiveConstraint<Rigid3Types>;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp
index e65ea931ed2..a443ae956d4 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp
@@ -29,17 +29,17 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int FixedTranslationProjectiveConstraintClass = core::RegisterObject("Attach given rigids to their initial positions but they still can have rotations")
+void registerFixedTranslationProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given rigids to their initial positions but they still can have rotations.")
         .add< FixedTranslationProjectiveConstraint<Rigid3Types> >()
         .add< FixedTranslationProjectiveConstraint<Rigid2Types> >()
-        .add< FixedTranslationProjectiveConstraint<Vec6Types> >()
-    ;
+        .add< FixedTranslationProjectiveConstraint<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint<Rigid3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint<Rigid2Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint<Vec6Types>;
 
-
 } // namespace sofa::component::constraint::projective
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp
index aa10b586bf7..31c43fcdc3f 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp
@@ -28,12 +28,14 @@
 namespace sofa::component::constraint::projective
 {
 
-int HermiteSplineProjectiveConstraintClass = core::RegisterObject("Apply a hermite cubic spline trajectory to given points")
+void registerHermiteSplineProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a hermite cubic spline trajectory to given points.")
         .add< HermiteSplineProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< HermiteSplineProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< HermiteSplineProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
-template <>
+template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API
 void HermiteSplineProjectiveConstraint<defaulttype::Rigid3Types>::init()
 {
     this->core::behavior::ProjectiveConstraintSet<defaulttype::Rigid3Types>::init();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp
index e22a8f51b56..b36ebda8f53 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp
@@ -27,13 +27,13 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int LineProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerLineProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions.")
         .add< LineProjectiveConstraint<Vec3Types> >()
-        .add< LineProjectiveConstraint<Vec2Types> >()
-        ;
+        .add< LineProjectiveConstraint<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp
index e3f98526572..15318052280 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp
@@ -40,16 +40,15 @@ void LinearMovementProjectiveConstraint<defaulttype::Rigid3Types>::init()
     finished = false;
 }
 
-
-//declaration of the class, for the factory
-int LinearMovementProjectiveConstraintClass = core::RegisterObject("translate given particles")
+void registerLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a motion to given DOFs (translation and rotation).")
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec3Types> >()
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec2Types> >()
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec1Types> >()
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec6Types> >()
-        .add< LinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-    ;
-
+        .add< LinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint<defaulttype::Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp
index 5c8c0ef4a29..ceca8557230 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp
@@ -29,16 +29,16 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-//declaration of the class, for the factory
-int LinearVelocityProjectiveConstraintClass = core::RegisterObject("apply velocity to given particles")
+void registerLinearVelocityProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a velocity to given DOFs (translation and rotation).")
         .add< LinearVelocityProjectiveConstraint<Vec3Types> >()
         .add< LinearVelocityProjectiveConstraint<Vec2Types> >()
         .add< LinearVelocityProjectiveConstraint<Vec1Types> >()
         .add< LinearVelocityProjectiveConstraint<Vec6Types> >()
-        .add< LinearVelocityProjectiveConstraint<Rigid3Types> >()
-        ;
+        .add< LinearVelocityProjectiveConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp
index 967fb6e369d..39643c5d9e5 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp
@@ -29,12 +29,13 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int OscillatorProjectiveConstraintClass = core::RegisterObject("Apply a sinusoidal trajectory to given points")
+void registerOscillatorProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a sinusoidal trajectory to given points.")
         .add< OscillatorProjectiveConstraint<Vec3Types> >()
-        .add< OscillatorProjectiveConstraint<Rigid3Types> >()
-    ;
+        .add< OscillatorProjectiveConstraint<Rigid3Types> >());
+}
 
 template class OscillatorProjectiveConstraint<Rigid3Types>;
 template class OscillatorProjectiveConstraint<Vec3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp
index 47503a2d77f..1e3b78c67be 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp
@@ -28,10 +28,12 @@
 namespace sofa::component::constraint::projective
 {
 
-int ParabolicProjectiveConstraintClass = core::RegisterObject("Apply a parabolic trajectory to given points")
+void registerParabolicProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a parabolic trajectory to given points.")
         .add< ParabolicProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< ParabolicProjectiveConstraint<defaulttype::Rigid3Types> >()
-    ;
+        .add< ParabolicProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class ParabolicProjectiveConstraint<defaulttype::Rigid3Types>;
 template class ParabolicProjectiveConstraint<defaulttype::Vec3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp
index a28195e0254..8d2b1ff8d8e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp
@@ -28,17 +28,17 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PartialFixedProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerPartialFixedProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions, in some directions only.")
         .add< PartialFixedProjectiveConstraint<Vec3Types> >()
         .add< PartialFixedProjectiveConstraint<Vec2Types> >()
         .add< PartialFixedProjectiveConstraint<Vec1Types> >()
         .add< PartialFixedProjectiveConstraint<Vec6Types> >()
         .add< PartialFixedProjectiveConstraint<Rigid3Types> >()
-        .add< PartialFixedProjectiveConstraint<Rigid2Types> >()
-        ;
+        .add< PartialFixedProjectiveConstraint<Rigid2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp
index fed36af54b7..493333c1080 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp
@@ -28,14 +28,15 @@
 namespace sofa::component::constraint::projective
 {
 
-//declaration of the class, for the factory
-int PartialLinearMovementProjectiveConstraintClass = core::RegisterObject("translate given particles")
+void registerPartialLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a motion to given DOFs (translation and rotation) in some directions only.")
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec3Types> >()
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec2Types> >()
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec1Types> >()
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec6Types> >()
-        .add< PartialLinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< PartialLinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint<defaulttype::Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp
index 3b17d682ecd..461d47e8676 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp
@@ -28,11 +28,12 @@
 namespace sofa::component::constraint::projective
 {
 
-//declaration of the class, for the factory
-int PatchTestMovementProjectiveConstraintClass = core::RegisterObject("bilinear constraint")
+void registerPatchTestMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a motion to all the boundary points of a mesh.")
         .add< PatchTestMovementProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< PatchTestMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< PatchTestMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint<defaulttype::Rigid3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp
index dc33393e99f..7db51a5b85e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp
@@ -27,13 +27,13 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PlaneProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project particles to an affine plane.")
         .add< PlaneProjectiveConstraint<Vec3Types> >()
-        .add< PlaneProjectiveConstraint<Vec2Types> >()
-        ;
+        .add< PlaneProjectiveConstraint<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp
index cac90a54160..4d998b2ab03 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp
@@ -29,15 +29,15 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PointProjectiveConstraintClass = core::RegisterObject("Project particles to a point")
+void registerPointProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project particles to a point")
         .add< PointProjectiveConstraint<Vec3Types> >()
         .add< PointProjectiveConstraint<Vec2Types> >()
         .add< PointProjectiveConstraint<Vec1Types> >()
-        .add< PointProjectiveConstraint<Vec6Types> >()
-        ;
+        .add< PointProjectiveConstraint<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp
index 20d3cf9f3cd..21327d56cb8 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp
@@ -32,26 +32,23 @@ namespace sofa::component::constraint::projective
 
 using namespace sofa::type;
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PositionBasedDynamicsProjectiveConstraintClass = core::RegisterObject("Position-based dynamics")
+void registerPositionBasedDynamicsProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Position-based dynamics")
 
         .add< PositionBasedDynamicsProjectiveConstraint<Vec3Types> >(true)
         .add< PositionBasedDynamicsProjectiveConstraint<Vec2Types> >()
         .add< PositionBasedDynamicsProjectiveConstraint<Vec1Types> >()
         .add< PositionBasedDynamicsProjectiveConstraint<Vec6Types> >()
-        .add< PositionBasedDynamicsProjectiveConstraint<Rigid3Types> >()
-        ;
+        .add< PositionBasedDynamicsProjectiveConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec2Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec1Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec6Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Rigid3Types>;
-//template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Rigid2Types>;
-
-
 
 // specialization for rigids
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp
index 7116610d74d..8c59b58b0ea 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp
@@ -27,10 +27,11 @@
 namespace sofa::component::constraint::projective
 {
 
-//declaration of the class, for the factory
-int SkeletalMotionProjectiveConstraintClass = core::RegisterObject("animate a skeleton")
-        .add< SkeletalMotionProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+void registerSkeletalMotionProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Animate a skeleton.")
+        .add< SkeletalMotionProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API SkeletalMotionProjectiveConstraint<defaulttype::Rigid3Types>;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp
index b774107ac0f..466a4dee5ee 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp
@@ -21,13 +21,37 @@
 ******************************************************************************/
 #include <sofa/component/constraint/projective/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::projective
 {
 
+extern void registerAffineMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerAttachProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerDirectionProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedRotationProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedTranslationProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerHermiteSplineProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerLinearVelocityProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerLineProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerOscillatorProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerParabolicProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPartialFixedProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPartialLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPatchTestMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPointProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPositionBasedDynamicsProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerSkeletalMotionProjectiveConstraint(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +69,38 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAffineMovementProjectiveConstraint(factory);
+    registerAttachProjectiveConstraint(factory);
+    registerDirectionProjectiveConstraint(factory);
+    registerFixedPlaneProjectiveConstraint(factory);
+    registerFixedProjectiveConstraint(factory);
+    registerFixedRotationProjectiveConstraint(factory);
+    registerFixedTranslationProjectiveConstraint(factory);
+    registerHermiteSplineProjectiveConstraint(factory);
+    registerLinearMovementProjectiveConstraint(factory);
+    registerLinearVelocityProjectiveConstraint(factory);
+    registerLineProjectiveConstraint(factory);
+    registerOscillatorProjectiveConstraint(factory);
+    registerParabolicProjectiveConstraint(factory);
+    registerPartialFixedProjectiveConstraint(factory);
+    registerPartialLinearMovementProjectiveConstraint(factory);
+    registerPatchTestMovementProjectiveConstraint(factory);
+    registerPlaneProjectiveConstraint(factory);
+    registerPointProjectiveConstraint(factory);
+    registerPositionBasedDynamicsProjectiveConstraint(factory);
+    registerSkeletalMotionProjectiveConstraint(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp b/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
index 3e5bad0fd96..73d6424d02b 100644
--- a/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
+++ b/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
@@ -24,6 +24,9 @@
 #include <sofa/component/constraint/lagrangian/init.h>
 #include <sofa/component/constraint/projective/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint
 {
 
@@ -31,6 +34,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -48,6 +52,12 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Projective");
+}
+
 void init()
 {
     static bool first = true;
@@ -57,6 +67,9 @@ void init()
         sofa::component::constraint::lagrangian::init();
         sofa::component::constraint::projective::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 9f34dcdd8a3..6a19d4af83d 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -91,6 +91,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
     factory->registerObjectsFromPlugin("Sofa.Component.Collision");
     factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint");
 }
 
 void init()

From e6b98de0b85fada8c5b90cae10c394ede403efd1 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Sun, 27 Oct 2024 03:18:32 +0900
Subject: [PATCH 33/43] [Mapping] Apply new factory registration mechanism
 (#5053)

* apply new register mechanism to mapping

* fix unit tests

* Apply suggestions from code review (update descriptions)

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../LinearSystem/tests/MappingGraph_test.cpp  |  2 +
 .../mapping/linear/BarycentricMapping.cpp     | 11 ++--
 .../linear/BarycentricMappingRigid.cpp        | 12 ++---
 .../mapping/linear/BeamLinearMapping.cpp      | 14 ++---
 .../mapping/linear/CenterOfMassMapping.cpp    | 10 ++--
 .../linear/CenterOfMassMulti2Mapping.cpp      | 11 ++--
 .../linear/CenterOfMassMultiMapping.cpp       | 12 ++---
 .../linear/DeformableOnRigidFrameMapping.cpp  | 11 ++--
 .../mapping/linear/IdentityMapping.cpp        | 15 ++----
 .../mapping/linear/IdentityMultiMapping.cpp   | 13 +++--
 .../mapping/linear/LineSetSkinningMapping.cpp | 15 ++----
 .../linear/Mesh2PointMechanicalMapping.cpp    | 13 ++---
 .../linear/Mesh2PointTopologicalMapping.cpp   |  9 ++--
 ...SimpleTesselatedHexaTopologicalMapping.cpp |  9 ++--
 ...SimpleTesselatedTetraMechanicalMapping.cpp | 21 ++------
 ...impleTesselatedTetraTopologicalMapping.cpp |  9 ++--
 .../mapping/linear/SkinningMapping.cpp        | 19 ++-----
 .../mapping/linear/SubsetMapping.cpp          | 11 ++--
 .../mapping/linear/SubsetMultiMapping.cpp     | 18 +++----
 .../mapping/linear/TubularMapping.cpp         | 13 ++---
 .../component/mapping/linear/VoidMapping.cpp  | 14 ++---
 .../sofa/component/mapping/linear/init.cpp    | 51 +++++++++++++++++++
 .../component/mapping/mappedmatrix/init.cpp   | 11 ++++
 .../mapping/nonlinear/AreaMapping.cpp         | 10 ++--
 .../nonlinear/DistanceFromTargetMapping.cpp   | 10 ++--
 .../mapping/nonlinear/DistanceMapping.cpp     | 10 ++--
 .../nonlinear/DistanceMultiMapping.cpp        | 10 ++--
 .../mapping/nonlinear/RigidMapping.cpp        | 10 ++--
 .../nonlinear/SquareDistanceMapping.cpp       | 12 ++---
 .../mapping/nonlinear/SquareMapping.cpp       | 11 ++--
 .../mapping/nonlinear/VolumeMapping.cpp       | 10 ++--
 .../sofa/component/mapping/nonlinear/init.cpp | 27 ++++++++++
 .../src/sofa/component/mapping/init.cpp       | 18 ++++++-
 Sofa/Component/src/sofa/component/init.cpp    | 31 +++++------
 .../src/sofa/helper/ComponentChange.cpp       |  1 +
 .../ParallelImplementationsRegistry_test.cpp  |  3 +-
 36 files changed, 273 insertions(+), 214 deletions(-)

diff --git a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp
index 040512f832d..a8af9b59030 100644
--- a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp
+++ b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp
@@ -176,6 +176,8 @@ TEST(MappingGraph, diamondMapping)
     sofa::simulation::Node::SPtr root = simulation->createNewGraph("root");
     EXPECT_EQ(root->getName(), "root");
 
+    sofa::simpleapi::importPlugin("Sofa.Component.Mapping.Linear");
+
     const auto top = sofa::core::objectmodel::New<sofa::component::statecontainer::MechanicalObject<sofa::defaulttype::Vec3Types> >();
     root->addObject(top);
     top->setName("top");
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.cpp
index ec2322e87c0..8617f33bc88 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.cpp
@@ -30,12 +30,11 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int BarycentricMappingClass = core::RegisterObject("Mapping using barycentric coordinates of the child with respect to cells of its parent")
-        .add< BarycentricMapping< Vec3Types, Vec3Types > >(true)
-
-
-        ;
+void registerBarycentricMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping using barycentric coordinates of the child with respect to cells of its parent.")
+        .add< BarycentricMapping< Vec3Types, Vec3Types > >(true));
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapping< Vec3Types, Vec3Types >;
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp
index 6204d94946c..8d71d8a7052 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp
@@ -44,13 +44,11 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int BarycentricMappingRigidClass = core::RegisterObject("")
-        .add< BarycentricMapping< Vec3Types, Rigid3Types > >()
-
-
-        ;
-
+void registerBarycentricMappingRigid(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping using barycentric coordinates of the child with respect to cells of its parent.")
+        .add< BarycentricMapping< Vec3Types, Rigid3Types > >());
+}
 
 template <>
 void BarycentricMapperHexahedronSetTopology<defaulttype::Vec3Types, defaulttype::Rigid3Types>::handleTopologyChange(core::topology::Topology* t)
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.cpp
index d5a196c1a73..c1a057315de 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.cpp
@@ -30,16 +30,12 @@ namespace sofa::component::mapping::linear
 
 using namespace defaulttype;
 
-// Register in the Factory
-int BeamLinearMappingClass = core::RegisterObject("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs")
-
-        .add< BeamLinearMapping< Rigid3Types, Vec3Types > >()
-
-
-
-        ;
+void registerBeamLinearMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs.")
+        .add< BeamLinearMapping< Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API BeamLinearMapping< Rigid3Types, Vec3Types >;
 
-
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMapping.cpp
index dd35f79ef85..0d78e38ff8c 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMapping.cpp
@@ -31,14 +31,14 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int CenterOfMassMappingClass = core::RegisterObject("Set the point to the center of mass of the DOFs it is attached to")
+void registerCenterOfMassMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the point to the center of mass of the DOFs it is attached to")
         .add< CenterOfMassMapping< Rigid3Types, Vec3Types > >()
-        .add< CenterOfMassMapping< Rigid2Types, Vec2Types > >()
-;
+        .add< CenterOfMassMapping< Rigid2Types, Vec2Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMapping< Rigid3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMapping< Rigid2Types, Vec2Types >;
 
-
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.cpp
index f972c698497..7d79f3ca410 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.cpp
@@ -30,13 +30,12 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int CenterOfMassMulti2MappingClass = core::RegisterObject("Set the point to the center of mass of the DOFs it is attached to")
-        .add< CenterOfMassMulti2Mapping< Vec3Types, Rigid3Types, Vec3Types > >()
-
-        ;
+void registerCenterOfMassMulti2Mapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the point to the center of mass of the DOFs it is attached to.")
+        .add< CenterOfMassMulti2Mapping< Vec3Types, Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMulti2Mapping< Vec3Types, Rigid3Types, Vec3Types >;
 
-
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.cpp
index e9fb3c4988f..6cc1fc1a376 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.cpp
@@ -30,18 +30,16 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-
-// Register in the Factory
-int CenterOfMassMultiMappingClass = core::RegisterObject("Set the point to the center of mass of the DOFs it is attached to")
+void registerCenterOfMassMultiMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the point to the center of mass of the DOFs it is attached to.")
         .add< CenterOfMassMultiMapping< Vec3Types, Vec3Types > >()
         .add< CenterOfMassMultiMapping< Rigid3Types, Rigid3Types > >()
-        .add< CenterOfMassMultiMapping< Rigid3Types, Vec3Types > >()
-
-        ;
+        .add< CenterOfMassMultiMapping< Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMultiMapping< Vec3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMultiMapping< Rigid3Types, Rigid3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMultiMapping< Rigid3Types, Vec3Types >;
 
-
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.cpp
index 62e01e95d4c..dcad00973ff 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.cpp
@@ -28,13 +28,12 @@ namespace sofa::component::mapping::linear
 
 using namespace defaulttype;
 
-// Register in the Factory
-int DeformableOnRigidFrameMappingClass = core::RegisterObject("Set the positions and velocities of points attached to a rigid parent")
-        .add< DeformableOnRigidFrameMapping< Vec3Types, Rigid3Types, Vec3Types > >()
-
-        ;
+void registerDeformableOnRigidFrameMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the positions and velocities of points attached to a rigid parent.")
+        .add< DeformableOnRigidFrameMapping< Vec3Types, Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API DeformableOnRigidFrameMapping< Vec3Types, Rigid3Types, Vec3Types >;
 
-
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.cpp
index c1fd0c460ee..6db77a1f32a 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.cpp
@@ -30,12 +30,10 @@ namespace sofa::component::mapping::linear
 {
 
 using namespace sofa::defaulttype;
-using namespace core;
-using namespace core::behavior;
 
-
-// Register in the Factory
-int IdentityMappingClass = core::RegisterObject("Special case of mapping where the child points are the same as the parent points")
+void registerIdentityMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Special case of mapping where the child DOFs are the same as the parent ones")
         .add< IdentityMapping< Vec3Types, Vec3Types > >()
         .add< IdentityMapping< Vec2Types, Vec2Types > >()
         .add< IdentityMapping< Vec1Types, Vec1Types > >()
@@ -43,12 +41,9 @@ int IdentityMappingClass = core::RegisterObject("Special case of mapping where t
         .add< IdentityMapping< Vec6Types, Vec6Types > >()
         .add< IdentityMapping< Rigid3Types, Rigid3Types > >()
         .add< IdentityMapping< Rigid2Types, Rigid2Types > >()
-
-// Rigid -> Vec
         .add< IdentityMapping< Rigid3Types, Vec3Types > >()
-        .add< IdentityMapping< Rigid2Types, Vec2Types > >()
-
-        ;
+        .add< IdentityMapping< Rigid2Types, Vec2Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< Vec3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< Vec2Types, Vec2Types >;
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.cpp
index cd6474aa518..32ff45b1daf 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.cpp
@@ -31,15 +31,14 @@ using namespace sofa::defaulttype;
 namespace sofa::component::mapping::linear
 {
 
-// Register in the Factory
-int IdentityMultiMappingClass = core::RegisterObject("Concatenate several States together")
-    .add< IdentityMultiMapping< Vec3Types, Vec3Types > >()
-    .add< IdentityMultiMapping< Rigid3Types, Rigid3Types > >()
-
-        ;
+void registerIdentityMultiMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Concatenate several mechanical states together.")
+        .add< IdentityMultiMapping< Vec3Types, Vec3Types > >()
+        .add< IdentityMultiMapping< Rigid3Types, Rigid3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMultiMapping< Vec3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMultiMapping< Rigid3Types, Rigid3Types >;
 
-
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.cpp
index aee63b90506..0de0806a6a2 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/LineSetSkinningMapping.cpp
@@ -29,17 +29,12 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-// Register in the Factory
-int HandMappingClass = core::RegisterObject("skin a model from a set of rigid lines")
-        .add< LineSetSkinningMapping< Rigid3Types, Vec3Types > >()
-
-
-        ;
-
+void registerLineSetSkinningMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Skin a model from a set of rigid lines.")
+        .add< LineSetSkinningMapping< Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API LineSetSkinningMapping< Rigid3Types, Vec3Types >;
 
-
-
-
 } //namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp
index 1655148689e..2abf6a62a88 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointMechanicalMapping.cpp
@@ -30,15 +30,12 @@ namespace sofa::component::mapping::linear
 
 using namespace sofa::defaulttype;
 
-
-int Mesh2PointMechanicalMappingClass = core::RegisterObject("Mechanical mapping between a set of mesh primitives (point, edge, triangle...) and a set of points generated by Mesh2PointTopologicalMapping")
-        .add< Mesh2PointMechanicalMapping< Vec3Types, Vec3Types > >()
-        ;
-
+void registerMesh2PointMechanicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mechanical mapping between a set of mesh primitives (point, edge, triangle...) and a set of points generated by Mesh2PointTopologicalMapping.")
+        .add< Mesh2PointMechanicalMapping< Vec3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API Mesh2PointMechanicalMapping< Vec3Types, Vec3Types >;
 
-
-
-
 } //namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp
index fb78374342d..e00befd5e29 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp
@@ -40,10 +40,11 @@ using namespace sofa::component::topology::container::dynamic;
 using namespace sofa::core::topology;
 using type::vector;
 
-// Register in the Factory
-int Mesh2PointTopologicalMappingClass = core::RegisterObject ( "This class maps any mesh primitive (point, edge, triangle...) into a point using a relative position from the primitive" )
-        .add< Mesh2PointTopologicalMapping >()
-        ;
+void registerMesh2PointTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("This class maps any mesh primitive (point, edge, triangle...) into a point using a relative position from the primitive.")
+        .add< Mesh2PointTopologicalMapping >());
+}
 
 // Implementation
 Mesh2PointTopologicalMapping::Mesh2PointTopologicalMapping ()
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedHexaTopologicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedHexaTopologicalMapping.cpp
index 991450fbc2d..3ddc81d49d5 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedHexaTopologicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedHexaTopologicalMapping.cpp
@@ -40,10 +40,11 @@ using namespace sofa::defaulttype;
 using namespace sofa::component::mapping::linear;
 using namespace sofa::core::topology;
 
-// Register in the Factory
-int SimpleTesselatedHexaTopologicalMappingClass = core::RegisterObject ( "Special case of mapping where HexahedronSetTopology is converted into a finer HexahedronSetTopology" )
-        .add< SimpleTesselatedHexaTopologicalMapping >()
-        ;
+void registerSimpleTesselatedHexaTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Special case of mapping where HexahedronSetTopology is converted into a finer HexahedronSetTopology.")
+        .add< SimpleTesselatedHexaTopologicalMapping >());
+}
 
 // Implementation
 SimpleTesselatedHexaTopologicalMapping::SimpleTesselatedHexaTopologicalMapping()
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraMechanicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraMechanicalMapping.cpp
index 3ffa3aa5df7..4c00e99bca5 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraMechanicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraMechanicalMapping.cpp
@@ -32,23 +32,12 @@ using namespace sofa::defaulttype;
 using namespace core;
 using namespace core::behavior;
 
-int SimpleTesselatedTetraMechanicalMappingClass = core::RegisterObject("Mechanical mapping between two TetrahedronSetTopologies generated by SimpleTesselatedTetraTopologicalMapping")
-        .add< SimpleTesselatedTetraMechanicalMapping< Vec3Types ,Vec3Types > >()
-
-
-
-        ;
-
+void registerSimpleTesselatedTetraMechanicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mechanical mapping between two TetrahedronSetTopologies generated by SimpleTesselatedTetraTopologicalMapping.")
+        .add< SimpleTesselatedTetraMechanicalMapping< Vec3Types, Vec3Types > >());
+}
 
 template class SimpleTesselatedTetraMechanicalMapping< Vec3Types, Vec3Types >;
 
-
-
-
-// Mech -> Mech
-
-// Mech -> Mapped
-
-// Mech -> ExtMapped
-
 } //namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp
index 78700c24450..def42a686ca 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp
@@ -42,10 +42,11 @@ using namespace sofa::component::topology::container::dynamic;
 using namespace sofa::core::topology;
 using sofa::type::fixed_array;
 
-// Register in the Factory
-int SimpleTesselatedTetraTopologicalMappingClass = core::RegisterObject ( "Special case of mapping where TetrahedronSetTopology is converted into a finer TetrahedronSetTopology" )
-        .add< SimpleTesselatedTetraTopologicalMapping >()
-        ;
+void registerSimpleTesselatedTetraTopologicalMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Special case of mapping where TetrahedronSetTopology is converted into a finer TetrahedronSetTopology.")
+        .add< SimpleTesselatedTetraTopologicalMapping >());
+}
 
 // Implementation
 SimpleTesselatedTetraTopologicalMapping::SimpleTesselatedTetraTopologicalMapping ()
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.cpp
index 0ebe7063711..f4678185630 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.cpp
@@ -28,22 +28,13 @@ namespace sofa::component::mapping::linear
 {
 
 using namespace defaulttype;
-using namespace core;
 
-
-// Register in the Factory
-int SkinningMappingClass = core::RegisterObject("skin a model from a set of rigid dofs")
-
-// Rigid Types
-        .add< SkinningMapping< Rigid3Types, Vec3Types > >()
-
-
-
-        ;
+void registerSkinningMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Skin a model from a set of rigid DOFs.")
+        .add< SkinningMapping< Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API SkinningMapping< Rigid3Types, Vec3Types >;
 
-
-
-
 } //namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.cpp
index 6641621d57e..ed6cc28146b 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.cpp
@@ -31,13 +31,14 @@ namespace sofa::component::mapping::linear
 {
 
 using namespace sofa::defaulttype;
-
-int SubsetMappingClass = core::RegisterObject("TODO-SubsetMappingClass")
+        ;
+void registerSubsetMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute a subset of input DOFs.")
         .add< SubsetMapping< Vec3Types, Vec3Types > >()
         .add< SubsetMapping< Vec1Types, Vec1Types > >()
-        .add< SubsetMapping< Rigid3Types, Rigid3Types > >()
-        .addAlias("SurfaceIdentityMapping")
-        ;
+        .add< SubsetMapping< Rigid3Types, Rigid3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMapping< Vec3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMapping< Vec1Types, Vec1Types >;
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.cpp
index 3e2bcb0539e..2248c7e5cd7 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.cpp
@@ -31,15 +31,15 @@ using namespace sofa::defaulttype;
 namespace sofa::component::mapping::linear
 {
 
-// Register in the Factory
-int SubsetMultiMappingClass = core::RegisterObject("Compute a subset of the input MechanicalObjects according to a dof index list")
-    .add< SubsetMultiMapping< Vec3Types, Vec3Types > >()
-    .add< SubsetMultiMapping< Vec2Types, Vec2Types > >()
-    .add< SubsetMultiMapping< Vec1Types, Vec1Types > >()
-    .add< SubsetMultiMapping< Rigid3Types, Rigid3Types > >()
-    .add< SubsetMultiMapping< Rigid3Types, Vec3Types > >()
-
-        ;
+void registerSubsetMultiMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute a subset of the input MechanicalObjects according to a dof index list.")
+        .add< SubsetMultiMapping< Vec3Types, Vec3Types > >()
+        .add< SubsetMultiMapping< Vec2Types, Vec2Types > >()
+        .add< SubsetMultiMapping< Vec1Types, Vec1Types > >()
+        .add< SubsetMultiMapping< Rigid3Types, Rigid3Types > >()
+        .add< SubsetMultiMapping< Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMultiMapping< Vec3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMultiMapping< Vec2Types, Vec2Types >;
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.cpp
index 6bd9a6fcff1..bab5a317896 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.cpp
@@ -29,15 +29,12 @@ namespace sofa::component::mapping::linear
 {
 
 using namespace sofa::defaulttype;
-using namespace core;
-using namespace core::behavior;
 
-// Register in the Factory
-int TubularMappingClass = core::RegisterObject("Create a Tube around rigid points")
-        .add< TubularMapping< Rigid3Types, Vec3Types > > ()
-
-
-        ;
+void registerTubularMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Create a Tube around rigid points.")
+        .add< TubularMapping< Rigid3Types, Vec3Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API TubularMapping< Rigid3Types, Vec3Types >;
 
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/VoidMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/VoidMapping.cpp
index b0aa2728df6..f8b9eb91b9e 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/VoidMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/VoidMapping.cpp
@@ -26,14 +26,10 @@
 namespace sofa::component::mapping::linear
 {
 
-using namespace sofa::defaulttype;
-using namespace core;
-using namespace core::behavior;
-
-
-// Register in the Factory
-int VoidMappingClass = core::RegisterObject("Special mapping that 'map' points for void ( no input DOF ). This is useful to be able to create animated objects mixed with real DOFs.")
-        .add< VoidMapping >()
-        ;
+void registerVoidMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Special mapping that 'map' points for void (no input DOF). This is useful to be able to create animated objects mixed with real DOFs.")
+        .add< VoidMapping >());
+}
 
 } // namespace sofa::component::mapping::linear
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/init.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/init.cpp
index 41646305224..d01af97a4e5 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/init.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/init.cpp
@@ -21,13 +21,37 @@
 ******************************************************************************/
 #include <sofa/component/mapping/linear/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::mapping::linear
 {
 
+extern void registerBarycentricMapping(sofa::core::ObjectFactory* factory);
+extern void registerBarycentricMappingRigid(sofa::core::ObjectFactory* factory);
+extern void registerBeamLinearMapping(sofa::core::ObjectFactory* factory);
+extern void registerCenterOfMassMapping(sofa::core::ObjectFactory* factory);
+extern void registerCenterOfMassMulti2Mapping(sofa::core::ObjectFactory* factory);
+extern void registerCenterOfMassMultiMapping(sofa::core::ObjectFactory* factory);
+extern void registerDeformableOnRigidFrameMapping(sofa::core::ObjectFactory* factory);
+extern void registerIdentityMapping(sofa::core::ObjectFactory* factory);
+extern void registerIdentityMultiMapping(sofa::core::ObjectFactory* factory);
+extern void registerLineSetSkinningMapping(sofa::core::ObjectFactory* factory);
+extern void registerMesh2PointMechanicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerMesh2PointTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerSimpleTesselatedHexaTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerSimpleTesselatedTetraMechanicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerSimpleTesselatedTetraTopologicalMapping(sofa::core::ObjectFactory* factory);
+extern void registerSkinningMapping(sofa::core::ObjectFactory* factory);
+extern void registerSubsetMapping(sofa::core::ObjectFactory* factory);
+extern void registerSubsetMultiMapping(sofa::core::ObjectFactory* factory);
+extern void registerTubularMapping(sofa::core::ObjectFactory* factory);
+extern void registerVoidMapping(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +69,38 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBarycentricMapping(factory);
+    registerBarycentricMappingRigid(factory);
+    registerBeamLinearMapping(factory);
+    registerCenterOfMassMapping(factory);
+    registerCenterOfMassMulti2Mapping(factory);
+    registerCenterOfMassMultiMapping(factory);
+    registerDeformableOnRigidFrameMapping(factory);
+    registerIdentityMapping(factory);
+    registerIdentityMultiMapping(factory);
+    registerLineSetSkinningMapping(factory);
+    registerMesh2PointMechanicalMapping(factory);
+    registerMesh2PointTopologicalMapping(factory);
+    registerSimpleTesselatedHexaTopologicalMapping(factory);
+    registerSimpleTesselatedTetraMechanicalMapping(factory);
+    registerSimpleTesselatedTetraTopologicalMapping(factory);
+    registerSkinningMapping(factory);
+    registerSubsetMapping(factory);
+    registerSubsetMultiMapping(factory);
+    registerTubularMapping(factory);
+    registerVoidMapping(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp b/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp
index 17364692f93..8edb5a91e63 100644
--- a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp
+++ b/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp
@@ -21,6 +21,8 @@
 ******************************************************************************/
 #include <sofa/component/mapping/mappedmatrix/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::mapping::mappedmatrix
 {
 
@@ -28,6 +30,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +48,19 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    // this plugin does not register any component.
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.cpp
index 2922c3de451..54aa7178a27 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.cpp
@@ -28,12 +28,12 @@ namespace sofa::component::mapping::nonlinear
 
 using namespace defaulttype;
 
-// Register in the Factory
-int AreaMappingClass = core::RegisterObject("Mapping each triangle in a topology to a scalar value representing its area")
-        .add< AreaMapping< Vec3Types, Vec1Types > >()
-        ;
+void registerAreaMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping each triangle in a topology to a scalar value representing its area.")
+        .add< AreaMapping< Vec3Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API AreaMapping< Vec3Types, Vec1Types >;
 
-
 }
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.cpp
index de3bf949283..08b2debea4b 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.cpp
@@ -29,13 +29,13 @@ namespace sofa::component::mapping::nonlinear
 
 using namespace defaulttype;
 
-// Register in the Factory
-int DistanceFromTargetMappingClass = core::RegisterObject("Compute edge extensions")
+void registerDistanceFromTargetMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping point positions to distances from target points.")
         .add< DistanceFromTargetMapping< Vec3Types, Vec1Types > >()
         .add< DistanceFromTargetMapping< Vec1Types, Vec1Types > >()
-        .add< DistanceFromTargetMapping< Rigid3Types, Vec1Types > >()
-
-        ;
+        .add< DistanceFromTargetMapping< Rigid3Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API DistanceFromTargetMapping< Vec3Types, Vec1Types >;
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API DistanceFromTargetMapping< Vec1Types, Vec1Types >;
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.cpp
index 0af858584ba..b7ea7b4acf5 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.cpp
@@ -29,12 +29,12 @@ namespace sofa::component::mapping::nonlinear
 
 using namespace defaulttype;
 
-
-// Register in the Factory
-int DistanceMappingClass = core::RegisterObject("Mapping each connected pair of Degrees of Freedom (DoFs) in a topology to a scalar value representing the distance between them.")
+void registerDistanceMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping each connected pair of Degrees of Freedom (DoFs) in a topology to a scalar value representing the distance between them.")
         .add< DistanceMapping< Vec3Types, Vec1Types > >()
-        .add< DistanceMapping< Rigid3Types, Vec1Types > >()
-        ;
+        .add< DistanceMapping< Rigid3Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API DistanceMapping< Vec3Types, Vec1Types >;
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API DistanceMapping< Rigid3Types, Vec1Types >;
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.cpp
index 7d0f723159b..5a8bbd1bcba 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.cpp
@@ -24,7 +24,6 @@
 #include <sofa/component/mapping/nonlinear/DistanceMultiMapping.inl>
 #include <sofa/core/ObjectFactory.h>
 
-
 namespace sofa::component::mapping::nonlinear
 {
 
@@ -32,11 +31,14 @@ using defaulttype::Vec3Types;
 using defaulttype::Vec1Types;
 using defaulttype::Rigid3Types;
 
-int DistanceMultiMappingClass = core::RegisterObject("Compute edge extensions")
+void registerDistanceMultiMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping point positions from several mechanical states to distances (in distance unit).")
         .add< DistanceMultiMapping< Vec3Types, Vec1Types > >()
-        .add< DistanceMultiMapping< Rigid3Types, Vec1Types > >()
-        ;
+        .add< DistanceMultiMapping< Rigid3Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API DistanceMultiMapping< Vec3Types, Vec1Types >;
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API DistanceMultiMapping< Rigid3Types, Vec1Types >;
+
 }
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.cpp
index 6aa5fa0f4cb..b06218c9c0e 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.cpp
@@ -41,13 +41,13 @@ void RigidMapping<Rigid3Types, Rigid3Types>::updateOmega(typename InDeriv::Rot&
     omega += getVOrientation(out) + (typename InDeriv::Rot)cross(Out::getCPos(rotatedpoint), Out::getDPos(out));
 }
 
-
-// Register in the Factory
-int RigidMappingClass = core::RegisterObject("Set the positions and velocities of points attached to a rigid parent")
+void registerRigidMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Set the positions and velocities of points attached to a rigid parent.")
         .add< RigidMapping< Rigid3Types, Vec3Types > >(true)
         .add< RigidMapping< Rigid3Types, Rigid3Types > >()
-        .add< RigidMapping< Rigid2Types, Vec2Types > >()
-        ;
+        .add< RigidMapping< Rigid2Types, Vec2Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API RigidMapping< Rigid3Types, Vec3Types >;
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API RigidMapping< Rigid3Types, Rigid3Types >;
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.cpp
index 0c2ffb7f080..afc97d4cc56 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareDistanceMapping.cpp
@@ -29,16 +29,14 @@ namespace sofa::component::mapping::nonlinear
 
 using namespace defaulttype;
 
-
-// Register in the Factory
-int SquareDistanceMappingClass = core::RegisterObject("Compute square edge extensions")
+void registerSquareDistanceMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping point positions to square distances.")
         .add< SquareDistanceMapping< Vec3Types, Vec1Types > >()
-        .add< SquareDistanceMapping< Rigid3Types, Vec1Types > >()
-
-        ;
+        .add< SquareDistanceMapping< Rigid3Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API SquareDistanceMapping< Vec3Types, Vec1Types >;
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API SquareDistanceMapping< Rigid3Types, Vec1Types >;
 
-
 } // namespace sofa::component::mapping::nonlinear
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.cpp
index 064da10c1c6..38aff6f6ae4 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/SquareMapping.cpp
@@ -29,13 +29,12 @@ namespace sofa::component::mapping::nonlinear
 
 using namespace defaulttype;
 
-
-// Register in the Factory
-int SquareMappingClass = core::RegisterObject("Compute the square")
-        .add< SquareMapping< Vec1Types, Vec1Types > >()
-        ;
+void registerSquareMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute the square value from the inputs.")
+        .add< SquareMapping< Vec1Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API SquareMapping< Vec1Types, Vec1Types >;
 
-
 } // namespace sofa::component::mapping::nonlinear
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.cpp
index f028f0f98f4..d436abec53d 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/VolumeMapping.cpp
@@ -28,12 +28,12 @@ namespace sofa::component::mapping::nonlinear
 
 using namespace defaulttype;
 
-// Register in the Factory
-int VolumeMappingClass = core::RegisterObject("Mapping each tetrahedron in a topology to a scalar value representing its volume")
-        .add< VolumeMapping< Vec3Types, Vec1Types > >()
-        ;
+void registerVolumeMapping(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Mapping each tetrahedron in a topology to a scalar value representing its volume.")
+        .add< VolumeMapping< Vec3Types, Vec1Types > >());
+}
 
 template class SOFA_COMPONENT_MAPPING_NONLINEAR_API VolumeMapping< Vec3Types, Vec1Types >;
 
-
 }
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/init.cpp b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/init.cpp
index 88bc991628a..edb75dd92b1 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/init.cpp
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/init.cpp
@@ -21,13 +21,25 @@
 ******************************************************************************/
 #include <sofa/component/mapping/nonlinear/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::mapping::nonlinear
 {
 
+extern void registerAreaMapping(sofa::core::ObjectFactory* factory);
+extern void registerDistanceFromTargetMapping(sofa::core::ObjectFactory* factory);
+extern void registerDistanceMapping(sofa::core::ObjectFactory* factory);
+extern void registerDistanceMultiMapping(sofa::core::ObjectFactory* factory);
+extern void registerRigidMapping(sofa::core::ObjectFactory* factory);
+extern void registerSquareDistanceMapping(sofa::core::ObjectFactory* factory);
+extern void registerSquareMapping(sofa::core::ObjectFactory* factory);
+extern void registerVolumeMapping(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +57,26 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAreaMapping(factory);
+    registerDistanceFromTargetMapping(factory);
+    registerDistanceMapping(factory);
+    registerDistanceMultiMapping(factory);
+    registerRigidMapping(factory);
+    registerSquareDistanceMapping(factory);
+    registerSquareMapping(factory);
+    registerVolumeMapping(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
index 5a2f0686290..32fc2adb7aa 100644
--- a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
+++ b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
@@ -22,8 +22,11 @@
 #include <sofa/component/mapping/init.h>
 
 #include <sofa/component/mapping/linear/init.h>
-#include <sofa/component/mapping/nonlinear/init.h>
 #include <sofa/component/mapping/mappedmatrix/init.h>
+#include <sofa/component/mapping/nonlinear/init.h>
+
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
 
 namespace sofa::component::mapping
 {
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,14 +53,24 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Mapping.Linear");
+    factory->registerObjectsFromPlugin("Sofa.Component.Mapping.MappedMatrix");
+    factory->registerObjectsFromPlugin("Sofa.Component.Mapping.NonLinear");
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
         sofa::component::mapping::linear::init();
-        sofa::component::mapping::nonlinear::init();
         sofa::component::mapping::mappedmatrix::init();
+        sofa::component::mapping::nonlinear::init();
+
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
 
         first = false;
     }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 6a19d4af83d..535063d0fa1 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -74,24 +74,25 @@ const char* getModuleVersion()
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
     factory->registerObjectsFromPlugin("Sofa.Component.AnimationLoop");
-    factory->registerObjectsFromPlugin("Sofa.Component.StateContainer");
-    factory->registerObjectsFromPlugin("Sofa.Component.Setting");
-    factory->registerObjectsFromPlugin("Sofa.Component.Visual");
-    factory->registerObjectsFromPlugin("Sofa.Component.Playback");
-    factory->registerObjectsFromPlugin("Sofa.Component.SceneUtility");
-    factory->registerObjectsFromPlugin("Sofa.Component.MechanicalLoad");
-    factory->registerObjectsFromPlugin("Sofa.Component.LinearSystem");
-    factory->registerObjectsFromPlugin("Sofa.Component.IO");
+    factory->registerObjectsFromPlugin("Sofa.Component.Collision");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint");
     factory->registerObjectsFromPlugin("Sofa.Component.Controller");
-    factory->registerObjectsFromPlugin("Sofa.Component.Haptics");
     factory->registerObjectsFromPlugin("Sofa.Component.Diffusion");
-    factory->registerObjectsFromPlugin("Sofa.Component.ODESolver");
-    factory->registerObjectsFromPlugin("Sofa.Component.Topology");
-    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision");
+    factory->registerObjectsFromPlugin("Sofa.Component.Haptics");
+    factory->registerObjectsFromPlugin("Sofa.Component.IO");
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
+    factory->registerObjectsFromPlugin("Sofa.Component.LinearSystem");
+    factory->registerObjectsFromPlugin("Sofa.Component.Mapping");
+    factory->registerObjectsFromPlugin("Sofa.Component.MechanicalLoad");
+    factory->registerObjectsFromPlugin("Sofa.Component.ODESolver");
+    factory->registerObjectsFromPlugin("Sofa.Component.Playback");
+    factory->registerObjectsFromPlugin("Sofa.Component.SceneUtility");
+    factory->registerObjectsFromPlugin("Sofa.Component.Setting");
     factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics");
-    factory->registerObjectsFromPlugin("Sofa.Component.Constraint");
+    factory->registerObjectsFromPlugin("Sofa.Component.StateContainer");
+    factory->registerObjectsFromPlugin("Sofa.Component.Topology");
+    factory->registerObjectsFromPlugin("Sofa.Component.Visual");
 }
 
 void init()
@@ -107,8 +108,8 @@ void init()
         sofa::component::engine::init();
         sofa::component::haptics::init();
         sofa::component::io::init();
-        sofa::component::linearsystem::init();
         sofa::component::linearsolver::init();
+        sofa::component::linearsystem::init();
         sofa::component::mapping::init();
         sofa::component::mass::init();
         sofa::component::mechanicalload::init();
diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
index 63d34978079..0386afd1323 100644
--- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -811,6 +811,7 @@ const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = {
     {"TriangleOctree", Dealiased("v24.12","TriangleOctreeModel")},
     {"DefaultContactManager", Dealiased("v24.12","CollisionResponse")},
     {"RuleBasedCollisionResponse", Dealiased("v24.12","RuleBasedContactManager")},
+    {"SurfaceIdentityMapping", Dealiased("v24.12","SubsetMapping")},
 };
 
 } // namespace sofa::helper::lifecycle
diff --git a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
index b438d193b40..e93fcf403df 100644
--- a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
+++ b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp
@@ -34,7 +34,8 @@ TEST(ParallelImplementationsRegistry, existInObjectFactory)
     // sequential versions will be added to the ObjectFactory
     sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");
     sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Algorithm");
-    sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic");    
+    sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic");
+    sofa::simpleapi::importPlugin("Sofa.Component.Mapping.Linear");
 
     const auto implementations = ParallelImplementationsRegistry::getImplementations();
 

From 492a735ff72397ae3b81994e3b829fad6ecf8496 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Sun, 27 Oct 2024 05:14:22 +0900
Subject: [PATCH 34/43] [Mass] Apply new factory registration mechanism (#5055)

* apply new register mechanism to mass

* adding missing registration in sceneutiliy

* adding missing registration in engine.transform

* fix unit tests by loading missing plugin

* Apply suggestions from code review (update descriptions)

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../transform/DisplacementMatrixEngine.cpp    | 10 ++++----
 .../sofa/component/engine/transform/init.cpp  |  2 ++
 .../src/sofa/component/mass/DiagonalMass.cpp  | 10 ++++----
 .../sofa/component/mass/MeshMatrixMass.cpp    | 10 ++++----
 .../src/sofa/component/mass/UniformMass.cpp   | 24 ++++---------------
 .../Mass/src/sofa/component/mass/init.cpp     | 19 ++++++++++++++-
 .../Mass/tests/DiagonalMass_test.cpp          |  1 +
 .../Mass/tests/MeshMatrixMass_test.cpp        |  1 +
 .../Component/Mass/tests/UniformMass_test.cpp |  3 +++
 .../tests/ConstantForceField_test.cpp         |  1 +
 .../component/sceneutility/InfoComponent.cpp  |  1 -
 .../sceneutility/MakeAliasComponent.cpp       |  1 -
 .../sceneutility/MakeDataAliasComponent.cpp   |  1 -
 .../sceneutility/MessageHandlerComponent.cpp  | 11 +++++----
 .../src/sofa/component/sceneutility/init.cpp  |  4 +++-
 Sofa/Component/src/sofa/component/init.cpp    |  1 +
 16 files changed, 56 insertions(+), 44 deletions(-)

diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp
index 8f7eab1f906..c87b2e0aa35 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.cpp
@@ -67,11 +67,11 @@ void DisplacementTransformEngine<Rigid3Types,Mat4x4>::mult( Mat4x4& out, const M
     out = out * inv;
 }
 
-/////////////////////////////////////////
-
-int DisplacementMatrixEngineClass = core::RegisterObject("Converts a vector of Rigid to a vector of displacement matrices.")
-    .add< DisplacementMatrixEngine<Rigid3Types> >()
-;
+void registerDisplacementMatrixEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Converts a vector of Rigid to a vector of displacement matrices.")
+        .add< DisplacementMatrixEngine<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_ENGINE_TRANSFORM_API DisplacementMatrixEngine<Rigid3Types>;
 
diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp
index d85e6a7fae0..6cdc506f618 100644
--- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp
+++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/init.cpp
@@ -28,6 +28,7 @@ namespace sofa::component::engine::transform
     
 extern void registerDifferenceEngine(sofa::core::ObjectFactory* factory);
 extern void registerDilateEngine(sofa::core::ObjectFactory* factory);
+extern void registerDisplacementMatrixEngine(sofa::core::ObjectFactory* factory);
 extern void registerDisplacementTransformEngine(sofa::core::ObjectFactory* factory);
 extern void registerIndexValueMapper(sofa::core::ObjectFactory* factory);
 extern void registerIndices2ValuesMapper(sofa::core::ObjectFactory* factory);
@@ -73,6 +74,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
 {
     registerDifferenceEngine(factory);
     registerDilateEngine(factory);
+    registerDisplacementMatrixEngine(factory);
     registerDisplacementTransformEngine(factory);
     registerIndexValueMapper(factory);
     registerIndices2ValuesMapper(factory);
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp
index 964d86f3e7e..1178d60105e 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp
@@ -332,8 +332,9 @@ type::Vec6 DiagonalMass<Rigid3Types>::getMomentum ( const MechanicalParams* mpar
     return getMomentumRigid3Impl<Rigid3Types>(mparams, vx, vv) ;
 }
 
-// Register in the Factory
-int DiagonalMassClass = core::RegisterObject("Define a specific mass for each particle")
+void registerDiagonalMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute a lumped (diagonalized) mass matrix resulting from the space integration of a density over a domain.")
         .add< DiagonalMass<Vec3Types> >()
         .add< DiagonalMass<Vec2Types, Vec3Types> >()
         .add< DiagonalMass<Vec1Types> >()
@@ -341,9 +342,8 @@ int DiagonalMassClass = core::RegisterObject("Define a specific mass for each pa
         .add< DiagonalMass<Vec1Types, Vec3Types> >()
         .add< DiagonalMass<Rigid3Types> >()
         .add< DiagonalMass<Rigid2Types> >()
-        .add< DiagonalMass<Rigid2Types, Rigid3Types> >()
-
-        ;
+        .add< DiagonalMass<Rigid2Types, Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec3Types>;
 template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec2Types>;
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.cpp
index 739fc1147f0..3e085f2d49f 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.cpp
@@ -71,16 +71,16 @@ Vec6 MeshMatrixMass<Vec3Types>::getMomentum ( const core::MechanicalParams*, con
     return momentum;
 }
 
-
-// Register in the Factory
-int MeshMatrixMassClass = core::RegisterObject("Define a specific mass for each particle")
+void registerMeshMatrixMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute a mass matrix resulting from the space integration of a density over a domain.")
         .add< MeshMatrixMass<Vec3Types> >()
         .add< MeshMatrixMass<Vec2Types> >()
         .add< MeshMatrixMass<Vec2Types, Vec3Types> >()
         .add< MeshMatrixMass<Vec1Types> >()
         .add< MeshMatrixMass<Vec1Types, Vec2Types> >()
-        .add< MeshMatrixMass<Vec1Types, Vec3Types> >()
-;
+        .add< MeshMatrixMass<Vec1Types, Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_MASS_API MeshMatrixMass<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_MASS_API MeshMatrixMass<defaulttype::Vec2Types>;
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
index ceabfd1e890..f2328c5231f 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
@@ -503,30 +503,16 @@ Vec6 UniformMass<Rigid3Types>::getMomentum ( const MechanicalParams* params,
     return getMomentumRigid3DImpl<Rigid3Types>(params, d_x, d_v);
 }
 
-
-
-
-//////////////////////////////////////////// REGISTERING TO FACTORY /////////////////////////////////////////
-/// Registering the component
-/// see: https://www.sofa-framework.org/community/doc/programming-with-sofa/components-api/the-objectfactory/
-/// 1-SOFA_DECL_CLASS(componentName) : Set the class name of the component
-/// 2-RegisterObject("description") + .add<> : Register the component
-/// 3-.add<>(true) : Set default template
-// Register in the Factory
-int UniformMassClass = core::RegisterObject("Define the same mass for all the particles")
-
+void registerUniformMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Compute a mass equally spread over the number of nodes.")
         .add< UniformMass<Vec3Types> >()
         .add< UniformMass<Vec2Types> >()
         .add< UniformMass<Vec1Types> >()
         .add< UniformMass<Vec6Types> >()
         .add< UniformMass<Rigid3Types> >()
-        .add< UniformMass<Rigid2Types> >()
-
-        ;
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
+        .add< UniformMass<Rigid2Types> >());
+}
 
 ////////////////////////////// TEMPLATE INITIALIZATION /////////////////////////////////////////////////
 /// Force template specialization for the most common sofa type.
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/init.cpp b/Sofa/Component/Mass/src/sofa/component/mass/init.cpp
index de3b283820c..14eb994286d 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/init.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/init.cpp
@@ -21,13 +21,20 @@
 ******************************************************************************/
 #include <sofa/component/mass/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::mass
 {
-    
+
+extern void registerDiagonalMass(sofa::core::ObjectFactory* factory);
+extern void registerMeshMatrixMass(sofa::core::ObjectFactory* factory);
+extern void registerUniformMass(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +52,21 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerDiagonalMass(factory);
+    registerMeshMatrixMass(factory);
+    registerUniformMass(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
index 1c4d0c378db..2fa55643d95 100644
--- a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
+++ b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
@@ -101,6 +101,7 @@ class DiagonalMass_test : public BaseTest
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid");
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
+        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
 
         simulation = simulation::getSimulation();
         root = simulation::getSimulation()->createNewGraph("root");
diff --git a/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp b/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp
index 3b4dcc8c920..024bf21dd13 100644
--- a/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp
+++ b/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp
@@ -104,6 +104,7 @@ class MeshMatrixMass_test : public BaseTest
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid");
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
+        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
 
         simulation = simulation::getSimulation();
         root = simulation::getSimulation()->createNewGraph("root");
diff --git a/Sofa/Component/Mass/tests/UniformMass_test.cpp b/Sofa/Component/Mass/tests/UniformMass_test.cpp
index af48c7aba8e..ddfa5c0eabb 100644
--- a/Sofa/Component/Mass/tests/UniformMass_test.cpp
+++ b/Sofa/Component/Mass/tests/UniformMass_test.cpp
@@ -79,6 +79,9 @@ struct UniformMassTest :  public BaseTest
 
     void SetUp() override
     {
+        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
+        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
+
         todo = true ;
         m_simu = sofa::simulation::getSimulation();
         m_root = m_simu->createNewGraph("root");
diff --git a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
index 83f763d9c40..a901c1ec931 100644
--- a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
@@ -78,6 +78,7 @@ struct ConstantForceField_test : public BaseSimulationTest, NumericTest<typename
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
         sofa::simpleapi::importPlugin("Sofa.Component.MechanicalLoad");
         sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");
+        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
     }
 
     void TearDown() override {}
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.cpp b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.cpp
index 51ed3b80a68..d2fe64e592c 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.cpp
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/InfoComponent.cpp
@@ -21,7 +21,6 @@
 ******************************************************************************/
 #include <sofa/component/sceneutility/config.h>
 #include <sofa/core/ObjectFactory.h>
-using sofa::core::RegisterObject ;
 
 #include <sofa/component/sceneutility/InfoComponent.h>
 
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.cpp b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.cpp
index fca69383c2d..0698496c34b 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.cpp
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeAliasComponent.cpp
@@ -21,7 +21,6 @@
 ******************************************************************************/
 #include <sofa/component/sceneutility/config.h>
 #include <sofa/core/ObjectFactory.h>
-using sofa::core::RegisterObject ;
 using sofa::core::ObjectFactory ;
 
 using sofa::core::objectmodel::ComponentState ;
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.cpp b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.cpp
index 6b660d084d1..3f6ee73c225 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.cpp
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MakeDataAliasComponent.cpp
@@ -21,7 +21,6 @@
 ******************************************************************************/
 #include <sofa/component/sceneutility/config.h>
 #include <sofa/core/ObjectFactory.h>
-using sofa::core::RegisterObject ;
 using sofa::core::ObjectFactory ;
 
 using sofa::core::objectmodel::ComponentState ;
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp
index f3cab5870db..d800a95f905 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/MessageHandlerComponent.cpp
@@ -25,7 +25,6 @@
 ******************************************************************************/
 #include <sofa/component/sceneutility/config.h>
 #include <sofa/core/ObjectFactory.h>
-using sofa::core::RegisterObject ;
 
 #include <sofa/helper/logging/ConsoleMessageHandler.h>
 using sofa::helper::logging::ConsoleMessageHandler ;
@@ -155,8 +154,10 @@ void FileMessageHandlerComponent::parse ( core::objectmodel::BaseObjectDescripti
     m_isValid = true ;
 }
 
-int FileMessageHandlerComponentClass = RegisterObject("This component dump all the messages into"
-                                                      "a file.")
-        .add< FileMessageHandlerComponent >()
-        ;
+void registerFileMessageHandlerComponent(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("This component dumps all the messages into a file.")
+        .add< FileMessageHandlerComponent >());
+}
+
 } // namespace sofa::component::sceneutility
diff --git a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/init.cpp b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/init.cpp
index 1daa9e7019f..1f1dead21ae 100644
--- a/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/init.cpp
+++ b/Sofa/Component/SceneUtility/src/sofa/component/sceneutility/init.cpp
@@ -29,7 +29,8 @@ namespace sofa::component::sceneutility
 extern void registerAddDataRepository(sofa::core::ObjectFactory* factory);
 extern void registerAddPluginRepository(sofa::core::ObjectFactory* factory);
 extern void registerAPIVersion(sofa::core::ObjectFactory* factory);
-extern void registerInfoComponent(sofa::core::ObjectFactory* factory);;
+extern void registerFileMessageHandlerComponent(sofa::core::ObjectFactory* factory);
+extern void registerInfoComponent(sofa::core::ObjectFactory* factory);
 extern void registerMakeAliasComponent(sofa::core::ObjectFactory* factory);
 extern void registerMakeDataAliasComponent(sofa::core::ObjectFactory* factory);
 extern void registerMessageHandlerComponent(sofa::core::ObjectFactory* factory);
@@ -62,6 +63,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     registerAddDataRepository(factory);
     registerAddPluginRepository(factory);
     registerAPIVersion(factory);
+    registerFileMessageHandlerComponent(factory);
     registerInfoComponent(factory);;
     registerMakeAliasComponent(factory);
     registerMakeDataAliasComponent(factory);
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 535063d0fa1..00f7034fde6 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -84,6 +84,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver");
     factory->registerObjectsFromPlugin("Sofa.Component.LinearSystem");
     factory->registerObjectsFromPlugin("Sofa.Component.Mapping");
+    factory->registerObjectsFromPlugin("Sofa.Component.Mass");
     factory->registerObjectsFromPlugin("Sofa.Component.MechanicalLoad");
     factory->registerObjectsFromPlugin("Sofa.Component.ODESolver");
     factory->registerObjectsFromPlugin("Sofa.Component.Playback");

From 54b131319ae1c70dff73208c9279a98bf92e7113 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Sun, 27 Oct 2024 13:58:09 +0100
Subject: [PATCH 35/43] [examples] Run PluginFinder (#5072)

* [examples] run pluginfinder

* import also Sofa.Component.LinearSolver.Ordering

---------

Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 examples/Benchmark/Analysis/constantMomentum.scn         | 2 +-
 .../Lagrangian/FixedLagrangianConstaint_Rigid3.scn       | 9 ++++-----
 .../Lagrangian/FixedLagrangianConstaint_Vec3.scn         | 5 ++---
 examples/Component/IO/Mesh/STLExporter.scn               | 2 +-
 examples/Component/LinearSolver/FEMBAR-common.xml        | 4 ++--
 examples/Component/LinearSystem/MatrixLinearSystem.scn   | 2 +-
 .../Component/Mapping/NonLinear/DistanceMultiMapping.scn | 2 +-
 examples/Component/Mass/UniformMass.scn                  | 2 +-
 .../Component/MechanicalLoad/EdgePressureForceField.scn  | 2 +-
 .../MechanicalLoad/TrianglePressureForceField.scn        | 3 ++-
 .../Component/ODESolver/Forward/RungeKutta4Solver.scn    | 2 +-
 examples/Component/Playback/CompareState.scn             | 3 ++-
 examples/Component/Playback/ReadState.scn                | 2 +-
 examples/Component/Playback/WriteState.scn               | 1 -
 examples/Demos/2d.scn                                    | 2 +-
 examples/Tutorials/Basic/TutorialBasicPendulum.scn       | 2 +-
 16 files changed, 22 insertions(+), 23 deletions(-)

diff --git a/examples/Benchmark/Analysis/constantMomentum.scn b/examples/Benchmark/Analysis/constantMomentum.scn
index d2ea9f497eb..239b1300818 100644
--- a/examples/Benchmark/Analysis/constantMomentum.scn
+++ b/examples/Benchmark/Analysis/constantMomentum.scn
@@ -5,7 +5,7 @@
 <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
 <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
 <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
-<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [StiffSpringForceField] -->
+<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
 <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
 <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
 <DefaultAnimationLoop/>
diff --git a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Rigid3.scn b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Rigid3.scn
index c4217bbbd07..4cfe48d6334 100644
--- a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Rigid3.scn
+++ b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Rigid3.scn
@@ -2,21 +2,20 @@
 
 <Node name="root" dt="0.01" gravity="0 0 -9.81">
     <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [CollisionPipeline] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [FixedLagrangianConstraint] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
-    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BeamLinearMapping,IdentityMapping,TubularMapping] -->
+    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
+    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping TubularMapping] -->
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
     <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-    <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetTopologyContainer,EdgeSetTopologyModifier,QuadSetGeometryAlgorithms,QuadSetTopologyContainer,QuadSetTopologyModifier] -->
+    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
     <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [ConstraintAttachButtonSetting] -->
+    <RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
 
     <VisualStyle displayFlags="   showForceFields "/>
     <AttachBodyButtonSetting stiffness="5" /> <!-- The presence of this component sets the mouse interaction to Lagrangian-based constraints at the GUI launch -->
diff --git a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
index 47d32cedd42..8e4fe5d1f71 100644
--- a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
+++ b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
@@ -2,7 +2,6 @@
 
 <Node name="root" dt="0.01" gravity="0 0 -9.81">
     <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [CollisionPipeline] -->
     <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [FixedLagrangianConstraint] -->
@@ -14,9 +13,9 @@
     <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
+    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping,Tetra2TriangleTopologicalMapping] -->
+    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
     <RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [ConstraintAttachButtonSetting] -->
diff --git a/examples/Component/IO/Mesh/STLExporter.scn b/examples/Component/IO/Mesh/STLExporter.scn
index 900afe899fd..211d61b1a9f 100644
--- a/examples/Component/IO/Mesh/STLExporter.scn
+++ b/examples/Component/IO/Mesh/STLExporter.scn
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >
-   <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader,STLExporter] -->
+   <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader STLExporter] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
 
diff --git a/examples/Component/LinearSolver/FEMBAR-common.xml b/examples/Component/LinearSolver/FEMBAR-common.xml
index 924dcf4aec3..26e3896d17f 100644
--- a/examples/Component/LinearSolver/FEMBAR-common.xml
+++ b/examples/Component/LinearSolver/FEMBAR-common.xml
@@ -12,7 +12,7 @@
         <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Preconditioner"/> <!-- Needed to use components [BlockJacobiPreconditioner] -->
-
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Ordering"/>
     </Node>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
@@ -26,4 +26,4 @@
     <RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
     <BoxROI name="box" box="-10 -1 -0.0001  -5 4 0.0001"/>
     <FixedProjectiveConstraint indices="@box.indices" />
-</Node>
\ No newline at end of file
+</Node>
diff --git a/examples/Component/LinearSystem/MatrixLinearSystem.scn b/examples/Component/LinearSystem/MatrixLinearSystem.scn
index bcd4ad61dd5..0918090788a 100644
--- a/examples/Component/LinearSystem/MatrixLinearSystem.scn
+++ b/examples/Component/LinearSystem/MatrixLinearSystem.scn
@@ -11,7 +11,7 @@
         <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
         <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
-        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [StiffSpringForceField] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
         <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetGeometryAlgorithms] -->
         <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
diff --git a/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn b/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn
index 36394b8e7ac..698e0106eeb 100644
--- a/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn
+++ b/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn
@@ -6,7 +6,7 @@
         <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [StringMeshCreator] -->
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [DistanceMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [DistanceMapping DistanceMultiMapping] -->
         <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
         <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [UniformVelocityDampingForceField] -->
         <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
diff --git a/examples/Component/Mass/UniformMass.scn b/examples/Component/Mass/UniformMass.scn
index e312c9ecaa1..2bf14e5f400 100644
--- a/examples/Component/Mass/UniformMass.scn
+++ b/examples/Component/Mass/UniformMass.scn
@@ -13,8 +13,8 @@
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
+    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [InteractiveCamera] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <RequiredPlugin name="Sofa.Component.Visual"/> 
 
     <CollisionPipeline verbose="0" name="CollisionPipeline" />
     <BruteForceBroadPhase/>
diff --git a/examples/Component/MechanicalLoad/EdgePressureForceField.scn b/examples/Component/MechanicalLoad/EdgePressureForceField.scn
index 02ee512d62d..67ec5c0e3dc 100644
--- a/examples/Component/MechanicalLoad/EdgePressureForceField.scn
+++ b/examples/Component/MechanicalLoad/EdgePressureForceField.scn
@@ -11,7 +11,7 @@
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [EdgePressureForceField] -->
     <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->
-    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField TriangularBendingSprings] -->
+    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
     <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Triangle2EdgeTopologicalMapping] -->
diff --git a/examples/Component/MechanicalLoad/TrianglePressureForceField.scn b/examples/Component/MechanicalLoad/TrianglePressureForceField.scn
index e118972183a..697971e9bcd 100644
--- a/examples/Component/MechanicalLoad/TrianglePressureForceField.scn
+++ b/examples/Component/MechanicalLoad/TrianglePressureForceField.scn
@@ -5,7 +5,8 @@
     <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
     <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
     <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedPlaneProjectiveConstraint FixedProjectiveConstraint] -->
+    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
diff --git a/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn b/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn
index 05fd84a1003..3dcea83cd61 100644
--- a/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn
+++ b/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn
@@ -2,7 +2,7 @@
 <Node name="root" gravity="-1.8 0 100" dt="0.0005">
     <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
-    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
     <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [RungeKutta4Solver] -->
diff --git a/examples/Component/Playback/CompareState.scn b/examples/Component/Playback/CompareState.scn
index 3e34c3f409a..ba3f38990c4 100644
--- a/examples/Component/Playback/CompareState.scn
+++ b/examples/Component/Playback/CompareState.scn
@@ -5,9 +5,10 @@
         <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
         <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
         <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-        <RequiredPlugin name="Sofa.Component.Playback"/> <!-- Needed to use components [CompareState] -->
+        <RequiredPlugin name="Sofa.Component.Playback"/> <!-- Needed to use components [CompareState ReadState] -->
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
         <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier] -->
         <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
         <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     </Node>
diff --git a/examples/Component/Playback/ReadState.scn b/examples/Component/Playback/ReadState.scn
index f2d3cbb8be3..31e4c14420e 100644
--- a/examples/Component/Playback/ReadState.scn
+++ b/examples/Component/Playback/ReadState.scn
@@ -3,7 +3,7 @@
     <Node name="plugins">
         <RequiredPlugin name="Sofa.Component.Playback"/> <!-- Needed to use components [ReadState] -->
         <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms,EdgeSetTopologyContainer,EdgeSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier] -->
         <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
         <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     </Node>
diff --git a/examples/Component/Playback/WriteState.scn b/examples/Component/Playback/WriteState.scn
index ddb6c1579c3..6f833a5a209 100644
--- a/examples/Component/Playback/WriteState.scn
+++ b/examples/Component/Playback/WriteState.scn
@@ -3,7 +3,6 @@
     <Node name="plugins">
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
         <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
-        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
         <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
         <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
         <RequiredPlugin name="Sofa.Component.Playback"/> <!-- Needed to use components [WriteState] -->
diff --git a/examples/Demos/2d.scn b/examples/Demos/2d.scn
index b1e57324b43..2c36d0c026a 100644
--- a/examples/Demos/2d.scn
+++ b/examples/Demos/2d.scn
@@ -4,7 +4,7 @@
 <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
 <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
 <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [StiffSpringForceField] -->
+<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
 <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
 <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
 
diff --git a/examples/Tutorials/Basic/TutorialBasicPendulum.scn b/examples/Tutorials/Basic/TutorialBasicPendulum.scn
index 9b1df51405b..5e52e94e61b 100644
--- a/examples/Tutorials/Basic/TutorialBasicPendulum.scn
+++ b/examples/Tutorials/Basic/TutorialBasicPendulum.scn
@@ -6,7 +6,7 @@
   <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
   <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
   <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-  <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [StiffSpringForceField] -->
+  <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
   <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
   <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
 

From 3d5d5ee60c330464297ce5ebf242bacbfc77a117 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Mon, 28 Oct 2024 06:50:36 +0100
Subject: [PATCH 36/43] [Core] Support component included in multiple component
 change maps (#5074)

Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../Core/src/sofa/core/ObjectFactory.cpp      | 31 ++++++++++++++-----
 1 file changed, 24 insertions(+), 7 deletions(-)

diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp
index eb5bc8b7e93..6f9d02cf2c8 100644
--- a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp
+++ b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp
@@ -238,21 +238,38 @@ objectmodel::BaseObject::SPtr ObjectFactory::createObject(objectmodel::BaseConte
         using sofa::helper::lifecycle::dealiasedComponents;
         if(it == registry.end())
         {
-            arg->logError("The object '" + classname + "' is not in the factory.");
+            arg->logError("The component '" + classname + "' cannot be found in the factory.");
             auto uncreatableComponent = uncreatableComponents.find(classname);
             auto movedComponent = movedComponents.find(classname);
             auto dealiasedComponent = dealiasedComponents.find(classname);
-            if( uncreatableComponent != uncreatableComponents.end() )
+
+            const bool isUncreatable =  uncreatableComponent != uncreatableComponents.end();
+            const bool isMoved = movedComponent != movedComponents.end();
+            const bool isDealiased = dealiasedComponent != dealiasedComponents.end();
+
+            const bool multipleReasons = static_cast<std::size_t>(isUncreatable) + static_cast<std::size_t>(isMoved) + static_cast<std::size_t>(isDealiased) > 1;
+            std::size_t reasonNumber = 1;
+            const auto number = [&reasonNumber, multipleReasons]() -> std::string
+            {
+                return multipleReasons ? std::to_string(reasonNumber++) + ") " : "";
+            };
+
+            if (multipleReasons)
+            {
+                arg->logError("Several reasons are possible:");
+            }
+
+            if(isUncreatable)
             {
-                arg->logError( uncreatableComponent->second.getMessage() );
+                arg->logError(number() + uncreatableComponent->second.getMessage() );
             }
-            else if (movedComponent != movedComponents.end())
+            if (isMoved)
             {
-                arg->logError( movedComponent->second.getMessage() );
+                arg->logError(number() + movedComponent->second.getMessage() );
             }
-            else if (dealiasedComponent != dealiasedComponents.end())
+            if (isDealiased)
             {
-                arg->logError(dealiasedComponent->second.getMessage());
+                arg->logError(number() + dealiasedComponent->second.getMessage());
             }
             else
             {

From 76c0985230b753c25a5fed1c05a1939ef3c1e70d Mon Sep 17 00:00:00 2001
From: erik pernod <erik.pernod@gmail.com>
Date: Tue, 29 Oct 2024 07:23:57 +0100
Subject: [PATCH 37/43] [FEM] Add method computeVonMisesStress in
 TetrahedralCorotationalForceField and option to draw them (#4945)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* [FEM] Add method to computeVonMisesStress in TetrahedralCorotationalFEMForceField and method to draw it by Node

* [FEM] Update TetrahedralCoro von mises drawing logic

* Apply suggestions from code review

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>

* [src] reserve memory for points vectors

---------

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
---
 .../TetrahedralCorotationalFEMForceField.h    |  13 +
 .../TetrahedralCorotationalFEMForceField.inl  | 256 +++++++++++++++---
 .../TetrahedralCorotationalFEMForceField.scn  |   4 +-
 3 files changed, 234 insertions(+), 39 deletions(-)

diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h
index eeab8d669dc..ff6292fed70 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h
@@ -29,6 +29,7 @@
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>
 #include <sofa/helper/map.h>
+#include <sofa/helper/ColorMap.h>
 
 #include <sofa/core/objectmodel/RenamedData.h>
 
@@ -104,6 +105,7 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce
         StrainDisplacementTransposed strainDisplacementTransposedMatrix;
         /// large displacement method
         type::fixed_array<Coord,4> rotatedInitialElements;
+        type::Mat<4, 4, Real> elemShapeFun;
         Transformation rotation;
         /// polar method
         Transformation initialTransformation;
@@ -192,12 +194,22 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce
     Data<sofa::type::RGBAColor> d_drawColor3; ///<  draw color for faces 3
     Data<sofa::type::RGBAColor> d_drawColor4; ///<  draw color for faces 4
     Data<std::map < std::string, sofa::type::vector<double> > > _volumeGraph;
+    
+    Data<bool> d_computeVonMisesStress;
+    Data<type::vector<Real> > d_vonMisesPerElement; ///< von Mises Stress per element
+    Data<type::vector<Real> > d_vonMisesPerNode; ///< von Mises Stress per node
+    
+    sofa::helper::ColorMap* m_vonMisesColorMap;
+    Real prevMaxStress = -1.0;
 
     using Inherit1::l_topology;
 
+
 protected:
     TetrahedralCorotationalFEMForceField();
 
+    ~TetrahedralCorotationalFEMForceField() override;
+
 public:
 
     void setMethod(int val) { method = val; }
@@ -235,6 +247,7 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce
 
     void computeBBox(const core::ExecParams* params, bool onlyVisible) override;
 
+    void computeVonMisesStress();
 
 protected:
     /** Method to create @sa TetrahedronInformation when a new tetrahedron is created.
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
index b80db2e698f..7ae0a6e3ce4 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
@@ -78,6 +78,10 @@ TetrahedralCorotationalFEMForceField<DataTypes>::TetrahedralCorotationalFEMForce
     , d_drawColor2(initData(&d_drawColor2, sofa::type::RGBAColor(0.0f, 0.5f, 1.0f, 1.0f), "drawColor2", " draw color for faces 2"))
     , d_drawColor3(initData(&d_drawColor3, sofa::type::RGBAColor(0.0f, 1.0f, 1.0f, 1.0f), "drawColor3", " draw color for faces 3"))
     , d_drawColor4(initData(&d_drawColor4, sofa::type::RGBAColor(0.5f, 1.0f, 1.0f, 1.0f), "drawColor4", " draw color for faces 4"))
+    , d_computeVonMisesStress(initData(&d_computeVonMisesStress, false, "computeVonMisesStress", "compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain. Set listening=1"))
+    , d_vonMisesPerElement(initData(&d_vonMisesPerElement, "vonMisesPerElement", "von Mises Stress per element"))
+    , d_vonMisesPerNode(initData(&d_vonMisesPerNode, "vonMisesPerNode", "von Mises Stress per node"))
+    , m_vonMisesColorMap(nullptr)
 {
     this->addAlias(&d_assembling, "assembling");
 
@@ -95,6 +99,14 @@ TetrahedralCorotationalFEMForceField<DataTypes>::TetrahedralCorotationalFEMForce
 
 }
 
+
+template <class DataTypes>
+TetrahedralCorotationalFEMForceField<DataTypes>::~TetrahedralCorotationalFEMForceField()
+{
+    if (m_vonMisesColorMap != nullptr)
+        delete m_vonMisesColorMap;
+}
+
 template <class DataTypes>
 void TetrahedralCorotationalFEMForceField<DataTypes>::init()
 {
@@ -111,6 +123,11 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::init()
     }
 
     reinit(); // compute per-element stiffness matrices and other precomputed values
+
+    if (m_vonMisesColorMap == nullptr)
+    {
+        m_vonMisesColorMap = new helper::ColorMap(256, std::string("Blue to Red"));
+    }
 }
 
 
@@ -189,6 +206,9 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::addForce(const core::Mecha
     }
     }
     d_f.endEdit();
+
+    if (d_computeVonMisesStress.getValue())
+        computeVonMisesStress();
 }
 
 template<class DataTypes>
@@ -868,7 +888,19 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::initLarge(int i, Index&a,
 
     computeStrainDisplacement( tetrahedronInf[i].strainDisplacementTransposedMatrix,tetrahedronInf[i].rotatedInitialElements[0], tetrahedronInf[i].rotatedInitialElements[1],tetrahedronInf[i].rotatedInitialElements[2],tetrahedronInf[i].rotatedInitialElements[3] );
 
-    d_tetrahedronInfo.endEdit();
+
+    type::Mat<4, 4, Real> matVert;
+    const core::topology::BaseMeshTopology::Tetrahedron tetra = { a, b, c, d };
+    for (Index k = 0; k < 4; k++) {
+        Index ix = tetra[k];
+        matVert[k][0] = 1.0;
+        for (Index l = 1; l < 4; l++)
+            matVert[k][l] = X0[ix][l - 1];
+    }
+
+    [[maybe_unused]] const bool canInvert = type::invertMatrix(tetrahedronInf[i].elemShapeFun, matVert);
+
+    tetrahedronInfo.endEdit();
 }
 
 template<class DataTypes>
@@ -1191,12 +1223,118 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::computeBBox(const core::Ex
 }
 
 
+template<class DataTypes>
+void TetrahedralCorotationalFEMForceField<DataTypes>::computeVonMisesStress()
+{
+    typename core::behavior::MechanicalState<DataTypes>* mechanicalObject;
+    this->getContext()->get(mechanicalObject);
+    const VecCoord& X = mechanicalObject->read(core::ConstVecCoordId::position())->getValue();
+
+    const sofa::core::topology::BaseMeshTopology::SeqTetrahedra& tetras = this->l_topology->getTetrahedra();
+    const type::vector<typename TetrahedralCorotationalFEMForceField<DataTypes>::TetrahedronInformation>& tetrahedronInf = tetrahedronInfo.getValue();
+
+    helper::WriteAccessor<Data<type::vector<Real> > > vME = d_vonMisesPerElement;
+    vME.resize(tetras.size());
+
+    for (Size i = 0; i < this->l_topology->getNbTetrahedra(); ++i)
+    {
+        type::Vec<6, Real> vStrain;
+        type::Mat<3, 3, Real> gradU;
+        Transformation R_0_2;
+        Displacement D;
+
+        const auto& tetra = tetras[i];
+        const TetrahedronInformation& tetraInfo = tetrahedronInf[i];
+
+        computeRotationLarge(R_0_2, X, tetra[0], tetra[1], tetra[2]);
+
+        // positions of the deformed and displaced Tetrahedron in its frame
+        type::fixed_array<Coord, 4> deforme;
+        for (int j = 0; j < 4; ++j)
+            deforme[j] = R_0_2 * X[tetra[j]];
+
+        deforme[1][0] -= deforme[0][0];
+        deforme[2][0] -= deforme[0][0];
+        deforme[2][1] -= deforme[0][1];
+        deforme[3] -= deforme[0];
+        
+        // displacement
+        D[0] = 0;
+        D[1] = 0;
+        D[2] = 0;
+        D[3] = tetraInfo.rotatedInitialElements[1][0] - deforme[1][0];
+        D[4] = 0;
+        D[5] = 0;
+        D[6] = tetraInfo.rotatedInitialElements[2][0] - deforme[2][0];
+        D[7] = tetraInfo.rotatedInitialElements[2][1] - deforme[2][1];
+        D[8] = 0;
+        D[9] = tetraInfo.rotatedInitialElements[3][0] - deforme[3][0];
+        D[10] = tetraInfo.rotatedInitialElements[3][1] - deforme[3][1];
+        D[11] = tetraInfo.rotatedInitialElements[3][2] - deforme[3][2];
+
+        const type::Mat<4, 4, Real>& shf = tetraInfo.elemShapeFun;
+
+        /// compute gradU
+        for (Index k = 0; k < 3; k++) {
+            for (Index l = 0; l < 3; l++) {
+                gradU[k][l] = 0.0;
+                for (Index m = 0; m < 4; m++)
+                    gradU[k][l] += shf[l + 1][m] * D[3 * m + k];
+            }
+        }
+
+        type::Mat<3, 3, Real> strain = Real(0.5) * (gradU + gradU.transposed());
+
+        for (Index j = 0; j < 3; j++)
+            vStrain[j] = strain[j][j];
+        vStrain[3] = strain[1][2];
+        vStrain[4] = strain[0][2];
+        vStrain[5] = strain[0][1];
+
+        Real lambda = tetraInfo.materialMatrix[0][1];
+        Real mu = tetraInfo.materialMatrix[3][3];
+
+        /// stress
+        type::VecNoInit<6, Real> s; // VoigtTensor
+
+        Real traceStrain = 0.0;
+        for (Index k = 0; k < 3; k++) {
+            traceStrain += vStrain[k];
+            s[k] = vStrain[k] * 2 * mu;
+        }
+
+        for (Index k = 3; k < 6; k++)
+            s[k] = vStrain[k] * 2 * mu;
+
+        for (Index k = 0; k < 3; k++)
+            s[k] += lambda * traceStrain;
+
+        vME[i] = helper::rsqrt(s[0] * s[0] + s[1] * s[1] + s[2] * s[2] - s[0] * s[1] - s[1] * s[2] - s[2] * s[0] + 3 * s[3] * s[3] + 3 * s[4] * s[4] + 3 * s[5] * s[5]);
+        if (vME[i] < 1e-10)
+            vME[i] = 0.0;
+    }
+
+    helper::WriteAccessor<Data<type::vector<Real> > > vMN = d_vonMisesPerNode;
+    vMN.resize(X.size());
+
+    /// compute the values of vonMises stress in nodes
+    for (Index dof = 0; dof < X.size(); dof++) {
+        core::topology::BaseMeshTopology::TetrahedraAroundVertex tetrasAroundDOF = this->l_topology->getTetrahedraAroundVertex(dof);
+
+        vMN[dof] = 0.0;
+        for (size_t at = 0; at < tetrasAroundDOF.size(); at++)
+            vMN[dof] += vME[tetrasAroundDOF[at]];
+        if (!tetrasAroundDOF.empty())
+            vMN[dof] /= Real(tetrasAroundDOF.size());
+    }
+}
+
+
 template<class DataTypes>
 void TetrahedralCorotationalFEMForceField<DataTypes>::draw(const core::visual::VisualParams* vparams)
 {
     if (!vparams->displayFlags().getShowForceFields()) return;
     if (!this->mstate) return;
-    if (!d_drawing.getValue()) return;
 
     const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
 
@@ -1205,46 +1343,90 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::draw(const core::visual::V
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0,true);
 
-
-    std::vector< type::Vec3 > points[4];
-    for(Size i = 0 ; i<this->l_topology->getNbTetrahedra(); ++i)
+    if (d_computeVonMisesStress.getValue())
     {
-        const core::topology::BaseMeshTopology::Tetrahedron t=this->l_topology->getTetrahedron(i);
-
-        const auto& [a, b, c, d] = t.array();
-        Coord center = (x[a]+x[b]+x[c]+x[d])*0.125;
-        Coord pa = (x[a]+center)*(Real)0.666667;
-        Coord pb = (x[b]+center)*(Real)0.666667;
-        Coord pc = (x[c]+center)*(Real)0.666667;
-        Coord pd = (x[d]+center)*(Real)0.666667;
-
-        points[0].push_back(pa);
-        points[0].push_back(pb);
-        points[0].push_back(pc);
-
-        points[1].push_back(pb);
-        points[1].push_back(pc);
-        points[1].push_back(pd);
-
-        points[2].push_back(pc);
-        points[2].push_back(pd);
-        points[2].push_back(pa);
-
-        points[3].push_back(pd);
-        points[3].push_back(pa);
-        points[3].push_back(pb);
+        Real minVM = (Real)1e20, maxVM = (Real)-1e20;
+        Real minVMN = (Real)1e20, maxVMN = (Real)-1e20;
+        helper::ReadAccessor<Data<type::vector<Real> > > vM = d_vonMisesPerElement;
+        helper::ReadAccessor<Data<type::vector<Real> > > vMN = d_vonMisesPerNode;
+        
+        if (m_vonMisesColorMap == nullptr)
+            return;
+        
+        for (size_t i = 0; i < vM.size(); i++)
+        {
+            minVM = (vM[i] < minVM) ? vM[i] : minVM;
+            maxVM = (vM[i] > maxVM) ? vM[i] : maxVM;
+        }
+        if (maxVM < prevMaxStress)
+        {
+            maxVM = prevMaxStress;
+        }
+        for (size_t i = 0; i < vMN.size(); i++)
+        {
+            minVMN = (vMN[i] < minVMN) ? vMN[i] : minVMN;
+            maxVMN = (vMN[i] > maxVMN) ? vMN[i] : maxVMN;
+        }
+        
+        // Draw nodes (if node option enabled)
+        if (vMN.size() == x.size())
+        {
+            std::vector<sofa::type::RGBAColor> nodeColors(x.size());
+            std::vector<type::Vec3> pts(x.size());
+            helper::ColorMap::evaluator<Real> evalColor = m_vonMisesColorMap->getEvaluator(minVMN, maxVMN);
+            for (size_t nd = 0; nd < x.size(); nd++) {
+                pts[nd] = x[nd];
+                nodeColors[nd] = evalColor(vMN[nd]);
+            }
+            vparams->drawTool()->drawPoints(pts, 10, nodeColors);
+        }
     }
+    
+    if (d_drawing.getValue())
+    {
+        const sofa::Size nbrTetra = this->l_topology->getNbTetrahedra();
+        std::vector< type::Vec3 > points[4];
+        points[0].reserve(nbrTetra * 3);
+        points[1].reserve(nbrTetra * 3);
+        points[2].reserve(nbrTetra * 3);
+        points[3].reserve(nbrTetra * 3);
+
+        for(Size i = 0 ; i< nbrTetra; ++i)
+        {
+            const core::topology::BaseMeshTopology::Tetrahedron t=this->l_topology->getTetrahedron(i);
+
+            const auto& [a, b, c, d] = t.array();
+            Coord center = (x[a] + x[b] + x[c] + x[d]) * 0.125;
+            Coord pa = (x[a] + center) * (Real)0.666667;
+            Coord pb = (x[b] + center) * (Real)0.666667;
+            Coord pc = (x[c] + center) * (Real)0.666667;
+            Coord pd = (x[d] + center) * (Real)0.666667;
+
+            points[0].push_back(pa);
+            points[0].push_back(pb);
+            points[0].push_back(pc);
+
+            points[1].push_back(pb);
+            points[1].push_back(pc);
+            points[1].push_back(pd);
+
+            points[2].push_back(pc);
+            points[2].push_back(pd);
+            points[2].push_back(pa);
+
+            points[3].push_back(pd);
+            points[3].push_back(pa);
+            points[3].push_back(pb);
+        }
 
-    vparams->drawTool()->drawTriangles(points[0], d_drawColor1.getValue());
-    vparams->drawTool()->drawTriangles(points[1], d_drawColor2.getValue());
-    vparams->drawTool()->drawTriangles(points[2], d_drawColor3.getValue());
-    vparams->drawTool()->drawTriangles(points[3], d_drawColor4.getValue());
-
+        vparams->drawTool()->drawTriangles(points[0], d_drawColor1.getValue());
+        vparams->drawTool()->drawTriangles(points[1], d_drawColor2.getValue());
+        vparams->drawTool()->drawTriangles(points[2], d_drawColor3.getValue());
+        vparams->drawTool()->drawTriangles(points[3], d_drawColor4.getValue());
+    }
+    
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0,false);
-
-
-
 }
 
 
diff --git a/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn
index 61b588de5bf..af9098460a4 100644
--- a/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn
@@ -48,7 +48,7 @@
         <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
         
         <DiagonalMass massDensity="0.2" />
-        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="1000" poissonRatio="0.3" method="large" />
+        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="1000" poissonRatio="0.3" method="large" computeVonMisesStress="1"/>
         
         <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 30 6 0.1" drawBoxes="1" />
         <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
@@ -67,7 +67,7 @@
         <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
         
         <DiagonalMass massDensity="0.2" />
-        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="1000" poissonRatio="0.3" method="polar" />
+        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="1000" poissonRatio="0.3" method="polar" computeVonMisesStress="1"/>
         
         <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 30 6 0.1" drawBoxes="1" />
         <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

From 5fe2d616c5e5d9fb4785e4d163884722f086ef4f Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Wed, 30 Oct 2024 12:03:02 +0100
Subject: [PATCH 38/43] [Mapping] Deprecate module
 Sofa.Component.Mapping.MappedMatrix (#5070)

* [Mapping] Deprecate module Sofa.Component.Mapping.MappedMatrix

* Update init.cpp (remove mappedmatrix registration)

---------

Co-authored-by: erik pernod <erik.pernod@gmail.com>
Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
---
 Sofa/Component/Mapping/CMakeLists.txt         |  5 +++-
 .../Mapping/MappedMatrix/CMakeLists.txt       |  2 --
 .../MappingGeometricStiffnessForceField.h     | 25 ------------------
 .../mappedmatrix/MechanicalMatrixMapper.h     | 26 -------------------
 .../component/mapping/mappedmatrix/init.cpp   |  4 ++-
 .../src/sofa/component/mapping/init.cpp       |  4 ---
 6 files changed, 7 insertions(+), 59 deletions(-)
 delete mode 100644 Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MappingGeometricStiffnessForceField.h
 delete mode 100644 Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MechanicalMatrixMapper.h

diff --git a/Sofa/Component/Mapping/CMakeLists.txt b/Sofa/Component/Mapping/CMakeLists.txt
index 512e3fa4430..7dd8f803b91 100644
--- a/Sofa/Component/Mapping/CMakeLists.txt
+++ b/Sofa/Component/Mapping/CMakeLists.txt
@@ -4,9 +4,12 @@ project(Sofa.Component.Mapping LANGUAGES CXX)
 set(SOFACOMPONENTMAPPING_SOURCE_DIR "src/sofa/component/mapping")
 
 sofa_add_subdirectory_modules(SOFACOMPONENTMAPPING_TARGETS
-    DIRECTORIES Linear NonLinear MappedMatrix
+    DIRECTORIES Linear NonLinear
 )
 
+#deprecated module. It is no longer a dependency of Sofa.Component.Mapping, therefore it is specified here to continue to compile it.
+sofa_add_subdirectory(module MappedMatrix Sofa.Component.Mapping.MappedMatrix ON)
+
 set(HEADER_FILES
     ${SOFACOMPONENTMAPPING_SOURCE_DIR}/config.h.in
     ${SOFACOMPONENTMAPPING_SOURCE_DIR}/init.h
diff --git a/Sofa/Component/Mapping/MappedMatrix/CMakeLists.txt b/Sofa/Component/Mapping/MappedMatrix/CMakeLists.txt
index 913ef4de9ec..be7654d5305 100644
--- a/Sofa/Component/Mapping/MappedMatrix/CMakeLists.txt
+++ b/Sofa/Component/Mapping/MappedMatrix/CMakeLists.txt
@@ -6,8 +6,6 @@ set(SOFACOMPONENTMAPPINGMAPPEDMATRIX_SOURCE_DIR "src/sofa/component/mapping/mapp
 set(HEADER_FILES
     ${SOFACOMPONENTMAPPINGMAPPEDMATRIX_SOURCE_DIR}/config.h.in
     ${SOFACOMPONENTMAPPINGMAPPEDMATRIX_SOURCE_DIR}/init.h
-    ${SOFACOMPONENTMAPPINGMAPPEDMATRIX_SOURCE_DIR}/MappingGeometricStiffnessForceField.h
-    ${SOFACOMPONENTMAPPINGMAPPEDMATRIX_SOURCE_DIR}/MechanicalMatrixMapper.h
 )
 
 set(SOURCE_FILES
diff --git a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MappingGeometricStiffnessForceField.h b/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MappingGeometricStiffnessForceField.h
deleted file mode 100644
index ce0e9eb3a7c..00000000000
--- a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MappingGeometricStiffnessForceField.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/******************************************************************************
-*                 SOFA, Simulation Open-Framework Architecture                *
-*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
-*                                                                             *
-* This program 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.                                             *
-*                                                                             *
-* This program 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.                                                           *
-*                                                                             *
-* You should have received a copy of the GNU Lesser General Public License    *
-* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt)          *
-*                                                                             *
-* Contact information: contact@sofa-framework.org                             *
-******************************************************************************/
-#pragma once
-#include <sofa/component/mapping/mappedmatrix/config.h>
-
-SOFA_HEADER_DISABLED_NOT_REPLACED("v23.06", "v23.12")
diff --git a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MechanicalMatrixMapper.h b/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MechanicalMatrixMapper.h
deleted file mode 100644
index 5740624b117..00000000000
--- a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/MechanicalMatrixMapper.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/******************************************************************************
-*                 SOFA, Simulation Open-Framework Architecture                *
-*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
-*                                                                             *
-* This program 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.                                             *
-*                                                                             *
-* This program 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.                                                           *
-*                                                                             *
-* You should have received a copy of the GNU Lesser General Public License    *
-* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt)          *
-*                                                                             *
-* Contact information: contact@sofa-framework.org                             *
-******************************************************************************/
-#pragma once
-
-#include <sofa/component/mapping/mappedmatrix/config.h>
-
-SOFA_HEADER_DISABLED_NOT_REPLACED("v23.06", "v23.12")
diff --git a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp b/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp
index 8edb5a91e63..61419325a8b 100644
--- a/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp
+++ b/Sofa/Component/Mapping/MappedMatrix/src/sofa/component/mapping/mappedmatrix/init.cpp
@@ -20,6 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #include <sofa/component/mapping/mappedmatrix/init.h>
+#include <sofa/helper/logging/Messaging.h>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
 
@@ -58,9 +59,10 @@ void init()
     static bool first = true;
     if (first)
     {
+        msg_deprecated("Sofa.Component.Mapping.MappedMatrix") << "This plugin is deprecated and will be removed in the future.";
+
         // make sure that this plugin is registered into the PluginManager
         sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
-
         first = false;
     }
 }
diff --git a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
index 32fc2adb7aa..c3587764b84 100644
--- a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
+++ b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
@@ -20,9 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #include <sofa/component/mapping/init.h>
-
 #include <sofa/component/mapping/linear/init.h>
-#include <sofa/component/mapping/mappedmatrix/init.h>
 #include <sofa/component/mapping/nonlinear/init.h>
 
 #include <sofa/core/ObjectFactory.h>
@@ -56,7 +54,6 @@ const char* getModuleVersion()
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
     factory->registerObjectsFromPlugin("Sofa.Component.Mapping.Linear");
-    factory->registerObjectsFromPlugin("Sofa.Component.Mapping.MappedMatrix");
     factory->registerObjectsFromPlugin("Sofa.Component.Mapping.NonLinear");
 }
 
@@ -66,7 +63,6 @@ void init()
     if (first)
     {
         sofa::component::mapping::linear::init();
-        sofa::component::mapping::mappedmatrix::init();
         sofa::component::mapping::nonlinear::init();
 
         // make sure that this plugin is registered into the PluginManager

From ef6e90620ba584a6d7e21581a940644acbb42a69 Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Wed, 30 Oct 2024 20:09:34 +0900
Subject: [PATCH 39/43] [LinearAlgebra] Add CompressedRowSparseMatrixConstraint
 tests (#5037)

* add CRS_constraint tests

* fix return value of readLine if row does not exist

* remove prints

* add licencing + contrib

* move tests
---
 .../CompressedRowSparseMatrixConstraint.h     |    2 +-
 .../LinearAlgebra/test/CMakeLists.txt         |    1 +
 ...mpressedRowSparseMatrixConstraint_test.cpp | 2134 +++++++++++++++++
 .../test/CompressedRowSparseMatrix_test.cpp   |   74 -
 4 files changed, 2136 insertions(+), 75 deletions(-)
 create mode 100644 Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrixConstraint_test.cpp

diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
index e9083dcb108..0ff0e0455a9 100644
--- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
+++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
@@ -554,7 +554,7 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
         }
         else
         {
-            return RowConstIterator(this, this->rowIndex.size());
+            return this->end();
         }
     }
 
diff --git a/Sofa/framework/LinearAlgebra/test/CMakeLists.txt b/Sofa/framework/LinearAlgebra/test/CMakeLists.txt
index e434e2bf27e..b786e3df8a9 100644
--- a/Sofa/framework/LinearAlgebra/test/CMakeLists.txt
+++ b/Sofa/framework/LinearAlgebra/test/CMakeLists.txt
@@ -6,6 +6,7 @@ set(SOURCE_FILES
     BTDMatrix_test.cpp
     BaseMatrix_test.cpp
     CompressedRowSparseMatrix_test.cpp
+    CompressedRowSparseMatrixConstraint_test.cpp
     Matrix_test.cpp
     RotationMatrix_test.cpp
     SparseMatrixProduct_test.cpp
diff --git a/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrixConstraint_test.cpp b/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrixConstraint_test.cpp
new file mode 100644
index 00000000000..bb5a6fe5a5a
--- /dev/null
+++ b/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrixConstraint_test.cpp
@@ -0,0 +1,2134 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+/******************************************************************************
+* Contributors:
+*   - InSimo
+*******************************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <sofa/helper/RandomGenerator.h>
+#include <sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h>
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/defaulttype/RigidTypes.h>
+#include <sofa/testing/LinearCongruentialRandomGenerator.h>
+
+#ifndef SOFA_ASSERT
+#define SOFA_ASSERT(condition)
+#endif
+
+namespace sofa
+{
+
+/// Specific policy for benchmark on CRSMatrixConstraint
+class CRSConstraintTestPolicy : public sofa::linearalgebra::CRSConstraintPolicy
+{
+public:
+    static constexpr bool LogTrace = false;
+    static constexpr bool PrintTrace = false;
+};
+
+template <typename TMatrix>
+struct SparseMatrixTest : public ::testing::Test
+{
+};
+
+typedef ::testing::Types<
+            sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Vec1Types::Deriv, CRSConstraintTestPolicy>,
+            sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Vec2Types::Deriv, CRSConstraintTestPolicy>,
+            sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Vec3Types::Deriv, CRSConstraintTestPolicy>,
+            sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Rigid2Types::Deriv, CRSConstraintTestPolicy>,
+            sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Rigid3Types::Deriv, CRSConstraintTestPolicy>
+            > SparseMatrixTestTypes;
+
+TYPED_TEST_CASE(SparseMatrixTest, SparseMatrixTestTypes);
+
+namespace TestHelpers
+{
+
+//////////////////////////////////////////////////
+template <typename TMatrix>
+struct line_t
+{
+    struct Data
+    {
+        typename TMatrix::KeyType index;
+        typename TMatrix::Data value;
+    };
+
+    typename TMatrix::KeyType rowIndex;
+    Data data1, data2, data3;
+
+    static const unsigned int initialDataCount = 3u;
+};
+
+template <typename TMatrix>
+line_t<TMatrix> nullLine()
+{
+    line_t<TMatrix> line = { 0, { 0, typename TMatrix::Data() }, { 0, typename TMatrix::Data() }, { 0, typename TMatrix::Data() } };
+    return line;
+}
+
+
+//////////////////////////////////////////////////
+template <typename TData>
+void createData(TData& data, unsigned int index)
+{
+    for (unsigned int i = 0; i < TData::total_size; i++)
+    {
+        data[i] = index + i + 1;
+    }
+}
+
+//////////////////////////////////////////////////
+template <typename TMatrix>
+sofa::type::vector<typename TMatrix::KeyType> Populate(TMatrix& matrix, unsigned int nbLine, unsigned int nbCol)
+{
+    typedef TMatrix Matrix;
+    typedef typename TMatrix::KeyType KeyType;
+
+    sofa::type::vector<KeyType> lineIndices;
+
+    for (unsigned int i = 0; i < nbLine; i++)
+    {
+        sofa::helper::RandomGenerator randomGenerator(i + 1);
+        KeyType lindex =  randomGenerator.random(0u, 500u);
+        lineIndices.push_back(lindex);
+
+        typename Matrix::RowIterator itRow = matrix.writeLine(lindex);
+
+        for (unsigned int j = 0; j < nbCol; j++)
+        {
+            typename Matrix::Data data;
+            sofa::helper::RandomGenerator randomGenerator(i + j + 2);
+            KeyType cindex =  randomGenerator.random(0u, 500u);
+
+            for (unsigned int k = 0; k < Matrix::Data::total_size; k++)
+            {
+                data[k] = lindex + j + k + 1;
+            }
+            itRow.setCol(cindex, data);
+        }
+    }
+
+    matrix.compress();
+    return lineIndices;
+}
+
+//////////////////////////////////////////////////
+template <typename TMatrix>
+const line_t<TMatrix> PopulateCol(TMatrix& matrix, typename TMatrix::KeyType rowIndex = 42)
+{
+    typedef TMatrix Matrix;
+    typedef line_t<TMatrix> line_t;
+
+    line_t result = nullLine<TMatrix>();
+
+    result.rowIndex = rowIndex;
+
+    typename Matrix::RowIterator itRow = matrix.writeLine(result.rowIndex);
+
+    sofa::helper::RandomGenerator randomGenerator1(1);
+    result.data1.index = randomGenerator1.random(0u, 500u);
+
+    for (unsigned int j = 0; j < Matrix::Data::total_size; j++)
+    {
+        result.data1.value[j] = result.rowIndex + j + 1;
+    }
+    itRow.setCol(result.data1.index, result.data1.value);
+
+    sofa::helper::RandomGenerator randomGenerator2(2);
+    result.data2.index = randomGenerator2.random(static_cast<unsigned int>(result.data1.index), 500u);
+
+    for (unsigned int j = 0; j < Matrix::Data::total_size; j++)
+    {
+        result.data2.value[j] = result.rowIndex + j + 1;
+    }
+    itRow.setCol(result.data2.index, result.data2.value);
+
+    matrix.compress();
+
+    return result;
+}
+
+//////////////////////////////////////////////////
+template <typename TMatrix>
+const line_t<TMatrix> WriteLine(TMatrix& matrix, typename TMatrix::KeyType rowIndex,
+                              typename TMatrix::KeyType startColIndex = std::numeric_limits<typename TMatrix::KeyType>::max())
+{
+    typedef TMatrix Matrix;
+    typedef line_t<TMatrix> line_t;
+    if (startColIndex == std::numeric_limits<typename Matrix::KeyType>::max())
+    {
+        startColIndex = rowIndex + 1;
+    }
+
+    line_t result = nullLine<TMatrix>();
+
+    result.rowIndex = rowIndex;
+
+    typename Matrix::RowIterator itRow = matrix.writeLine(result.rowIndex);
+
+    {
+        result.data1.index = startColIndex;
+        for (unsigned int j = 0; j < Matrix::Data::total_size; j++)
+        {
+            result.data1.value[j] = startColIndex + j + 1;
+        }
+        itRow.setCol(result.data1.index, result.data1.value);
+    }
+
+    {
+        result.data2.index = startColIndex + Matrix::Data::total_size + 1;
+        for (unsigned int j = 0; j < Matrix::Data::total_size; j++)
+        {
+            result.data2.value[j] = result.data2.index + j + 1;
+        }
+        itRow.setCol(result.data2.index, result.data2.value);
+    }
+
+    {
+        result.data3.index = startColIndex + 2 * Matrix::Data::total_size + 2;
+        for (unsigned int j = 0; j < Matrix::Data::total_size; j++)
+        {
+            result.data3.value[j] = result.data3.index + j + 1;
+        }
+        itRow.setCol(result.data3.index, result.data3.value);
+    }
+
+    matrix.compress();
+    return result;
+}
+
+//////////////////////////////////////////////////
+template <typename TMatrix>
+typename TMatrix::KeyType GetNextUniqueIndex(const typename TMatrix::KeyType rowIndex)
+{
+    return rowIndex + 13;
+}
+
+} // namespace TestHelpers
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatASparseMatrixIsEmptyAfterInstanciation)
+{
+    typedef TypeParam Matrix;
+    EXPECT_TRUE(Matrix().empty());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfASparseMatrixIsZeroAfterInstanciation)
+{
+    typedef TypeParam Matrix;
+    EXPECT_EQ(static_cast<std::size_t>(0u), Matrix().size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfASparseMatrixIsOneAfterALineHasBeenWritten)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    TestHelpers::PopulateCol(matrix);
+    EXPECT_EQ(1u, matrix.size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfASparseMatrixIsTwoAfterTryingToWriteTwoLinesWithDistinctIndices)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    TestHelpers::Populate(matrix, 2u, 1u);
+    EXPECT_EQ(2u, matrix.size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfASparseMatrixIsOneAfterTryingToWriteTwoLinesWithTheSameIndex)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    {
+        unsigned int lineIndex1 = 123;
+        typename Matrix::Data data1;
+        TestHelpers::createData(data1, lineIndex1);
+        matrix.writeLine(lineIndex1).setCol(0, data1);
+
+        typename Matrix::Data data2;
+        TestHelpers::createData(data1, lineIndex1);
+        matrix.writeLine(lineIndex1).setCol(1, data2);
+        matrix.compress();
+    }
+
+    EXPECT_EQ(1u, matrix.size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatAMatrixIsConsideredEmptyAfterIsHasBeenCleared)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    TestHelpers::PopulateCol(matrix);
+    matrix.clear();
+    EXPECT_TRUE(matrix.empty());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeCorrectlyRetrievedByItsIndex)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    sofa::type::vector<typename Matrix::KeyType> lindices = TestHelpers::Populate(matrix, 3u, 1u);
+    EXPECT_TRUE(!lindices.empty());
+
+    for (const auto& index : lindices)
+    {
+        EXPECT_EQ(index, matrix.readLine(index).index());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheFirstLineOfAMatrixCanBeRetrieved)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    TestHelpers::PopulateCol(matrix);
+
+    EXPECT_EQ(42u, matrix.begin().index());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTrueIsReturnedWhenComparingTwoRowIteratorsPointingToTheSameLine)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::RowIterator itRowA = matrix.writeLine(42);
+    typename Matrix::RowIterator itRowB = itRowA;
+
+    EXPECT_TRUE(itRowA == itRowB);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTrueIsReturnedWhenComparingTwoRowConstIteratorsPointingToTheSameLine)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    sofa::type::vector<typename Matrix::KeyType> lindices = TestHelpers::Populate(matrix, 1u, 1u);
+
+    EXPECT_TRUE(!lindices.empty());
+
+    typename Matrix::RowConstIterator itRowA = matrix.readLine(lindices[0]);
+    typename Matrix::RowConstIterator itRowB = matrix.readLine(lindices[0]);
+
+    EXPECT_TRUE(itRowA == itRowB);
+}
+
+////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTrueIsReturnedWhenComparingTwoRowIteratorsPointingToDistinctLinesForInequality)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::RowIterator itRowA =  matrix.writeLine(123);
+    typename Matrix::RowIterator itRowB =  matrix.writeLine(456);
+
+    EXPECT_TRUE(itRowA != itRowB);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTrueIsReturnedWhenComparingTwoRowConstIteratorsPointingToDistinctLinesForInequality)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    sofa::type::vector<typename Matrix::KeyType> lindices = TestHelpers::Populate(matrix, 2u, 1u);
+
+    EXPECT_TRUE(!lindices.empty());
+    typename Matrix::RowConstIterator itRow0 = matrix.readLine(lindices[0]);
+    typename Matrix::RowConstIterator itRow1 = matrix.readLine(lindices[1]);
+
+    EXPECT_TRUE(itRow0 != itRow1);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheBeginningAndTheEndAreTheSameWhenAMatrixIsEmpty)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    EXPECT_EQ(matrix.end(), matrix.begin());
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTryingToClearAnEmptyMatrixLetItUnchanged)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    matrix.clear();
+
+    EXPECT_TRUE(matrix.empty());
+    EXPECT_EQ(matrix.end(), matrix.begin());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatPreIncrementingSizeTimesTheConstIteratorToTheBeginningOfAMatrixResultsInThePastTheEndIterator)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    sofa::type::vector<typename Matrix::KeyType> lindices = TestHelpers::Populate(matrix, 3u, 1u);
+    EXPECT_TRUE(!lindices.empty());
+
+    const Matrix& constMatrix = matrix;
+    typename Matrix::RowConstIterator itRow = constMatrix.begin();
+    ++itRow; ++itRow; ++itRow;
+    EXPECT_EQ(constMatrix.end(), itRow);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatARowIteratorCopiedFromAnotherOneIsConsideredEqualToIt)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    TestHelpers::PopulateCol(matrix);
+
+    const typename Matrix::RowIterator itRow = matrix.writeLine(42);
+    typename Matrix::RowIterator itRowCopy = matrix.writeLine(42);
+    itRowCopy = itRow;
+
+    EXPECT_EQ(itRowCopy, itRow);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatARowConstIteratorCopiedFromAnotherOneIsConsideredEqualToIt)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    matrix.writeLine(42);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(42);
+    typename Matrix::RowConstIterator itRowCopy = matrix.readLine(42);;
+    itRowCopy = itRow;
+
+    EXPECT_EQ(itRowCopy, itRow);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatPostIncrementingSizeTimesTheConstIteratorToTheBeginningOfAMatrixResultsInThePastTheEndIterator)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    sofa::type::vector<typename Matrix::KeyType> lindices = TestHelpers::Populate(matrix, 3u, 1u);
+    EXPECT_TRUE(!lindices.empty());
+
+    const Matrix& constMatrix = matrix;
+    typename Matrix::RowConstIterator itRow = constMatrix.begin();
+    itRow++; itRow++; itRow++;
+    EXPECT_EQ(constMatrix.end(), itRow);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatAnIteratorToALineIsReturnedWhenTryingToWriteItButItExistsAlready)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::RowIterator itRowA = matrix.writeLine(42);
+    typename Matrix::RowIterator itRowB = matrix.writeLine(42);
+
+    EXPECT_EQ(itRowB, itRowA);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatThePastTheEndIteratorIsReturnedWhenTryingToReadALineThatDoesNotExist)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    {
+        matrix.writeLine(42);
+        matrix.writeLine(43);
+    }
+
+    const Matrix& constMatrix = matrix;
+
+    EXPECT_EQ(constMatrix.end(), matrix.readLine(44));
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfALineCanBeRetrieved)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+    EXPECT_EQ(2u, itRow.row().size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeReadAndItsDataRetrievedByUsingARowInternalConstIterator)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(line1.data1.index, itCol.index());
+        EXPECT_EQ(line1.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(line1.data2.index, itCol.index());
+        EXPECT_EQ(line1.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeIdenticallyRepopulatedAfterItHasBeenClearedInAOneLineMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    // Clear
+    {
+        matrix.clearColBlock(line.rowIndex);
+    }
+
+    // Repopulation
+    const TestHelpers::line_t<Matrix> newLine = TestHelpers::WriteLine(matrix, line.rowIndex);
+    EXPECT_EQ(newLine.rowIndex, line.rowIndex);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(line.data1.index, itCol.index());
+        EXPECT_EQ(line.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(line.data2.index, itCol.index());
+        EXPECT_EQ(line.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeRepopulatedWithDifferentColumnsIndicesAndDataAfterItHasBeenClearedInAOneLineMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+    // Clear
+    {
+        matrix.clearRowBlock(line1.rowIndex);
+    }
+
+    // Repopulation
+    const TestHelpers::line_t<Matrix> newLine = TestHelpers::WriteLine(matrix, line1.rowIndex, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    EXPECT_EQ(newLine.rowIndex, line1.rowIndex);
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(newLine.data1.index, itCol.index());
+        EXPECT_EQ(newLine.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(newLine.data2.index, itCol.index());
+        EXPECT_EQ(newLine.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatATotallyDifferentLineCanBeAddedAfterALineHasBeenClearedInAOneLineMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+
+    // Clear
+    {
+        matrix.clearColBlock(line1.rowIndex);
+    }
+
+    // Repopulation
+    const TestHelpers::line_t<Matrix> newLine = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    EXPECT_NE(newLine.rowIndex, line1.rowIndex);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(newLine.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(newLine.data1.index, itCol.index());
+        EXPECT_EQ(newLine.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(newLine.data2.index, itCol.index());
+        EXPECT_EQ(newLine.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeIdenticallyRepopulatedAfterItHasBeenClearedInAMultiLinesMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+    const TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line2.rowIndex));
+
+    // Clear
+    {
+        matrix.clearColBlock(line2.rowIndex);
+    }
+
+    // Repopulation
+    const TestHelpers::line_t<Matrix> newLine = TestHelpers::WriteLine(matrix, line2.rowIndex);
+    EXPECT_EQ(newLine.rowIndex, line2.rowIndex);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line2.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(newLine.data1.index, itCol.index());
+        EXPECT_EQ(newLine.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(newLine.data2.index, itCol.index());
+        EXPECT_EQ(newLine.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeRepopulatedWithDifferentColumnsIndicesAndDataAfterItHasBeenClearedInAMultiLinesMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+    const TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    const TestHelpers::line_t<Matrix> line3 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line2.rowIndex));
+
+    // Clear
+    {
+        matrix.clearRowBlock(line2.rowIndex);
+    }
+
+    // Repopulation
+    const TestHelpers::line_t<Matrix> newLine = TestHelpers::WriteLine(matrix, line2.rowIndex, TestHelpers::GetNextUniqueIndex<Matrix>(line3.rowIndex));
+    EXPECT_EQ(newLine.rowIndex, line2.rowIndex);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line2.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(newLine.data1.index, itCol.index());
+        EXPECT_EQ(newLine.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(newLine.data2.index, itCol.index());
+        EXPECT_EQ(newLine.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatATotallyDifferentLineCanBeAddedAfterALineHasBeenClearedInAMultiLineMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+    const TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    const TestHelpers::line_t<Matrix> line3 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line2.rowIndex));
+
+    // Clear
+    {
+        matrix.clearRowBlock(line1.rowIndex);
+    }
+
+    // Repopulation
+    const TestHelpers::line_t<Matrix> newLine = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line3.rowIndex));
+    EXPECT_NE(newLine.rowIndex, line1.rowIndex);
+    EXPECT_NE(newLine.rowIndex, line2.rowIndex);
+    EXPECT_NE(newLine.rowIndex, line3.rowIndex);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(newLine.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(newLine.data1.index, itCol.index());
+        EXPECT_EQ(newLine.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(newLine.data2.index, itCol.index());
+        EXPECT_EQ(newLine.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatOlderLinesStayUnaffectedWhenAMoreRecentOneIsCleared)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+    const TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line2.rowIndex));
+
+    // Clear
+    {
+        matrix.clearColBlock(line2.rowIndex);
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line1.data1.index, itCol.index());
+            EXPECT_EQ(line1.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data2.index, itCol.index());
+            EXPECT_EQ(line1.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data3.index, itCol.index());
+            EXPECT_EQ(line1.data3.value, itCol.val());
+        }
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatMoreRecentLinesStayUnaffectedWhenAnOlderOneIsCleared)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, 42);
+    const TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line1.rowIndex));
+    const TestHelpers::line_t<Matrix> line3 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(line2.rowIndex));
+
+    // Clear
+    {
+        matrix.clearColBlock(line2.rowIndex);
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line3.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line3.data1.index, itCol.index());
+            EXPECT_EQ(line3.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line3.data2.index, itCol.index());
+            EXPECT_EQ(line3.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line3.data3.index, itCol.index());
+            EXPECT_EQ(line3.data3.value, itCol.val());
+        }
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfALineIsDecrementedByOneWhenAnElementIsErased)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    const typename Matrix::RowType& row1 = itRow.row();
+    const typename Matrix::RowType& row = itRow.row();
+
+    EXPECT_EQ(row1, row);
+
+    const typename Matrix::KeyType expectedSize = row.size() - 1;
+    matrix.clearColBlock(line.data2.index);
+    EXPECT_EQ(expectedSize, itRow.row().size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatThePastTheEndIteratorIsReturnedWhenTryingToAccessAnErasedElementInALine)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    {
+        matrix.clearColBlock(line.data3.index);
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+
+    for (unsigned int i = 0; i < line.initialDataCount - 1; i++)  {
+        ++itData;
+    }
+
+    EXPECT_EQ(itRow.end(), itData);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatOlderElementsStayUnaffectedWhenAMoreRecentOneIsErasedFromALine)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    {
+        matrix.clearColBlock(line.data2.index);
+    }
+
+    SOFA_ASSERT(line.initialDataCount == 3u);
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    EXPECT_EQ(line.data1.index, itData.index());
+    EXPECT_EQ(line.data1.value, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatMoreRecentElementsStayUnaffectedWhenAnOlderOneIsErasedFromALine)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    {
+        matrix.clearColBlock(line.data2.index);
+    }
+
+    SOFA_ASSERT(line.initialDataCount == 3);
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    ++itData;
+    EXPECT_EQ(line.data3.index, itData.index());
+    EXPECT_EQ(line.data3.value, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTryingToEraseAColumnThatDoesNotExistInALineLeavesTheSizeOfTheRowUnchanged)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    const typename Matrix::KeyType expectedSize = itRow.row().size();
+    matrix.clearColBlock(line.data3.index + 1);
+    EXPECT_EQ(expectedSize, itRow.row().size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTryingToEraseAColumnThatDoesNotExistInALineLeavesItUnchanged)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    {
+        matrix.clearColBlock(line.data3.index + 1);
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itCol.index());
+            EXPECT_EQ(line.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data2.index, itCol.index());
+            EXPECT_EQ(line.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data3.index, itCol.index());
+            EXPECT_EQ(line.data3.value, itCol.val());
+        }
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatNewElementsCanBeInsertedIntoARowAfterAllOthersHaveBeenErased)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const typename Matrix::KeyType rowIndex = 42;
+
+    {
+        const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, rowIndex);
+
+        {
+            SOFA_ASSERT(line.initialDataCount == 3);
+            matrix.clearColBlock(line.data1.index);
+            matrix.clearColBlock(line.data2.index);
+            matrix.clearColBlock(line.data3.index);
+        }
+    }
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, rowIndex, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itCol.index());
+            EXPECT_EQ(line.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data2.index, itCol.index());
+            EXPECT_EQ(line.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data3.index, itCol.index());
+            EXPECT_EQ(line.data3.value, itCol.val());
+        }
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheColumnIndexOfAColConstIteratorCanBeRetrieved)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const typename Matrix::KeyType rowIndex = 42;
+
+    // Populate matrix
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(rowIndex);
+        typename Matrix::Data data1;
+        TestHelpers::createData(data1, rowIndex);
+        itRow.setCol(123, data1);
+        matrix.compress();
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    EXPECT_EQ(123u, itData.index());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheValueOfADataCanBeRetrieved)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const typename Matrix::KeyType rowIndex = 42;
+
+    typename Matrix::RowIterator writeRow = matrix.writeLine(rowIndex);
+    typename Matrix::Data data1;
+    TestHelpers::createData(data1, rowIndex);
+    writeRow.setCol(123, data1);
+    matrix.compress();
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    EXPECT_EQ(data1, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatAValueCanBeAddedToADataInARow)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const typename Matrix::KeyType rowIndex = 42;
+    const typename Matrix::KeyType colIndex = 123;
+
+    typename Matrix::RowIterator writeRow = matrix.writeLine(rowIndex);
+    typename Matrix::Data data1;
+    TestHelpers::createData(data1, rowIndex);
+    writeRow.setCol(colIndex, data1);
+    matrix.compress();
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    EXPECT_EQ(data1, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatSettingAnExistingElementUpdatesItsValue)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowIterator writeRow = matrix.writeLine(line1.rowIndex);
+    typename Matrix::Data data2;
+    TestHelpers::createData(data2, line1.rowIndex);
+    writeRow.setCol(line1.data2.index, data2);
+    matrix.compress();
+
+    const Matrix& constMatrix = matrix;
+    typename Matrix::RowConstIterator itRow = constMatrix.begin();
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    ++itData;
+    EXPECT_EQ(data2, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatSettingAnExistingElementLetTheOthersUnaffected)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::Data data2;
+    typename Matrix::Data data3;
+    TestHelpers::createData(data2, line1.rowIndex);
+    TestHelpers::createData(data3, line1.rowIndex + 1);
+
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(line1.rowIndex);
+        itRow.setCol(line1.data2.index, data2);
+        itRow.setCol(line1.data2.index + 1, data3);
+        matrix.compress();
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    ++itData;
+    EXPECT_EQ(data2, itData.val());
+    ++itData;
+    EXPECT_EQ(data3, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheValueOfAnElementCanBeSummedToTheOneOfAnExistingElementWithTheSameColIndex)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::Data data2;
+    TestHelpers::createData(data2, line.rowIndex);
+
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(line.rowIndex);
+        itRow.addCol(line.data2.index, data2);
+        matrix.compress();
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    ++itData;
+    EXPECT_EQ(line.data2.value + data2, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatANewElementIsInsertedIntoARowWhenTryingToSumItsValueToANonExistingOne)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::Data data2;
+    TestHelpers::createData(data2, line1.rowIndex);
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(line1.rowIndex);
+        itRow.addCol(line1.data2.index + 1, data2);
+        matrix.compress();
+    }
+
+    const Matrix& constMatrix = matrix;
+    typename Matrix::RowConstIterator itRow = constMatrix.begin();
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    ++itData; ++itData;
+    EXPECT_EQ(data2, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatANewElementIsInsertedIntoARowWhenTryingToSumItsValueToAnotherButTheRowIsEmpty)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    TestHelpers::PopulateCol(matrix, 23);
+
+    typename Matrix::Data data2;
+    TestHelpers::createData(data2, 42);
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(42);
+        itRow.addCol(123, data2);
+        matrix.compress();
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(42);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    EXPECT_EQ(data2, itData.val());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatALineCanBeIdenticallyRepopulatedUsingTheSumFunctionAfterItHasBeenClearedInAOneLineMatrix)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, 42);
+
+    // Clear
+    {
+        matrix.clearRowBlock(line.rowIndex);
+    }
+
+    // Repopulation
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(line.rowIndex);
+        itRow.addCol(line.data1.index, line.data1.value);
+        itRow.addCol(line.data2.index, line.data2.value);
+        matrix.compress();
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+    auto itCol = itRow.begin();
+
+    {
+        EXPECT_EQ(line.data1.index, itCol.index());
+        EXPECT_EQ(line.data1.value, itCol.val());
+    }
+
+    {
+        itCol++;
+        EXPECT_EQ(line.data2.index, itCol.index());
+        EXPECT_EQ(line.data2.value, itCol.val());
+    }
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTrueIsReturnedWhenComparingTwoColConstIteratorsPointingToTheSameElement)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+
+    typename Matrix::ColConstIterator itDataA = itRow.begin();
+    typename Matrix::ColConstIterator itDataB = itDataA;
+
+    EXPECT_TRUE(itDataA == itDataB);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTrueIsReturnedWhenComparingTwoColConstIteratorsPointingToDistinctElements)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+
+    typename Matrix::ColConstIterator itDataA = itRow.begin();
+    typename Matrix::ColConstIterator itDataB = itDataA;
+    ++itDataB;
+
+    EXPECT_TRUE(itDataA != itDataB);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatPreIncrementingSizeTimesTheColConstIteratorToTheBeginningOfARowResultsInThePastTheEndIterator)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    ++itData; ++itData;
+    EXPECT_EQ(itRow.end(), itData);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatPostIncrementingSizeTimesTheColConstIteratorToTheBeginningOfARowResultsInThePastTheEndIterator)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+    const TestHelpers::line_t<Matrix> line1 = TestHelpers::PopulateCol(matrix);
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+    typename Matrix::ColConstIterator itData = itRow.begin();
+    itData++; itData++;
+    EXPECT_EQ(itRow.end(), itData);
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatANewLineCanBeInsertedAndItsElementsAccessedAfterTheMatrixHasBeenCleared)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    {
+        TestHelpers::WriteLine(matrix, 42);
+        matrix.clear();
+    }
+
+    const TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(42));
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itCol.index());
+            EXPECT_EQ(line.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data2.index, itCol.index());
+            EXPECT_EQ(line.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data3.index, itCol.index());
+            EXPECT_EQ(line.data3.value, itCol.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatDataCanBeRetrievedWhenAllLinesAreCreatedFirstAndThenDataInserted)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::Data data1;
+    typename Matrix::Data data2;
+    typename Matrix::Data data3;
+    typename Matrix::Data data4;
+    TestHelpers::createData(data1, 23);
+    TestHelpers::createData(data2, 42);
+    TestHelpers::createData(data3, 23 + 1);
+    TestHelpers::createData(data4, 42 + 1);
+
+    typename Matrix::RowIterator itRow23 = matrix.writeLine(23);
+    typename Matrix::RowIterator itRow42 = matrix.writeLine(42);
+
+    {
+        itRow23.setCol(123, data1);
+        itRow23.setCol(456, data2);
+    }
+
+    {
+        itRow42.setCol(789, data3);
+        itRow42.setCol(852, data4);
+    }
+    matrix.compress();
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(23);
+        typename Matrix::ColConstIterator itCol = itRow.begin();
+        EXPECT_EQ(123u, itCol.index());
+        EXPECT_EQ(data1, itCol.val());
+
+        ++itCol;
+        EXPECT_EQ(456u, itCol.index());
+        EXPECT_EQ(data2, itCol.val());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(42);
+        typename Matrix::ColConstIterator itCol = itRow.begin();
+        EXPECT_EQ(789u, itCol.index());
+        EXPECT_EQ(data3, itCol.val());
+
+        ++itCol;
+        EXPECT_EQ(852u, itCol.index());
+        EXPECT_EQ(data4, itCol.val());
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatDataCanBeRetrievedWhenDataAreInsertedImmediatelyAfterLineCreation)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::Data data1;
+    typename Matrix::Data data2;
+    typename Matrix::Data data3;
+    typename Matrix::Data data4;
+    TestHelpers::createData(data1, 23);
+    TestHelpers::createData(data2, 42);
+    TestHelpers::createData(data3, 23 + 1);
+    TestHelpers::createData(data4, 42 + 1);
+
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(23);
+
+        itRow.setCol(123, data1);
+        itRow.setCol(456, data2);
+    }
+
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(42);
+
+        itRow.setCol(789, data3);
+        itRow.setCol(852, data4);
+    }
+    matrix.compress();
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(23);
+        typename Matrix::ColConstIterator itCol = itRow.begin();
+
+        EXPECT_EQ(123u, itCol.index());
+        EXPECT_EQ(data1, itCol.val());
+
+        ++itCol;
+        EXPECT_EQ(456u, itCol.index());
+        EXPECT_EQ(data2, itCol.val());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(42);
+        typename Matrix::ColConstIterator itCol = itRow.begin();
+        EXPECT_EQ(789u, itCol.index());
+        EXPECT_EQ(data3, itCol.val());
+
+        ++itCol;
+        EXPECT_EQ(852u, itCol.index());
+        EXPECT_EQ(data4, itCol.val());
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatElementsOfALineAreUnaffectedWhenTryingToWriteItWhenItAlreadyExists)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::Data data1;
+    typename Matrix::Data data2;
+    typename Matrix::Data data3;
+    typename Matrix::Data data4;
+    TestHelpers::createData(data1, 23);
+    TestHelpers::createData(data2, 42);
+    TestHelpers::createData(data3, 23 + 1);
+    TestHelpers::createData(data4, 42 + 1);
+
+    {
+        typename Matrix::RowIterator itRow23 = matrix.writeLine(23);
+        typename Matrix::RowIterator itRow42 = matrix.writeLine(42);
+
+        {
+            itRow23.setCol(123, data1);
+            itRow23.setCol(456, data2);
+        }
+
+        {
+            itRow42.setCol(789, data3);
+            itRow42.setCol(852, data4);
+
+            matrix.writeLine(42);
+            matrix.compress();
+        }
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(42);
+        typename Matrix::ColConstIterator itCol = itRow.begin();
+
+        EXPECT_EQ(789u, itCol.index());
+        EXPECT_EQ(data3, itCol.val());
+
+        ++itCol;
+        EXPECT_EQ(852u, itCol.index());
+        EXPECT_EQ(data4, itCol.val());
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatElementsCanBeInsertedWhenALineIsCreated)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> line = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 23;
+
+    {
+        Matrix sourceMatrix;
+        line = TestHelpers::WriteLine(sourceMatrix, 42);
+        matrix.setLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itCol.index());
+            EXPECT_EQ(line.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data2.index, itCol.index());
+            EXPECT_EQ(line.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line.data3.index, itCol.index());
+            EXPECT_EQ(line.data3.value, itCol.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfALineIsUpdatedWhenItIsReplacedByAnother)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> line = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 42;
+
+    {
+        TestHelpers::WriteLine(matrix, rowIndex);
+    }
+
+    {
+        Matrix sourceMatrix;
+        line = TestHelpers::WriteLine(sourceMatrix, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+        matrix.setLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        EXPECT_EQ(static_cast<std::size_t>(line.initialDataCount), itRow.row().size());
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheExpectedNumberOfElementsCanBeTraversedViaIteratorsWhenALineHasBeenReplacedByAnother)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> line = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 42;
+
+    {
+        TestHelpers::WriteLine(matrix, rowIndex);
+    }
+
+    {
+        Matrix sourceMatrix;
+        line = TestHelpers::WriteLine(sourceMatrix, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+        matrix.setLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        typename Matrix::ColConstIterator itData = itRow.begin();
+        for (unsigned int i = 0; i < line.initialDataCount; i++)
+        {
+            SOFA_ASSERT(itData != itRow.end());
+            ++itData;
+        }
+        EXPECT_EQ(itRow.end(), itData);
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheExpectedElementsCanBeTraversedViaIteratorsWhenALineHasBeenReplacedByAnother)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> line = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 42;
+
+    {
+        TestHelpers::WriteLine(matrix, rowIndex);
+    }
+
+    {
+        Matrix sourceMatrix;
+        line = TestHelpers::WriteLine(sourceMatrix, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+        matrix.setLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        typename Matrix::ColConstIterator itData = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itData.index());
+            EXPECT_EQ(line.data1.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(line.data2.index, itData.index());
+            EXPECT_EQ(line.data2.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(line.data3.index, itData.index());
+            EXPECT_EQ(line.data3.value, itData.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatExistingLinesStayUnaffectedWhenALineIsReplacedByAnother)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> line = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 42;
+
+    {
+        TestHelpers::WriteLine(matrix, rowIndex);
+        line = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+    }
+
+    {
+        Matrix sourceMatrix;
+        TestHelpers::WriteLine(sourceMatrix, TestHelpers::GetNextUniqueIndex<Matrix>(line.rowIndex));
+        matrix.setLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line.rowIndex);
+        typename Matrix::ColConstIterator itData = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itData.index());
+            EXPECT_EQ(line.data1.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(line.data2.index, itData.index());
+            EXPECT_EQ(line.data2.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(line.data3.index, itData.index());
+            EXPECT_EQ(line.data3.value, itData.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheContentOfALineCanBeSummedWithTheContentOfAnother)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> sourceLine = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 23;
+    TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, rowIndex);
+
+    {
+        Matrix sourceMatrix;
+        sourceLine = TestHelpers::WriteLine(sourceMatrix, 42, rowIndex + 1);
+        matrix.addLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        typename Matrix::ColConstIterator itData = itRow.begin();
+
+        {
+            EXPECT_EQ(line.data1.index, itData.index());
+            EXPECT_EQ(line.data1.value + sourceLine.data1.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(line.data2.index, itData.index());
+            EXPECT_EQ(line.data2.value + sourceLine.data2.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(line.data3.index, itData.index());
+            EXPECT_EQ(line.data3.value + sourceLine.data3.value, itData.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfALineIsUpdatedWhenNewElementsAreCreatedWhenTryingToSumALineToAnotherWithNoCommonColIndices)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> sourceLine = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 23;
+
+    TestHelpers::line_t<Matrix> line = TestHelpers::WriteLine(matrix, rowIndex);
+
+    {
+        Matrix sourceMatrix;
+        sourceLine = TestHelpers::WriteLine(sourceMatrix, 42, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+
+        matrix.addLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+    EXPECT_EQ(line.initialDataCount * 2, itRow.row().size());
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatNewElementsAreCreatedWhenTryingToSumALineToAnotherWithNoCommonColIndices)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> sourceLine = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 23;
+
+    {
+        Matrix sourceMatrix;
+        sourceLine = TestHelpers::WriteLine(sourceMatrix, 42, TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex));
+        matrix.addLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        typename Matrix::ColConstIterator itData = itRow.begin();
+
+        {
+            EXPECT_EQ(sourceLine.data1.index, itData.index());
+            EXPECT_EQ(sourceLine.data1.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(sourceLine.data2.index, itData.index());
+            EXPECT_EQ(sourceLine.data2.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(sourceLine.data3.index, itData.index());
+            EXPECT_EQ(sourceLine.data3.value, itData.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheSizeOfALineIsUpdatedWhenNewElementsAreCreatedWhenTryingToSumALineToAnotherWithCommonAndDistinctIndices)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> sourceLine = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 23;
+
+    {
+        Matrix sourceMatrix;
+        sourceLine = TestHelpers::WriteLine(sourceMatrix, 42);
+
+        typename Matrix::RowIterator itRow = matrix.writeLine(rowIndex);
+        itRow.setCol(TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex), sourceLine.data2.value);
+        matrix.addLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+    EXPECT_EQ(sourceLine.initialDataCount + 1, itRow.row().size());
+}
+
+//////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatTheContentOfALineRemainsSortedByColIndex)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    typename Matrix::RowIterator itRow = matrix.writeLine(42);
+
+    {
+        typename Matrix::Data data1;
+        TestHelpers::createData(data1, 23);
+        itRow.setCol(123, data1);
+    }
+
+    {
+        typename Matrix::Data data2;
+        TestHelpers::createData(data2, 23 + 1);
+        itRow.setCol(789, data2);
+    }
+
+    {
+        typename Matrix::Data data3;
+        TestHelpers::createData(data3, 23 + 2);
+        itRow.setCol(456, data3);
+    }
+
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatElementsHaveTheExpectedValuesWhenTryingToSumALineToAnotherWithNoCommonColIndices)
+{
+    typedef TypeParam Matrix;
+    TestHelpers::line_t<Matrix> sourceLine = TestHelpers::nullLine<Matrix>();
+
+    Matrix matrix;
+    const typename Matrix::KeyType rowIndex = 23;
+    typename Matrix::Data data1;
+    TestHelpers::createData(data1, 0);
+
+    {
+        Matrix sourceMatrix;
+        sourceLine = TestHelpers::WriteLine(sourceMatrix, 42);
+
+        typename Matrix::RowIterator itRow = matrix.writeLine(rowIndex);
+        itRow.setCol(1u, data1);
+        matrix.compress();
+
+        matrix.addLine(rowIndex, sourceMatrix.begin().row());
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(rowIndex);
+        typename Matrix::ColConstIterator itData = itRow.begin();
+
+        {
+            EXPECT_EQ(1u, itData.index());
+            EXPECT_EQ(data1, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(sourceLine.data1.index, itData.index());
+            EXPECT_EQ(sourceLine.data1.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(sourceLine.data2.index, itData.index());
+            EXPECT_EQ(sourceLine.data2.value, itData.val());
+        }
+
+        ++itData;
+        {
+            EXPECT_EQ(sourceLine.data3.index, itData.index());
+            EXPECT_EQ(sourceLine.data3.value, itData.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatDataCanBeRetrievedWhenCreatingAndFillingLinesInDescendingIndexOrder)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, TestHelpers::GetNextUniqueIndex<Matrix>(42));
+    TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, 42);
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line1.data1.index, itCol.index());
+            EXPECT_EQ(line1.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data2.index, itCol.index());
+            EXPECT_EQ(line1.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data3.index, itCol.index());
+            EXPECT_EQ(line1.data3.value, itCol.val());
+        }
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line2.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line2.data1.index, itCol.index());
+            EXPECT_EQ(line2.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line2.data2.index, itCol.index());
+            EXPECT_EQ(line2.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line2.data3.index, itCol.index());
+            EXPECT_EQ(line2.data3.value, itCol.val());
+        }
+    }
+}
+
+////////////////////////////////////////////////////
+TYPED_TEST(SparseMatrixTest, CheckThatDataCanBeRetrievedWhenCreatingLinesInDescendingIndexOrderAndInsertingADataInTheFirstOneAfterwards)
+{
+    typedef TypeParam Matrix;
+    Matrix matrix;
+
+    const typename Matrix::KeyType rowIndex2 = 42;
+    const typename Matrix::KeyType rowIndex1 = TestHelpers::GetNextUniqueIndex<Matrix>(rowIndex2);
+
+    TestHelpers::line_t<Matrix> line1 = TestHelpers::WriteLine(matrix, rowIndex1);
+    TestHelpers::line_t<Matrix> line2 = TestHelpers::WriteLine(matrix, rowIndex2);
+
+    {
+        typename Matrix::RowIterator itRow = matrix.writeLine(rowIndex1);
+        itRow.setCol(1u, line2.data3.value * 2);
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line1.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(1u, itCol.index());
+            EXPECT_EQ(line2.data3.value * 2, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data1.index, itCol.index());
+            EXPECT_EQ(line1.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data2.index, itCol.index());
+            EXPECT_EQ(line1.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line1.data3.index, itCol.index());
+            EXPECT_EQ(line1.data3.value, itCol.val());
+        }
+    }
+
+    {
+        typename Matrix::RowConstIterator itRow = matrix.readLine(line2.rowIndex);
+        auto itCol = itRow.begin();
+
+        {
+            EXPECT_EQ(line2.data1.index, itCol.index());
+            EXPECT_EQ(line2.data1.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line2.data2.index, itCol.index());
+            EXPECT_EQ(line2.data2.value, itCol.val());
+        }
+
+        {
+            itCol++;
+            EXPECT_EQ(line2.data3.index, itCol.index());
+            EXPECT_EQ(line2.data3.value, itCol.val());
+        }
+    }
+}
+
+
+template <typename TMatrix>
+struct CompressedRowSparseMatrixConstraintTest : public TMatrix, ::testing::Test
+{
+};
+
+typedef ::testing::Types<
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Vec1Types::Deriv, CRSConstraintTestPolicy>,
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Vec2Types::Deriv, CRSConstraintTestPolicy>,
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Vec3Types::Deriv, CRSConstraintTestPolicy>,
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Rigid2Types::Deriv, CRSConstraintTestPolicy>,
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::defaulttype::Rigid3Types::Deriv, CRSConstraintTestPolicy>
+> CompressedRowSparseMatrixConstraintTestTypes;
+
+TYPED_TEST_CASE(CompressedRowSparseMatrixConstraintTest, CompressedRowSparseMatrixConstraintTestTypes);
+
+
+TYPED_TEST(CompressedRowSparseMatrixConstraintTest, checkRowDeletionUntilMatrixIsEmpty)
+{
+    typedef TypeParam ConstraintMatrix;
+    ConstraintMatrix& matrix = *this;
+
+    typedef typename ConstraintMatrix::Block Block;
+
+    // initialize matrix with some arbitrary easy to track values
+    Block bEmpty;
+    Block bOne;
+    Block bTwo;
+    Block bThree;
+    for (std::size_t i=0; i<Block::size(); ++i)
+    {
+        bOne[i] = 1;
+        bTwo[i] = 2;
+        bThree[i] = 3;
+    }
+
+    matrix.resizeBlock(3, 4);
+
+    matrix.setBlock(0, 0, bOne);
+    matrix.setBlock(0, 2, bOne);
+    matrix.setBlock(0, 3, bOne);
+
+    matrix.setBlock(1, 1, bTwo);
+
+    matrix.setBlock(2, 1, bThree);
+    matrix.setBlock(2, 3, bThree);
+
+    matrix.compress();
+
+    this->deleteRow(1); // need to use "this" since deleteRow is protected
+
+    EXPECT_EQ(matrix.rowBSize(), 3);
+    EXPECT_EQ(matrix.colBSize(), 4);
+
+    ASSERT_EQ(matrix.getBlock(0, 0), bOne);
+    ASSERT_EQ(matrix.getBlock(0, 2), bOne);
+    ASSERT_EQ(matrix.getBlock(0, 3), bOne);
+
+    ASSERT_EQ(matrix.getBlock(1, 1), bEmpty);
+
+    ASSERT_EQ(matrix.getBlock(2, 1), bThree);
+    ASSERT_EQ(matrix.getBlock(2, 3), bThree);
+
+    this->deleteRow(0); // need to use "this" since deleteRow is protected
+
+    EXPECT_EQ(matrix.rowBSize(), 3);
+    EXPECT_EQ(matrix.colBSize(), 4);
+
+    ASSERT_EQ(matrix.getBlock(0, 0), bEmpty);
+    ASSERT_EQ(matrix.getBlock(0, 2), bEmpty);
+    ASSERT_EQ(matrix.getBlock(0, 3), bEmpty);
+
+    ASSERT_EQ(matrix.getBlock(1, 1), bEmpty);
+
+    ASSERT_EQ(matrix.getBlock(2, 1), bThree);
+    ASSERT_EQ(matrix.getBlock(2, 3), bThree);
+
+    this->deleteRow(0); // need to use "this" since deleteRow is protected
+
+    // from now on there should be nothing left in the matrix
+    EXPECT_EQ(matrix.rowBSize(), 0);
+    EXPECT_EQ(matrix.colBSize(), 0);
+
+    ASSERT_EQ(matrix.getBlock(0, 0), bEmpty);
+    ASSERT_EQ(matrix.getBlock(0, 2), bEmpty);
+    ASSERT_EQ(matrix.getBlock(0, 3), bEmpty);
+
+    ASSERT_EQ(matrix.getBlock(1, 1), bEmpty);
+
+    ASSERT_EQ(matrix.getBlock(2, 1), bEmpty);
+    ASSERT_EQ(matrix.getBlock(2, 3), bEmpty);
+
+    ASSERT_TRUE(matrix.colsValue.empty());
+    ASSERT_TRUE(matrix.colsIndex.empty());
+    ASSERT_TRUE(matrix.rowIndex.empty());
+    ASSERT_TRUE(matrix.rowBegin.empty());
+
+}
+
+TEST(CompressedRowSparseMatrixTest, checkTransposition)
+{
+    using Block      = sofa::type::Mat3x3d;
+    using BSRMatrix = sofa::linearalgebra::CompressedRowSparseMatrixGeneric< Block >;
+
+
+    Block b;
+    for (std::size_t i=0; i<3; ++i)
+    {
+        b(i, 0) = i+1;
+        b(i, 1) = i+1;
+        b(i, 2) = i+1;
+    }
+    
+
+    BSRMatrix matrix;
+
+    matrix.resizeBlock(4, 5);
+
+    matrix.addBlock(1, 1, b);
+    matrix.addBlock(1, 2, b);
+    matrix.addBlock(2, 2, b);
+    
+    matrix.compress();
+    matrix.fullRows();
+    BSRMatrix matrixTranspose;
+    matrix.transposeFullRows(matrixTranspose);
+
+    ASSERT_EQ(matrixTranspose.nBlockRow, 5);
+    ASSERT_EQ(matrixTranspose.nBlockCol, 4);
+    
+    ASSERT_EQ(matrixTranspose.getBlock(1, 1), b);
+    ASSERT_EQ(matrixTranspose.getBlock(2, 1), b);
+    ASSERT_EQ(matrixTranspose.getBlock(2, 2), b);
+}
+
+template<typename TBlock>
+void generateMatrix(sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>& matrix,
+    sofa::SignedIndex nbRows, sofa::SignedIndex nbCols,
+    typename sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>::Real sparsity,
+    long seed)
+{
+    using Matrix = sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>;
+    using Real = typename Matrix::Real;
+    const auto nbNonZero = static_cast<sofa::SignedIndex>(sparsity * static_cast<Real>(nbRows*nbCols));
+
+    sofa::testing::LinearCongruentialRandomGenerator lcg(seed);
+
+    matrix.resizeBlock(nbRows / Matrix::NL, nbCols / Matrix::NC);
+
+    for (sofa::SignedIndex i = 0; i < nbNonZero; ++i)
+    {
+        const auto value = lcg.generateInUnitRange<Real>();
+        const auto row = static_cast<sofa::Index>(lcg.generateInRange(0., nbRows));
+        const auto col = static_cast<sofa::Index>(lcg.generateInRange(0., nbCols));
+
+        auto line = matrix.writeLine(row);
+        TBlock block;
+        block[col % Matrix::NC] = value;
+        line.addCol(col, block);
+    }
+    matrix.compress();
+}
+
+TEST(CompressedRowSparseMatrixConstraint, emptyMatrixGetRowRange)
+{
+    EXPECT_EQ(sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex, std::numeric_limits<sofa::SignedIndex>::lowest());
+
+    const sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal> A;
+
+    const auto begin = A.begin();
+    EXPECT_EQ(begin.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
+
+    const auto end = A.end();
+    EXPECT_EQ(end.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
+
+    EXPECT_EQ(begin, end);
+
+    const auto checkIterator = [](const auto& iterator)
+    {
+        const auto itBegin = iterator.begin();
+        const auto itEnd = iterator.end();
+
+        EXPECT_EQ(itBegin.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
+        EXPECT_EQ(itEnd.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
+        EXPECT_EQ(itBegin, itEnd);
+    };
+
+    checkIterator(begin);
+    checkIterator(end);
+}
+
+TEST(CompressedRowSparseMatrixConstraint, ostream)
+{
+    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::type::Vec3> A;
+
+    generateMatrix(A, 5, 15, 0.1, 7);
+
+    std::stringstream ss;
+    ss << A;
+
+    static const std::string expectedOutput =
+R"(Constraint ID : 0  dof ID : 1  value : 0 0.360985 0  dof ID : 12  value : 0.926981 0 0
+Constraint ID : 2  dof ID : 9  value : 0.451858 0 0
+Constraint ID : 3  dof ID : 6  value : 0.777417 0 0
+Constraint ID : 4  dof ID : 5  value : 0 0 0.474108  dof ID : 7  value : 0 0.983937 0  dof ID : 9  value : 0.238781 0 0
+)";
+
+    EXPECT_EQ(ss.str(), expectedOutput);
+}
+
+} // namespace sofa
diff --git a/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp b/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp
index eafbe4ce636..4c21fe967ed 100644
--- a/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp
+++ b/Sofa/framework/LinearAlgebra/test/CompressedRowSparseMatrix_test.cpp
@@ -89,33 +89,6 @@ void generateMatrix(sofa::linearalgebra::CompressedRowSparseMatrix<TBlock>& matr
     matrix.compress();
 }
 
-template<typename TBlock>
-void generateMatrix(sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>& matrix,
-    sofa::SignedIndex nbRows, sofa::SignedIndex nbCols,
-    typename sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>::Real sparsity,
-    long seed)
-{
-    using Matrix = sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>;
-    using Real = typename Matrix::Real;
-    const auto nbNonZero = static_cast<sofa::SignedIndex>(sparsity * static_cast<Real>(nbRows*nbCols));
-
-    sofa::testing::LinearCongruentialRandomGenerator lcg(seed);
-
-    matrix.resizeBlock(nbRows / Matrix::NL, nbCols / Matrix::NC);
-
-    for (sofa::SignedIndex i = 0; i < nbNonZero; ++i)
-    {
-        const auto value = lcg.generateInUnitRange<Real>();
-        const auto row = static_cast<sofa::Index>(lcg.generateInRange(0., nbRows));
-        const auto col = static_cast<sofa::Index>(lcg.generateInRange(0., nbCols));
-
-        auto line = matrix.writeLine(row);
-        TBlock block;
-        block[col % Matrix::NC] = value;
-        line.addCol(col, block);
-    }
-    matrix.compress();
-}
 
 /**
  * Two matrices A and B are generated randomly as CompressedRowSparseMatrix.
@@ -381,50 +354,3 @@ TEST(CompressedRowSparseMatrix, emptyMatrixGetRowRange)
     EXPECT_EQ(range.first, sofa::linearalgebra::CompressedRowSparseMatrixMechanical<SReal>::s_invalidIndex);
     EXPECT_EQ(range.second, sofa::linearalgebra::CompressedRowSparseMatrixMechanical<SReal>::s_invalidIndex);
 }
-
-TEST(CompressedRowSparseMatrixConstraint, emptyMatrixGetRowRange)
-{
-    EXPECT_EQ(sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex, std::numeric_limits<sofa::SignedIndex>::lowest());
-
-    const sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal> A;
-
-    const auto begin = A.begin();
-    EXPECT_EQ(begin.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
-
-    const auto end = A.end();
-    EXPECT_EQ(end.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
-
-    EXPECT_EQ(begin, end);
-
-    const auto checkIterator = [](const auto& iterator)
-    {
-        const auto itBegin = iterator.begin();
-        const auto itEnd = iterator.end();
-
-        EXPECT_EQ(itBegin.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
-        EXPECT_EQ(itEnd.getInternal(), sofa::linearalgebra::CompressedRowSparseMatrixConstraint<SReal>::s_invalidIndex);
-        EXPECT_EQ(itBegin, itEnd);
-    };
-
-    checkIterator(begin);
-    checkIterator(end);
-}
-
-TEST(CompressedRowSparseMatrixConstraint, ostream)
-{
-    sofa::linearalgebra::CompressedRowSparseMatrixConstraint<sofa::type::Vec3> A;
-
-    generateMatrix(A, 5, 15, 0.1, 7);
-
-    std::stringstream ss;
-    ss << A;
-
-    static const std::string expectedOutput =
-R"(Constraint ID : 0  dof ID : 1  value : 0 0.360985 0  dof ID : 12  value : 0.926981 0 0
-Constraint ID : 2  dof ID : 9  value : 0.451858 0 0
-Constraint ID : 3  dof ID : 6  value : 0.777417 0 0
-Constraint ID : 4  dof ID : 5  value : 0 0 0.474108  dof ID : 7  value : 0 0.983937 0  dof ID : 9  value : 0.238781 0 0
-)";
-
-    EXPECT_EQ(ss.str(), expectedOutput);
-}

From ea7f52a97e59b72027298f4aa3206345dbc8c54c Mon Sep 17 00:00:00 2001
From: Martin Strunz <maddin200@aol.com>
Date: Thu, 31 Oct 2024 00:04:09 +0100
Subject: [PATCH 40/43] [CUDA] Update CudaHexahedronTLEDForceField.cpp (#5085)

remove shadow varaible
---
 .../sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp        | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp
index edacb7f67c8..5f44824cb79 100644
--- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp
+++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp
@@ -726,9 +726,9 @@ void CudaHexahedronTLEDForceField::ComputeHGParams(const Element& e, const VecCo
     {
         for (int j = 0; j < 4; j++)
         {
-            for (int k = 0; k < 8; k++)
+            for (int kk = 0; kk < 8; kk++)
             {
-                gamma[i][j] += A[i][k]*Gamma[k][j];
+                gamma[i][j] += A[i][kk]*Gamma[kk][j];
             }
         }
     }
@@ -748,9 +748,9 @@ void CudaHexahedronTLEDForceField::ComputeHGParams(const Element& e, const VecCo
     {
         for (int j = 0; j < 8; j++)
         {
-            for (int k = 0; k < 4; k++)
+            for (int kk = 0; kk < 4; kk++)
             {
-                HG[i][j] += gamma[i][k]*gamma[j][k];
+                HG[i][j] += gamma[i][kk]*gamma[j][kk];
             }
         }
     }

From 679a91478028884ae8d0954bc799a1dc2d45e149 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Thu, 7 Nov 2024 04:30:55 +0100
Subject: [PATCH 41/43] [Mapping.NonLinear] Add tests for DistanceMultiMapping
 (#5077)

* [Mapping.NonLinear] Add tests for DistanceMultiMapping

* clearer expected output
---
 .../mapping/nonlinear/DistanceMapping.inl     |  7 ++
 .../mapping/nonlinear/DistanceMultiMapping.h  |  2 +-
 .../nonlinear/DistanceMultiMapping.inl        | 29 ++++--
 .../Mapping/NonLinear/tests/CMakeLists.txt    |  1 +
 .../tests/DistanceMultiMapping_test.cpp       | 96 +++++++++++++++++++
 5 files changed, 126 insertions(+), 9 deletions(-)
 create mode 100644 Sofa/Component/Mapping/NonLinear/tests/DistanceMultiMapping_test.cpp

diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
index 75e3f12cd89..981c0e22a39 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl
@@ -57,6 +57,13 @@ void DistanceMapping<TIn, TOut>::init()
         l_topology.set(this->getContext()->getMeshTopologyLink());
     }
 
+    if (!l_topology)
+    {
+        msg_error() << "No topology found";
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+        return;
+    }
+
     msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
 
     if (l_topology->getNbEdges() < 1)
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h
index b10cd4a93ab..fed60bcd234 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h
@@ -43,7 +43,7 @@ namespace sofa::component::mapping::nonlinear
  * @author Matthieu Nesme
  */
 template <class TIn, class TOut>
-class DistanceMultiMapping : public core::MultiMapping<TIn, TOut>, public NonLinearMappingData<true>
+class DistanceMultiMapping : public core::MultiMapping<TIn, TOut>, public StabilizedNonLinearMappingData
 {
 public:
     SOFA_CLASS(SOFA_TEMPLATE2(DistanceMultiMapping,TIn,TOut), SOFA_TEMPLATE2(core::MultiMapping,TIn,TOut));
diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl
index 4ad968aa54b..5986765486f 100644
--- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl
+++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl
@@ -85,12 +85,19 @@ void DistanceMultiMapping<TIn, TOut>::init()
         l_topology.set(this->getContext()->getMeshTopologyLink());
     }
 
+    if (!l_topology)
+    {
+        msg_error() << "No topology found";
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+        return;
+    }
+
     msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
 
     if (l_topology->getNbEdges() < 1)
     {
         msg_error() << "No Topology component containing edges found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name;
-        sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
         return;
     }
 
@@ -103,14 +110,20 @@ void DistanceMultiMapping<TIn, TOut>::init()
     // compute the rest lengths if they are not known
     if(d_restLengths.getValue().size() != links.size() )
     {
-        helper::WriteAccessor< Data<type::vector<Real> > > restLengths(d_restLengths);
-        restLengths.resize( links.size() );
-        if(!(d_computeDistance.getValue()))
+        helper::WriteAccessor restLengths(d_restLengths);
+        restLengths->clear();
+        restLengths->reserve( links.size() );
+        if(!d_computeDistance.getValue())
         {
-            for(unsigned i=0; i<links.size(); i++ )
+            for (const auto& edge : links)
             {
-                const type::Vec2i& pair0 = pairs[ links[i][0] ];
-                const type::Vec2i& pair1 = pairs[ links[i][1] ];
+                const auto& [e0, e1] = edge.array();
+
+                assert(e0 < pairs.size());
+                assert(e1 < pairs.size());
+
+                const type::Vec2i& pair0 = pairs[ e0 ];
+                const type::Vec2i& pair1 = pairs[ e1 ];
 
                 auto posPair0 = this->getFromModels()[pair0[0]]->readPositions();
                 auto posPair1 = this->getFromModels()[pair1[0]]->readPositions();
@@ -118,7 +131,7 @@ void DistanceMultiMapping<TIn, TOut>::init()
                 const InCoord& pos0 = posPair0[pair0[1]];
                 const InCoord& pos1 = posPair1[pair1[1]];
 
-                restLengths[i] = (pos0 - pos1).norm();
+                restLengths->emplace_back((pos0 - pos1).norm());
             }
         }
         else
diff --git a/Sofa/Component/Mapping/NonLinear/tests/CMakeLists.txt b/Sofa/Component/Mapping/NonLinear/tests/CMakeLists.txt
index a114e1de5c6..435528b719c 100644
--- a/Sofa/Component/Mapping/NonLinear/tests/CMakeLists.txt
+++ b/Sofa/Component/Mapping/NonLinear/tests/CMakeLists.txt
@@ -5,6 +5,7 @@ project(Sofa.Component.Mapping.NonLinear_test)
 set(SOURCE_FILES
     AreaMapping_test.cpp
     DistanceMapping_test.cpp
+    DistanceMultiMapping_test.cpp
     RigidMapping_test.cpp
     SquareDistanceMapping_test.cpp
     SquareMapping_test.cpp
diff --git a/Sofa/Component/Mapping/NonLinear/tests/DistanceMultiMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/DistanceMultiMapping_test.cpp
new file mode 100644
index 00000000000..873510f78db
--- /dev/null
+++ b/Sofa/Component/Mapping/NonLinear/tests/DistanceMultiMapping_test.cpp
@@ -0,0 +1,96 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/component/mapping/nonlinear/DistanceMultiMapping.h>
+#include <sofa/component/mapping/testing/MultiMappingTestCreation.h>
+#include <sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h>
+
+namespace sofa
+{
+template <typename _DistanceMultiMapping>
+struct DistanceMultiMappingTest : public MultiMapping_test<_DistanceMultiMapping>
+{
+    using In = typename _DistanceMultiMapping::In;
+    using Out = typename _DistanceMultiMapping::Out;
+
+    bool test(bool computeDistance)
+    {
+        constexpr int numberOfParents = 2;
+        this->setupScene(numberOfParents); // NP parents, 1 child
+
+        _DistanceMultiMapping* map = static_cast<_DistanceMultiMapping*>( this->mapping );
+        EXPECT_NE(map, nullptr);
+
+        map->d_indexPairs.setValue({{0, 0}, {1, 0}});
+        sofa::helper::getWriteAccessor(map->d_geometricStiffness)->setSelectedItem(1);
+        map->d_computeDistance.setValue(computeDistance);
+
+        const component::topology::container::dynamic::EdgeSetTopologyContainer::SPtr edges = sofa::core::objectmodel::New<component::topology::container::dynamic::EdgeSetTopologyContainer>();
+        this->root->addObject(edges);
+        edges->addEdge( 0, 1 );
+
+        // parent positions
+        sofa::type::vector< VecCoord_t<In> > incoords(numberOfParents);
+        for (auto& in : incoords)
+        {
+            in.resize(1);
+        }
+
+        In::set( incoords[0][0], 1, 2, 3);
+        In::set( incoords[1][0], 4, 1, 5);
+
+        VecCoord_t<Out> outcoords(1);
+        if (computeDistance)
+        {
+            const auto expectedDistance = (In::getCPos(incoords[1][0]) - In::getCPos(incoords[0][0])).norm();
+            Out::set( outcoords[0], expectedDistance, 0.,0.);
+        }
+        else
+        {
+            Out::set( outcoords[0], 0,0,0);
+        }
+        return this->runTest(incoords,outcoords);
+    }
+};
+
+using ::testing::Types;
+typedef Types<
+    sofa::component::mapping::nonlinear::DistanceMultiMapping<defaulttype::Vec3Types,defaulttype::Vec1Types>,
+    sofa::component::mapping::nonlinear::DistanceMultiMapping<defaulttype::Rigid3Types,defaulttype::Vec1Types>
+> DataTypes;
+
+
+TYPED_TEST_SUITE(DistanceMultiMappingTest, DataTypes);
+
+TYPED_TEST( DistanceMultiMappingTest, computeDistance )
+{
+    this->errorMax = 1000;
+    ASSERT_TRUE(this->test(true));
+}
+
+TYPED_TEST( DistanceMultiMappingTest, notComputeDistance )
+{
+    this->errorMax = 1000;
+    ASSERT_TRUE(this->test(false));
+}
+
+}
+

From ea9ab574ad8e7edfac1ab1d9ddaac38e6a1002ef Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Mon, 11 Nov 2024 13:35:36 +0100
Subject: [PATCH 42/43] [Mapping.Linear] Test IdentityMapping (#5094)

* [Mapping.Linear] Test IdentityMapping

* forgot the reference

---------

Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../Mapping/Linear/tests/CMakeLists.txt       |  1 +
 .../Linear/tests/IdentityMapping_test.cpp     | 99 +++++++++++++++++++
 .../src/sofa/defaulttype/RigidTypes.h         | 16 ++-
 3 files changed, 113 insertions(+), 3 deletions(-)
 create mode 100644 Sofa/Component/Mapping/Linear/tests/IdentityMapping_test.cpp

diff --git a/Sofa/Component/Mapping/Linear/tests/CMakeLists.txt b/Sofa/Component/Mapping/Linear/tests/CMakeLists.txt
index aa56f98f55b..82b1ebaea84 100644
--- a/Sofa/Component/Mapping/Linear/tests/CMakeLists.txt
+++ b/Sofa/Component/Mapping/Linear/tests/CMakeLists.txt
@@ -4,6 +4,7 @@ project(Sofa.Component.Mapping.Linear_test)
 
 set(SOURCE_FILES
     BarycentricMapping_test.cpp
+    IdentityMapping_test.cpp
     SubsetMultiMapping_test.cpp
 )
 
diff --git a/Sofa/Component/Mapping/Linear/tests/IdentityMapping_test.cpp b/Sofa/Component/Mapping/Linear/tests/IdentityMapping_test.cpp
new file mode 100644
index 00000000000..bda83650696
--- /dev/null
+++ b/Sofa/Component/Mapping/Linear/tests/IdentityMapping_test.cpp
@@ -0,0 +1,99 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program 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.                                             *
+*                                                                             *
+* This program 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.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/component/mapping/linear/IdentityMapping.h>
+#include <gtest/gtest.h>
+#include <sofa/component/mapping/testing/MappingTestCreation.h>
+#include <sofa/testing/LinearCongruentialRandomGenerator.h>
+
+
+namespace sofa
+{
+
+using component::mapping::linear::IdentityMapping;
+
+template <typename IdentityMapping>
+struct IdentityMappingTest : public sofa::mapping_test::Mapping_test<IdentityMapping>
+{
+    using In = typename IdentityMapping::In;
+    using Out = typename IdentityMapping::Out;
+
+    void generatePositions(VecCoord_t<In>& inCoord)
+    {
+        sofa::testing::LinearCongruentialRandomGenerator lcg(96547);
+        for (auto& x : inCoord)
+        {
+            for (std::size_t i = 0; i < Coord_t<In>::total_size; ++i)
+            {
+                using Real = Real_t<In>;
+                x[i] = lcg.generateInRange(static_cast<Real>(-1e2), static_cast<Real>(1e2));
+            }
+        }
+    }
+
+    bool test()
+    {
+        // parent positions
+        VecCoord_t<In> inCoord(150);
+        generatePositions(inCoord);
+
+        // expected child positions
+        VecCoord_t<Out> expectedOutCoord;
+        expectedOutCoord.reserve(inCoord.size());
+        for (const auto& x : inCoord)
+        {
+            Coord_t<Out> y;
+            for (std::size_t i = 0; i < Coord_t<Out>::total_size; ++i)
+            {
+                y[i] = x[i];
+            }
+            expectedOutCoord.emplace_back(y);
+        }
+
+        return this->runTest( inCoord, expectedOutCoord );
+    }
+
+};
+
+using ::testing::Types;
+typedef Types<
+    IdentityMapping<sofa::defaulttype::Vec3Types, sofa::defaulttype::Vec3Types>,
+    IdentityMapping<sofa::defaulttype::Vec2Types, sofa::defaulttype::Vec2Types>,
+    IdentityMapping<sofa::defaulttype::Vec1Types, sofa::defaulttype::Vec1Types>,
+    IdentityMapping<sofa::defaulttype::Vec6Types, sofa::defaulttype::Vec3Types>,
+    IdentityMapping<sofa::defaulttype::Vec6Types, sofa::defaulttype::Vec6Types>,
+    IdentityMapping<sofa::defaulttype::Rigid3Types, sofa::defaulttype::Rigid3Types>,
+    IdentityMapping<sofa::defaulttype::Rigid2Types, sofa::defaulttype::Rigid2Types>,
+    IdentityMapping<sofa::defaulttype::Rigid3Types, sofa::defaulttype::Vec3Types>,
+    IdentityMapping<sofa::defaulttype::Rigid2Types, sofa::defaulttype::Vec2Types>
+> DataTypes;
+
+TYPED_TEST_SUITE( IdentityMappingTest, DataTypes );
+
+// test case
+TYPED_TEST( IdentityMappingTest , test )
+{
+    this->flags |= TestFixture::TEST_applyJT_matrix;
+    this->errorMax = 1e2;
+    ASSERT_TRUE(this->test());
+}
+
+}
diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h
index f95fa91bd49..e14165269ef 100644
--- a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h
+++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h
@@ -153,12 +153,13 @@ class StdRigidTypes<3, real>
     static Deriv coordDifference(const Coord& c1, const Coord& c2)
     {
         type::Vec3 vCenter = c1.getCenter() - c2.getCenter();
-        type::Quat<SReal> quat, quat1(c1.getOrientation()), quat2(c2.getOrientation());
+        const type::Quat<real> quat2(c2.getOrientation());
+        const type::Quat<real> quat1(c1.getOrientation());
         // Transformation between c2 and c1 frames
-        quat = quat1 * quat2.inverse();
+        type::Quat<real> quat = quat1 * quat2.inverse();
         quat.normalize();
         type::Vec3 axis(type::NOINIT);
-        type::Quat<SReal>::value_type angle{};
+        real angle{};
         quat.quatToAxis(axis, angle);
         axis *= angle;
         return Deriv(vCenter, axis);
@@ -354,6 +355,15 @@ class StdRigidTypes<2, real>
         return result;
     }
 
+    static Deriv coordDifference(const Coord& c1, const Coord& c2)
+    {
+        const type::Vec2 vCenter = c1.getCenter() - c2.getCenter();
+        real angle = c1.getOrientation() - c2.getOrientation(); // Difference in orientation (angle between frames)
+        angle = std::fmod(angle + M_PI, 2 * M_PI) - M_PI; // Normalize angle to [-π, π]
+
+        return Deriv(vCenter, angle);
+    }
+
     static Coord interpolate(const type::vector< Coord > & ancestors, const type::vector< Real > & coefs)
     {
         assert(ancestors.size() == coefs.size());

From f9afdf6ba313895c06ede4910f21ad361a43f960 Mon Sep 17 00:00:00 2001
From: Hugo <hugo.talbot@sofa-framework.org>
Date: Tue, 12 Nov 2024 07:48:27 +0100
Subject: [PATCH 43/43] [GitHub] Remove dev meeting action (#5107)

---
 .../post-agenda-sofa-dev-meeting.yml          | 78 -------------------
 1 file changed, 78 deletions(-)
 delete mode 100644 .github/workflows/post-agenda-sofa-dev-meeting.yml

diff --git a/.github/workflows/post-agenda-sofa-dev-meeting.yml b/.github/workflows/post-agenda-sofa-dev-meeting.yml
deleted file mode 100644
index 3f3dc11572c..00000000000
--- a/.github/workflows/post-agenda-sofa-dev-meeting.yml
+++ /dev/null
@@ -1,78 +0,0 @@
-name: Post - SOFA dev meeting agenda/reminder
-
-on:
-  schedule:
-    - cron: '30 8 * * 1'  # 9:30 am UTC+1 every Monday
-    - cron: '30 7 * * 3'   # 8:30 am UTC+1 on Wednesdays
-    - cron: '30 6 * * 3'   # 7:30 am UTC+1 on Wednesdays (for summer times)
-
-env:
-  TZ: "Europe/Paris"
-
-jobs:
-  run:
-    runs-on: ubuntu-latest
-    if: ${{ github.repository_owner == 'sofa-framework' }}
-
-    steps:
-      - name: Check out code
-        uses: actions/checkout@v2
-
-      - name: Set up python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-
-      - name: Install pip packages
-        run: |
-          pip install python-graphql-client
-          pip install python-dateutil
-          pip install requests
-        working-directory: ${{ github.workspace }}
-
-      # Monday message : request agenda info
-      - name: Run script post-discord-message.py
-        if: github.event.schedule == '30 8 * * 1'
-        run: |
-          python scripts/discord/post-discord-message.py
-        working-directory: ${{ github.workspace }}
-        env:
-          DISCORD_WEBHOOK_URL: ${{ secrets.DISCORD_MAIN_WEBHOOK_URL }}
-          MESSAGE : ":sunrise:  Morning, dear SOFA community! Next Wednesday takes place the weekly SOFA dev meeting:\n**_Any specific topic to share or to discuss?_** If so, please reply in this thread :speech_balloon: *Remember you can use the tag \"pr: dev meeting topic\" for your PRs*"
-          BOT_NAME: "Meeting reminder"
-          EMBEDS_TITLE: "Label \"pr: dev-meeting topic\""
-          EMBEDS_URL: "https://github.com/sofa-framework/sofa/labels/pr%3A%20dev%20meeting%20topic"
-          EMBEDS_DESCRIPTION: ""
-
-      # Wednesday message : announce meeting and share link
-      - name: Check time depending on winter/summer times
-        if: ${{ (github.event.schedule == '30 7 * * 3') || (github.event.schedule == '30 6 * * 3') }}
-        id: check_time
-        run: |
-          # Set the timezone to CET
-          sudo ln -sf /usr/share/zoneinfo/Europe/Paris /etc/localtime
-          sudo dpkg-reconfigure -f noninteractive tzdata
-
-          # Get the current hour in CET
-          current_hour=$(date +'%H')
-
-          # Check if the current hour is 8 and set output
-          if [ "$current_hour" -eq 8 ]; then
-            echo "::set-output name=itstime::true"
-          else
-            echo "::set-output name=itstime::false"
-          fi
-      
-      - name: Run script post-discord-message.py
-        if: steps.check_time.outputs.itstime == 'true'
-        run: |
-          python scripts/discord/post-discord-message.py
-        working-directory: ${{ github.workspace }}
-        env:
-          DISCORD_WEBHOOK_URL: ${{ secrets.DISCORD_MAIN_WEBHOOK_URL }}
-          MESSAGE: "SOFA dev meeting is about to get started :tv: See you online!"
-          BOT_NAME: "Meeting reminder"
-          EMBEDS_TITLE: "SOFA dev visio link"
-          EMBEDS_URL: "https://www.sofa-framework.org/sofa-dev-meeting"
-          EMBEDS_DESCRIPTION: ""
-