diff --git a/CMakeLists.txt b/CMakeLists.txt
index e430f2b2..37ba1ed4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,47 +1,107 @@
 cmake_minimum_required(VERSION 3.12)
 project(CollisionAlgorithm VERSION 0.1 LANGUAGES CXX)
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(Sofa.Simulation.Core REQUIRED)
+find_package(Sofa.Component.StateContainer REQUIRED)
+find_package(Sofa.Component.Constraint.Lagrangian.Solver REQUIRED)
+find_package(Sofa.GL REQUIRED)
 
-file(GLOB_RECURSE HEADER_FILES
-    "src/*.h"
-    "src/*.inl"
-)
+set(COLLISIONALGORITHM_SRC "src/${PROJECT_NAME}")
 
-file(GLOB_RECURSE SOURCE_FILES
-    "src/*.cpp"
-)
+set(HEADER_FILES 
+    ${COLLISIONALGORITHM_SRC}/config.h.in
+    ${COLLISIONALGORITHM_SRC}/initCollisionAlgorithm.h
 
-file(GLOB_RECURSE SCENES_FILES
-    "scenes/*.scn"
-    "*.xml"
-)
+    ${COLLISIONALGORITHM_SRC}/BaseAABBBroadPhase.h
+    ${COLLISIONALGORITHM_SRC}/BaseAlgorithm.h
+    ${COLLISIONALGORITHM_SRC}/BaseElement.h
+    ${COLLISIONALGORITHM_SRC}/BaseGeometry.h
+    ${COLLISIONALGORITHM_SRC}/BaseOperation.h
+    ${COLLISIONALGORITHM_SRC}/BaseProximity.h
+    ${COLLISIONALGORITHM_SRC}/CollisionPipeline.h
+    ${COLLISIONALGORITHM_SRC}/DataDetectionOutput.h
+    ${COLLISIONALGORITHM_SRC}/ElementIterator.h
+    ${COLLISIONALGORITHM_SRC}/InternalData.h
 
-file(GLOB_RECURSE IGNORED_FILES
-    "ignored/*.h"
-    "ignored/*.inl"
-    "ignored/*.cpp"
-)
+    ${COLLISIONALGORITHM_SRC}/algorithm/Find2DClosestProximityAlgorithm.h
+    ${COLLISIONALGORITHM_SRC}/algorithm/FindClosestProximityAlgorithm.h
+    ${COLLISIONALGORITHM_SRC}/algorithm/InsertionAlgorithm.h
+    
+    ${COLLISIONALGORITHM_SRC}/broadphase/AABBBroadPhase.h
+    ${COLLISIONALGORITHM_SRC}/broadphase/FullAABBBroadPhase.h
+
+    ${COLLISIONALGORITHM_SRC}/elements/EdgeElement.h
+    ${COLLISIONALGORITHM_SRC}/elements/PointElement.h
+    ${COLLISIONALGORITHM_SRC}/elements/TetrahedronElement.h
+    ${COLLISIONALGORITHM_SRC}/elements/TriangleElement.h
+
+    ${COLLISIONALGORITHM_SRC}/filters/DistanceFilter.h
+
+    ${COLLISIONALGORITHM_SRC}/geometry/EdgeGeometry.h
+    ${COLLISIONALGORITHM_SRC}/geometry/PointGeometry.h
+    ${COLLISIONALGORITHM_SRC}/geometry/SubsetGeometry.h
+    ${COLLISIONALGORITHM_SRC}/geometry/TetrahedronGeometry.h
+    ${COLLISIONALGORITHM_SRC}/geometry/TriangleGeometry.h
+
+    ${COLLISIONALGORITHM_SRC}/operations/CreateCenterProximity.h
+    ${COLLISIONALGORITHM_SRC}/operations/FindClosestProximity.h
+    ${COLLISIONALGORITHM_SRC}/operations/Project.h
+    ${COLLISIONALGORITHM_SRC}/operations/ContainsPoint.h
+    ${COLLISIONALGORITHM_SRC}/operations/NeedleOperations.h
 
-file(GLOB_RECURSE DEPRECATED_FILES
-    "deprecated/*.h"
-    "deprecated/*.inl"
-    "deprecated/*.cpp"
+    ${COLLISIONALGORITHM_SRC}/proximity/EdgeProximity.h
+    ${COLLISIONALGORITHM_SRC}/proximity/FixedProximity.h
+    ${COLLISIONALGORITHM_SRC}/proximity/MechanicalProximity.h
+    ${COLLISIONALGORITHM_SRC}/proximity/MultiProximity.h
+    ${COLLISIONALGORITHM_SRC}/proximity/PointProximity.h
+    ${COLLISIONALGORITHM_SRC}/proximity/TetrahedronProximity.h
+    ${COLLISIONALGORITHM_SRC}/proximity/TriangleProximity.h
+
+    ${COLLISIONALGORITHM_SRC}/toolbox/EdgeToolBox.h
+    ${COLLISIONALGORITHM_SRC}/toolbox/PointToolBox.h
+    ${COLLISIONALGORITHM_SRC}/toolbox/TetrahedronToolBox.h
+    ${COLLISIONALGORITHM_SRC}/toolbox/TriangleToolBox.h
 )
 
-find_package(Sofa.Simulation.Core REQUIRED)
-find_package(Sofa.Component.StateContainer REQUIRED)
-find_package(Sofa.Component.Constraint.Lagrangian.Solver REQUIRED)
-find_package(Sofa.GL REQUIRED)
+set(SOURCE_FILES
+    ${COLLISIONALGORITHM_SRC}/initCollisionAlgorithm.cpp
+
+    ${COLLISIONALGORITHM_SRC}/CollisionPipeline.cpp
+    
+    ${COLLISIONALGORITHM_SRC}/algorithm/Find2DClosestProximityAlgorithm.cpp
+    ${COLLISIONALGORITHM_SRC}/algorithm/FindClosestProximityAlgorithm.cpp
+    ${COLLISIONALGORITHM_SRC}/algorithm/InsertionAlgorithm.cpp
 
+    ${COLLISIONALGORITHM_SRC}/broadphase/AABBBroadPhase.cpp
+    ${COLLISIONALGORITHM_SRC}/broadphase/FullAABBBroadPhase.cpp
 
-include_directories("${CMAKE_CURRENT_SOURCE_DIR}/ignored")
-#include_directories("${CMAKE_CURRENT_SOURCE_DIR}/deprecated")
+    ${COLLISIONALGORITHM_SRC}/elements/EdgeElement.cpp
+    ${COLLISIONALGORITHM_SRC}/elements/PointElement.cpp
+    ${COLLISIONALGORITHM_SRC}/elements/TetrahedronElement.cpp
+    ${COLLISIONALGORITHM_SRC}/elements/TriangleElement.cpp
+
+    ${COLLISIONALGORITHM_SRC}/filters/DistanceFilter.cpp
+
+    ${COLLISIONALGORITHM_SRC}/geometry/EdgeGeometry.cpp
+    ${COLLISIONALGORITHM_SRC}/geometry/PointGeometry.cpp
+    ${COLLISIONALGORITHM_SRC}/geometry/SubsetGeometry.cpp
+    ${COLLISIONALGORITHM_SRC}/geometry/TetrahedronGeometry.cpp
+    ${COLLISIONALGORITHM_SRC}/geometry/TriangleGeometry.cpp
+
+    ${COLLISIONALGORITHM_SRC}/operations/CreateCenterProximity.cpp
+    ${COLLISIONALGORITHM_SRC}/operations/FindClosestProximity.cpp
+    ${COLLISIONALGORITHM_SRC}/operations/Project.cpp
+    ${COLLISIONALGORITHM_SRC}/operations/ContainsPoint.cpp
+    ${COLLISIONALGORITHM_SRC}/operations/NeedleOperations.cpp
+
+    ${COLLISIONALGORITHM_SRC}/toolbox/EdgeToolBox.cpp
+    ${COLLISIONALGORITHM_SRC}/toolbox/PointToolBox.cpp
+    ${COLLISIONALGORITHM_SRC}/toolbox/TetrahedronToolBox.cpp
+    ${COLLISIONALGORITHM_SRC}/toolbox/TriangleToolBox.cpp
+)
 
-set_source_files_properties(${IGNORED_FILES} PROPERTIES HEADER_FILE_ONLY TRUE)
+add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADER_FILES} ${README_FILES})
 
-add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADER_FILES} ${SCENES_FILES} ${IGNORED_FILES} ${DEPRECATED_FILES} ${README_FILES})
-set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DPLUGIN_DATA_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\"")
 target_link_libraries(${PROJECT_NAME}
     Sofa.Simulation.Core
     Sofa.Component.StateContainer
@@ -49,8 +109,12 @@ target_link_libraries(${PROJECT_NAME}
     Sofa.GL
 )
 
-## Install rules for the library and headers; CMake package configurations files
-set(${PROJECT_NAME}_INCLUDE_DIRS "include/${PROJECT_NAME}")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:${${PROJECT_NAME}_INCLUDE_DIRS}>")
-sofa_create_package_with_targets(PACKAGE_NAME ${PROJECT_NAME} PACKAGE_VERSION 0.1 TARGETS ${PROJECT_NAME} INCLUDE_INSTALL_DIR ${${PROJECT_NAME}_INCLUDE_DIRS})
+sofa_create_package_with_targets(
+    PACKAGE_NAME ${PROJECT_NAME} 
+    PACKAGE_VERSION ${PROJECT_VERSION}
+    TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
+    INCLUDE_SOURCE_DIR "src"
+    INCLUDE_INSTALL_DIR ${PROJECT_NAME}
+    EXAMPLE_INSTALL_DIR "scenes"
+    RELOCATABLE "plugins"
+    )
diff --git a/CollisionAlgorithmConfig.cmake.in b/CollisionAlgorithmConfig.cmake.in
index 68a93934..0e15df71 100644
--- a/CollisionAlgorithmConfig.cmake.in
+++ b/CollisionAlgorithmConfig.cmake.in
@@ -4,6 +4,8 @@
 @PACKAGE_INIT@
 
 find_package(Sofa.Simulation.Core QUIET REQUIRED)
+find_package(Sofa.Component.StateContainer QUIET REQUIRED)
+find_package(Sofa.Component.Constraint.Lagrangian.Solver QUIET REQUIRED)
 find_package(Sofa.GL QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)
diff --git a/src/sofa/collisionAlgorithm/BaseAABBBroadPhase.h b/src/CollisionAlgorithm/BaseAABBBroadPhase.h
similarity index 98%
rename from src/sofa/collisionAlgorithm/BaseAABBBroadPhase.h
rename to src/CollisionAlgorithm/BaseAABBBroadPhase.h
index cee5c088..b801da9a 100644
--- a/src/sofa/collisionAlgorithm/BaseAABBBroadPhase.h
+++ b/src/CollisionAlgorithm/BaseAABBBroadPhase.h
@@ -1,13 +1,13 @@
 #pragma once
 
 #include <sofa/helper/AdvancedTimer.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/BaseElement.h>
 #include <thread>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class BaseAABBBroadPhase : public BaseGeometry::BroadPhase {
 public:
diff --git a/src/sofa/collisionAlgorithm/BaseAlgorithm.h b/src/CollisionAlgorithm/BaseAlgorithm.h
similarity index 92%
rename from src/sofa/collisionAlgorithm/BaseAlgorithm.h
rename to src/CollisionAlgorithm/BaseAlgorithm.h
index 7cb256c3..f4fc0838 100644
--- a/src/sofa/collisionAlgorithm/BaseAlgorithm.h
+++ b/src/CollisionAlgorithm/BaseAlgorithm.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 #include <sofa/core/collision/Pipeline.h>
-#include <sofa/collisionAlgorithm/DataDetectionOutput.h>
-#include <sofa/collisionAlgorithm/CollisionPipeline.h>
+#include <CollisionAlgorithm/DataDetectionOutput.h>
+#include <CollisionAlgorithm/CollisionPipeline.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 /*!
  * \class BaseAlgorithm
diff --git a/src/sofa/collisionAlgorithm/BaseElement.h b/src/CollisionAlgorithm/BaseElement.h
similarity index 95%
rename from src/sofa/collisionAlgorithm/BaseElement.h
rename to src/CollisionAlgorithm/BaseElement.h
index 065a1b9d..b3d5196f 100644
--- a/src/sofa/collisionAlgorithm/BaseElement.h
+++ b/src/CollisionAlgorithm/BaseElement.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseProximity.h>
 #include <sofa/core/visual/VisualParams.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class PointElement;
 class EdgeElement;
diff --git a/src/sofa/collisionAlgorithm/BaseGeometry.h b/src/CollisionAlgorithm/BaseGeometry.h
similarity index 94%
rename from src/sofa/collisionAlgorithm/BaseGeometry.h
rename to src/CollisionAlgorithm/BaseGeometry.h
index 842042ab..a051435e 100644
--- a/src/sofa/collisionAlgorithm/BaseGeometry.h
+++ b/src/CollisionAlgorithm/BaseGeometry.h
@@ -1,19 +1,19 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/CollisionPipeline.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/ElementIterator.h>
+#include <CollisionAlgorithm/CollisionPipeline.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/ElementIterator.h>
 #include <sofa/gl/gl.h>
 #include <sofa/helper/AdvancedTimer.h>
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/InternalData.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/InternalData.h>
 
 
-namespace sofa ::collisionAlgorithm {
+namespace sofa ::collisionalgorithm {
 
 
 /*!
diff --git a/src/sofa/collisionAlgorithm/BaseOperation.h b/src/CollisionAlgorithm/BaseOperation.h
similarity index 98%
rename from src/sofa/collisionAlgorithm/BaseOperation.h
rename to src/CollisionAlgorithm/BaseOperation.h
index e4d83401..1b0e9fcf 100644
--- a/src/sofa/collisionAlgorithm/BaseOperation.h
+++ b/src/CollisionAlgorithm/BaseOperation.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 #include <sofa/helper/NameDecoder.h>
 #include <memory>
 
-namespace sofa::collisionAlgorithm::Operations {
+namespace sofa::collisionalgorithm::Operations {
 
 template<class A,class B>
 class REAL_TYPE_CHECK {
diff --git a/src/sofa/collisionAlgorithm/BaseProximity.h b/src/CollisionAlgorithm/BaseProximity.h
similarity index 98%
rename from src/sofa/collisionAlgorithm/BaseProximity.h
rename to src/CollisionAlgorithm/BaseProximity.h
index 1e6d280f..e40a532d 100644
--- a/src/sofa/collisionAlgorithm/BaseProximity.h
+++ b/src/CollisionAlgorithm/BaseProximity.h
@@ -8,7 +8,7 @@
 #include <sofa/core/topology/Topology.h>
 #include <sofa/type/Vec.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 /*!
  * \brief The BaseProximity class is the basic abstract proximity class
diff --git a/src/sofa/collisionAlgorithm/CollisionPipeline.cpp b/src/CollisionAlgorithm/CollisionPipeline.cpp
similarity index 70%
rename from src/sofa/collisionAlgorithm/CollisionPipeline.cpp
rename to src/CollisionAlgorithm/CollisionPipeline.cpp
index a7f0603d..0c35145a 100644
--- a/src/sofa/collisionAlgorithm/CollisionPipeline.cpp
+++ b/src/CollisionAlgorithm/CollisionPipeline.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/CollisionPipeline.h>
+#include <CollisionAlgorithm/CollisionPipeline.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerCollisionLoop(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerCollisionLoop(sofa::core::ObjectFactory* factory)
             "A collision pipeline customized for proximity detection during needle insertion")
             .add<CollisionLoop>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/CollisionPipeline.h b/src/CollisionAlgorithm/CollisionPipeline.h
similarity index 92%
rename from src/sofa/collisionAlgorithm/CollisionPipeline.h
rename to src/CollisionAlgorithm/CollisionPipeline.h
index 8ccf04a7..d86aa9c7 100644
--- a/src/sofa/collisionAlgorithm/CollisionPipeline.h
+++ b/src/CollisionAlgorithm/CollisionPipeline.h
@@ -1,9 +1,9 @@
 #pragma once
 
-//#include <sofa/collisionAlgorithm/BaseOperation.h>
+//#include <CollisionAlgorithm/BaseOperation.h>
 #include <sofa/simulation/CollisionBeginEvent.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseProximity.h>
 #include <sofa/core/BehaviorModel.h>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/core/objectmodel/DataCallback.h>
@@ -11,11 +11,11 @@
 #include <sofa/gl/gl.h>
 #include <sofa/simulation/AnimateBeginEvent.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseElement.h>
 #include <sofa/simulation/Node.h>
 #include <sofa/helper/AdvancedTimer.h>
 
-namespace sofa ::collisionAlgorithm {
+namespace sofa ::collisionalgorithm {
 
 class CollisionComponent : public core::objectmodel::BaseObject {
 public:
diff --git a/src/sofa/collisionAlgorithm/DataDetectionOutput.h b/src/CollisionAlgorithm/DataDetectionOutput.h
similarity index 92%
rename from src/sofa/collisionAlgorithm/DataDetectionOutput.h
rename to src/CollisionAlgorithm/DataDetectionOutput.h
index 57080b6d..5201fbcd 100644
--- a/src/sofa/collisionAlgorithm/DataDetectionOutput.h
+++ b/src/CollisionAlgorithm/DataDetectionOutput.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 
 namespace sofa
 {
 
-namespace collisionAlgorithm
+namespace collisionalgorithm
 {
 
 template<class FIRST = BaseProximity,class SECOND = BaseProximity>
@@ -130,7 +130,7 @@ struct DetectionOutputTypeInfo
 };
 
 template<>
-struct DataTypeInfo< collisionAlgorithm::DetectionOutput<collisionAlgorithm::BaseProximity::SPtr, collisionAlgorithm::BaseProximity::SPtr> > : public DetectionOutputTypeInfo< collisionAlgorithm::DetectionOutput<collisionAlgorithm::BaseProximity::SPtr, collisionAlgorithm::BaseProximity::SPtr> >
+struct DataTypeInfo< collisionalgorithm::DetectionOutput<collisionalgorithm::BaseProximity::SPtr, collisionalgorithm::BaseProximity::SPtr> > : public DetectionOutputTypeInfo< collisionalgorithm::DetectionOutput<collisionalgorithm::BaseProximity::SPtr, collisionalgorithm::BaseProximity::SPtr> >
 {
     static std::string name() { std::ostringstream o; o << "DetectionOutput"; return o.str(); }
 };
diff --git a/src/sofa/collisionAlgorithm/ElementIterator.h b/src/CollisionAlgorithm/ElementIterator.h
similarity index 95%
rename from src/sofa/collisionAlgorithm/ElementIterator.h
rename to src/CollisionAlgorithm/ElementIterator.h
index effdb70d..2e1418c4 100644
--- a/src/sofa/collisionAlgorithm/ElementIterator.h
+++ b/src/CollisionAlgorithm/ElementIterator.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class BaseGeometry;
 
diff --git a/src/sofa/collisionAlgorithm/InternalData.h b/src/CollisionAlgorithm/InternalData.h
similarity index 79%
rename from src/sofa/collisionAlgorithm/InternalData.h
rename to src/CollisionAlgorithm/InternalData.h
index f493fa7c..51563d9a 100644
--- a/src/sofa/collisionAlgorithm/InternalData.h
+++ b/src/CollisionAlgorithm/InternalData.h
@@ -1,17 +1,17 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/CollisionPipeline.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/ElementIterator.h>
+#include <CollisionAlgorithm/CollisionPipeline.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/ElementIterator.h>
 #include <sofa/gl/gl.h>
 #include <sofa/helper/AdvancedTimer.h>
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
 
-namespace sofa ::collisionAlgorithm {
+namespace sofa ::collisionalgorithm {
 
 
 class InternalDataContainer {
diff --git a/src/sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.cpp b/src/CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.cpp
similarity index 69%
rename from src/sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.cpp
rename to src/CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.cpp
index 7d56c241..33c286f5 100644
--- a/src/sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.cpp
+++ b/src/CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h>
+#include <CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerFind2DClosestProximityAlgorithm(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerFind2DClosestProximityAlgorithm(sofa::core::ObjectFactory* factory)
             "An algorithm to find the closest proximity between two BaseGeometry types in 2D")
             .add<Find2DClosestProximityAlgorithm>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h b/src/CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h
similarity index 92%
rename from src/sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h
rename to src/CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h
index faf3b791..4af1aa54 100644
--- a/src/sofa/collisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h
+++ b/src/CollisionAlgorithm/algorithm/Find2DClosestProximityAlgorithm.h
@@ -1,13 +1,13 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/FindClosestProximity.h>
-
-namespace sofa::collisionAlgorithm {
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/FindClosestProximity.h>
+
+namespace sofa::collisionalgorithm {
 
 class Find2DClosestProximityAlgorithm : public BaseAlgorithm {
 public:
diff --git a/src/sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.cpp b/src/CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.cpp
similarity index 68%
rename from src/sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.cpp
rename to src/CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.cpp
index 397d6aee..1761699b 100644
--- a/src/sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.cpp
+++ b/src/CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h>
+#include <CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerFindClosestProximityAlgorithm(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerFindClosestProximityAlgorithm(sofa::core::ObjectFactory* factory)
             "An algorithm to find the closest proximity between two BaseGeometry types")
             .add<FindClosestProximityAlgorithm>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h b/src/CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h
similarity index 88%
rename from src/sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h
rename to src/CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h
index 2a3888f7..c776cf7b 100644
--- a/src/sofa/collisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h
+++ b/src/CollisionAlgorithm/algorithm/FindClosestProximityAlgorithm.h
@@ -1,13 +1,13 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/FindClosestProximity.h>
-
-namespace sofa::collisionAlgorithm {
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/FindClosestProximity.h>
+
+namespace sofa::collisionalgorithm {
 
 class FindClosestProximityAlgorithm : public BaseAlgorithm {
 public:
diff --git a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.cpp b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp
similarity index 70%
rename from src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.cpp
rename to src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp
index 6bce8091..8b1736f1 100644
--- a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.cpp
+++ b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h>
+#include <CollisionAlgorithm/algorithm/InsertionAlgorithm.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerInsertionAlgorithm(sofa::core::ObjectFactory* factory)
 {
@@ -9,4 +9,4 @@ void registerInsertionAlgorithm(sofa::core::ObjectFactory* factory)
                                  "A class implementing a customized needle insertion algorithm")
                                  .add<InsertionAlgorithm>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h
similarity index 95%
rename from src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
rename to src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h
index 5ff49be3..694acd4b 100644
--- a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
+++ b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h
@@ -1,19 +1,18 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-#include <sofa/collisionAlgorithm/operations/FindClosestProximity.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/ContainsPoint.h>
-#include <sofa/collisionAlgorithm/operations/NeedleOperations.h>
-#include <sofa/collisionAlgorithm/proximity/EdgeProximity.h>
-#include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/operations/FindClosestProximity.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/ContainsPoint.h>
+#include <CollisionAlgorithm/operations/NeedleOperations.h>
+#include <CollisionAlgorithm/proximity/EdgeProximity.h>
 #include <sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h>
 #include <sofa/component/statecontainer/MechanicalObject.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 
 class InsertionAlgorithm : public BaseAlgorithm
@@ -326,4 +325,4 @@ class InsertionAlgorithm : public BaseAlgorithm
     }
 };
 
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/broadphase/AABBBroadPhase.cpp b/src/CollisionAlgorithm/broadphase/AABBBroadPhase.cpp
similarity index 83%
rename from src/sofa/collisionAlgorithm/broadphase/AABBBroadPhase.cpp
rename to src/CollisionAlgorithm/broadphase/AABBBroadPhase.cpp
index 5eb097bf..3d2011ff 100644
--- a/src/sofa/collisionAlgorithm/broadphase/AABBBroadPhase.cpp
+++ b/src/CollisionAlgorithm/broadphase/AABBBroadPhase.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/broadphase/AABBBroadPhase.h>
+#include <CollisionAlgorithm/broadphase/AABBBroadPhase.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerAABBBroadPhase(sofa::core::ObjectFactory* factory)
 {
@@ -15,4 +15,4 @@ void registerAABBBroadPhase(sofa::core::ObjectFactory* factory)
         )")
                                  .add<AABBBroadPhase>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/broadphase/AABBBroadPhase.h b/src/CollisionAlgorithm/broadphase/AABBBroadPhase.h
similarity index 96%
rename from src/sofa/collisionAlgorithm/broadphase/AABBBroadPhase.h
rename to src/CollisionAlgorithm/broadphase/AABBBroadPhase.h
index 92943aad..686bc702 100644
--- a/src/sofa/collisionAlgorithm/broadphase/AABBBroadPhase.h
+++ b/src/CollisionAlgorithm/broadphase/AABBBroadPhase.h
@@ -1,11 +1,11 @@
 #pragma once
 
 #include <sofa/helper/AdvancedTimer.h>
-#include <sofa/collisionAlgorithm/BaseAABBBroadPhase.h>
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseAABBBroadPhase.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 /**
  * @brief A class for broad-phase collision detection using Axis-Aligned Bounding Boxes (AABB).
@@ -170,4 +170,4 @@ class AABBBroadPhase : public BaseAABBBroadPhase {
     type::Vec<2, size_t> m_offset;
 };
 
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.cpp b/src/CollisionAlgorithm/broadphase/FullAABBBroadPhase.cpp
similarity index 59%
rename from src/sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.cpp
rename to src/CollisionAlgorithm/broadphase/FullAABBBroadPhase.cpp
index e19aef85..5e5399c0 100644
--- a/src/sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.cpp
+++ b/src/CollisionAlgorithm/broadphase/FullAABBBroadPhase.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.h>
+#include <CollisionAlgorithm/broadphase/FullAABBBroadPhase.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerFullAABBBroadPhase(sofa::core::ObjectFactory* factory)
 {
     factory->registerObjects(sofa::core::ObjectRegistrationData("").add<FullAABBBroadPhase>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.h b/src/CollisionAlgorithm/broadphase/FullAABBBroadPhase.h
similarity index 87%
rename from src/sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.h
rename to src/CollisionAlgorithm/broadphase/FullAABBBroadPhase.h
index 87e5ddab..11081202 100644
--- a/src/sofa/collisionAlgorithm/broadphase/FullAABBBroadPhase.h
+++ b/src/CollisionAlgorithm/broadphase/FullAABBBroadPhase.h
@@ -1,11 +1,11 @@
 #pragma once
 
 #include <sofa/helper/AdvancedTimer.h>
-#include <sofa/collisionAlgorithm/BaseAABBBroadPhase.h>
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseAABBBroadPhase.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class FullAABBBroadPhase : public BaseAABBBroadPhase {
 public:
diff --git a/src/CollisionAlgorithm/config.h.in b/src/CollisionAlgorithm/config.h.in
new file mode 100644
index 00000000..6410d2b9
--- /dev/null
+++ b/src/CollisionAlgorithm/config.h.in
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <sofa/config.h>
+#include <sofa/config/sharedlibrary_defines.h>
+
+#define COLLISIONALGORITHM_VERSION @PROJECT_VERSION@
+
+#ifdef SOFA_BUILD_COLLISIONALGORITHM
+#  define SOFA_TARGET @PROJECT_NAME@
+#  define SOFA_COLLISIONALGORITHM_API SOFA_EXPORT_DYNAMIC_LIBRARY
+#else
+#  define SOFA_COLLISIONALGORITHM_API SOFA_IMPORT_DYNAMIC_LIBRARY
+#endif
+
+namespace sofa::collisionalgorithm
+{
+    constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+    constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+}
diff --git a/src/sofa/collisionAlgorithm/elements/EdgeElement.cpp b/src/CollisionAlgorithm/elements/EdgeElement.cpp
similarity index 60%
rename from src/sofa/collisionAlgorithm/elements/EdgeElement.cpp
rename to src/CollisionAlgorithm/elements/EdgeElement.cpp
index 0b093004..748840d1 100644
--- a/src/sofa/collisionAlgorithm/elements/EdgeElement.cpp
+++ b/src/CollisionAlgorithm/elements/EdgeElement.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/proximity/EdgeProximity.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/proximity/EdgeProximity.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 EdgeElement::SPtr EdgeElement::create(const PointElement::SPtr & p0, const PointElement::SPtr & p1) {
     EdgeElement::SPtr res = EdgeElement::SPtr(new EdgeElement());
diff --git a/src/sofa/collisionAlgorithm/elements/EdgeElement.h b/src/CollisionAlgorithm/elements/EdgeElement.h
similarity index 91%
rename from src/sofa/collisionAlgorithm/elements/EdgeElement.h
rename to src/CollisionAlgorithm/elements/EdgeElement.h
index 682074c4..b095003a 100644
--- a/src/sofa/collisionAlgorithm/elements/EdgeElement.h
+++ b/src/CollisionAlgorithm/elements/EdgeElement.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class EdgeElement : public BaseElement {
 public:
diff --git a/src/CollisionAlgorithm/elements/PointElement.cpp b/src/CollisionAlgorithm/elements/PointElement.cpp
new file mode 100644
index 00000000..eca1d6e6
--- /dev/null
+++ b/src/CollisionAlgorithm/elements/PointElement.cpp
@@ -0,0 +1,13 @@
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/proximity/PointProximity.h>
+
+namespace sofa::collisionalgorithm {
+
+PointElement::SPtr PointElement::create(const BaseProximity::SPtr &prox) {
+    return PointElement::SPtr(new PointElement(prox));
+}
+
+}
diff --git a/src/sofa/collisionAlgorithm/elements/PointElement.h b/src/CollisionAlgorithm/elements/PointElement.h
similarity index 95%
rename from src/sofa/collisionAlgorithm/elements/PointElement.h
rename to src/CollisionAlgorithm/elements/PointElement.h
index b90d8776..4b2bf2be 100644
--- a/src/sofa/collisionAlgorithm/elements/PointElement.h
+++ b/src/CollisionAlgorithm/elements/PointElement.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseElement.h>
 #include <sofa/gl/gl.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class PointElement : public BaseElement {
 public:
diff --git a/src/sofa/collisionAlgorithm/elements/TetrahedronElement.cpp b/src/CollisionAlgorithm/elements/TetrahedronElement.cpp
similarity index 87%
rename from src/sofa/collisionAlgorithm/elements/TetrahedronElement.cpp
rename to src/CollisionAlgorithm/elements/TetrahedronElement.cpp
index d3eddf4c..1a0e7fee 100644
--- a/src/sofa/collisionAlgorithm/elements/TetrahedronElement.cpp
+++ b/src/CollisionAlgorithm/elements/TetrahedronElement.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/proximity/TetrahedronProximity.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 TetrahedronElement::SPtr TetrahedronElement::create(PointElement::SPtr p0,PointElement::SPtr p1,PointElement::SPtr p2,PointElement::SPtr p3,
                                                     EdgeElement::SPtr e0, EdgeElement::SPtr e1, EdgeElement::SPtr e2, EdgeElement::SPtr e3,EdgeElement::SPtr e4,EdgeElement::SPtr e5,
diff --git a/src/sofa/collisionAlgorithm/elements/TetrahedronElement.h b/src/CollisionAlgorithm/elements/TetrahedronElement.h
similarity index 96%
rename from src/sofa/collisionAlgorithm/elements/TetrahedronElement.h
rename to src/CollisionAlgorithm/elements/TetrahedronElement.h
index ccc6697f..a7c74bbf 100644
--- a/src/sofa/collisionAlgorithm/elements/TetrahedronElement.h
+++ b/src/CollisionAlgorithm/elements/TetrahedronElement.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class TetrahedronElement : public BaseElement {
 public:
diff --git a/src/sofa/collisionAlgorithm/elements/TriangleElement.cpp b/src/CollisionAlgorithm/elements/TriangleElement.cpp
similarity index 78%
rename from src/sofa/collisionAlgorithm/elements/TriangleElement.cpp
rename to src/CollisionAlgorithm/elements/TriangleElement.cpp
index dcc3a44f..7356fbb2 100644
--- a/src/sofa/collisionAlgorithm/elements/TriangleElement.cpp
+++ b/src/CollisionAlgorithm/elements/TriangleElement.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/proximity/TriangleProximity.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/proximity/TriangleProximity.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 TriangleElement::SPtr TriangleElement::create(BaseProximity::SPtr prox0, BaseProximity::SPtr prox1,BaseProximity::SPtr prox2) {
     PointElement::SPtr p0 = PointElement::create(prox0);
diff --git a/src/sofa/collisionAlgorithm/elements/TriangleElement.h b/src/CollisionAlgorithm/elements/TriangleElement.h
similarity index 96%
rename from src/sofa/collisionAlgorithm/elements/TriangleElement.h
rename to src/CollisionAlgorithm/elements/TriangleElement.h
index 5271f5df..65010b69 100644
--- a/src/sofa/collisionAlgorithm/elements/TriangleElement.h
+++ b/src/CollisionAlgorithm/elements/TriangleElement.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class TriangleElement : public BaseElement {
 public:
diff --git a/src/sofa/collisionAlgorithm/filters/DistanceFilter.cpp b/src/CollisionAlgorithm/filters/DistanceFilter.cpp
similarity index 69%
rename from src/sofa/collisionAlgorithm/filters/DistanceFilter.cpp
rename to src/CollisionAlgorithm/filters/DistanceFilter.cpp
index 57043729..6fbeca89 100644
--- a/src/sofa/collisionAlgorithm/filters/DistanceFilter.cpp
+++ b/src/CollisionAlgorithm/filters/DistanceFilter.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/filters/DistanceFilter.h>
+#include <CollisionAlgorithm/filters/DistanceFilter.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerDistanceFilter(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerDistanceFilter(sofa::core::ObjectFactory* factory)
             "This class filters detected proximities based on their distance from source")
             .add<DistanceFilter>());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/filters/DistanceFilter.h b/src/CollisionAlgorithm/filters/DistanceFilter.h
similarity index 87%
rename from src/sofa/collisionAlgorithm/filters/DistanceFilter.h
rename to src/CollisionAlgorithm/filters/DistanceFilter.h
index 2432e6af..abcaa917 100644
--- a/src/sofa/collisionAlgorithm/filters/DistanceFilter.h
+++ b/src/CollisionAlgorithm/filters/DistanceFilter.h
@@ -1,8 +1,8 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 /*!
  * \brief The DistanceFilter class
diff --git a/src/sofa/collisionAlgorithm/geometry/EdgeGeometry.cpp b/src/CollisionAlgorithm/geometry/EdgeGeometry.cpp
similarity index 71%
rename from src/sofa/collisionAlgorithm/geometry/EdgeGeometry.cpp
rename to src/CollisionAlgorithm/geometry/EdgeGeometry.cpp
index a4ec0755..e62e758d 100644
--- a/src/sofa/collisionAlgorithm/geometry/EdgeGeometry.cpp
+++ b/src/CollisionAlgorithm/geometry/EdgeGeometry.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/geometry/EdgeGeometry.h>
+#include <CollisionAlgorithm/geometry/EdgeGeometry.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerEdgeGeometry(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerEdgeGeometry(sofa::core::ObjectFactory* factory)
             "A class bridging edge topological information with the proximity detection algorithm")
             .add<EdgeGeometry<sofa::defaulttype::Vec3dTypes> >());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/geometry/EdgeGeometry.h b/src/CollisionAlgorithm/geometry/EdgeGeometry.h
similarity index 85%
rename from src/sofa/collisionAlgorithm/geometry/EdgeGeometry.h
rename to src/CollisionAlgorithm/geometry/EdgeGeometry.h
index e66d0c1b..8391cc14 100644
--- a/src/sofa/collisionAlgorithm/geometry/EdgeGeometry.h
+++ b/src/CollisionAlgorithm/geometry/EdgeGeometry.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/geometry/PointGeometry.h>
-#include <sofa/collisionAlgorithm/toolbox/EdgeToolBox.h>
-#include <sofa/collisionAlgorithm/proximity/EdgeProximity.h>
+#include <CollisionAlgorithm/geometry/PointGeometry.h>
+#include <CollisionAlgorithm/toolbox/EdgeToolBox.h>
+#include <CollisionAlgorithm/proximity/EdgeProximity.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 template<class DataTypes>
 class EdgeGeometry : public PointGeometry<DataTypes> {
diff --git a/src/sofa/collisionAlgorithm/geometry/PointGeometry.cpp b/src/CollisionAlgorithm/geometry/PointGeometry.cpp
similarity index 72%
rename from src/sofa/collisionAlgorithm/geometry/PointGeometry.cpp
rename to src/CollisionAlgorithm/geometry/PointGeometry.cpp
index 24b54f66..eb17719a 100644
--- a/src/sofa/collisionAlgorithm/geometry/PointGeometry.cpp
+++ b/src/CollisionAlgorithm/geometry/PointGeometry.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/geometry/PointGeometry.h>
+#include <CollisionAlgorithm/geometry/PointGeometry.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerPointGeometry(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerPointGeometry(sofa::core::ObjectFactory* factory)
             "A class bridging point topological information with the proximity detection algorithm")
             .add<PointGeometry<sofa::defaulttype::Vec3dTypes> >());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/geometry/PointGeometry.h b/src/CollisionAlgorithm/geometry/PointGeometry.h
similarity index 76%
rename from src/sofa/collisionAlgorithm/geometry/PointGeometry.h
rename to src/CollisionAlgorithm/geometry/PointGeometry.h
index db94e7bb..59de30ab 100644
--- a/src/sofa/collisionAlgorithm/geometry/PointGeometry.h
+++ b/src/CollisionAlgorithm/geometry/PointGeometry.h
@@ -1,14 +1,14 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/collisionAlgorithm/proximity/PointProximity.h>
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/toolbox/PointToolBox.h>
-#include <sofa/collisionAlgorithm/proximity/MechanicalProximity.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/proximity/PointProximity.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/toolbox/PointToolBox.h>
+#include <CollisionAlgorithm/proximity/MechanicalProximity.h>
 
 namespace sofa {
 
-namespace collisionAlgorithm {
+namespace collisionalgorithm {
 
 template<class DataTypes>
 class PointGeometry : public TBaseGeometry<DataTypes> {
diff --git a/src/sofa/collisionAlgorithm/geometry/SubsetGeometry.cpp b/src/CollisionAlgorithm/geometry/SubsetGeometry.cpp
similarity index 64%
rename from src/sofa/collisionAlgorithm/geometry/SubsetGeometry.cpp
rename to src/CollisionAlgorithm/geometry/SubsetGeometry.cpp
index 90143a4f..2a30ca15 100644
--- a/src/sofa/collisionAlgorithm/geometry/SubsetGeometry.cpp
+++ b/src/CollisionAlgorithm/geometry/SubsetGeometry.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/geometry/SubsetGeometry.h>
+#include <CollisionAlgorithm/geometry/SubsetGeometry.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerSubsetGeometry(sofa::core::ObjectFactory* factory)
 {
@@ -9,4 +9,4 @@ void registerSubsetGeometry(sofa::core::ObjectFactory* factory)
         sofa::core::ObjectRegistrationData("")
             .add<SubsetGeometry<sofa::defaulttype::Vec3dTypes> >());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/geometry/SubsetGeometry.h b/src/CollisionAlgorithm/geometry/SubsetGeometry.h
similarity index 89%
rename from src/sofa/collisionAlgorithm/geometry/SubsetGeometry.h
rename to src/CollisionAlgorithm/geometry/SubsetGeometry.h
index 26b56bbe..3f08cf73 100644
--- a/src/sofa/collisionAlgorithm/geometry/SubsetGeometry.h
+++ b/src/CollisionAlgorithm/geometry/SubsetGeometry.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/collisionAlgorithm/proximity/PointProximity.h>
-#include <sofa/collisionAlgorithm/toolbox/PointToolBox.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/proximity/PointProximity.h>
+#include <CollisionAlgorithm/toolbox/PointToolBox.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 template<class DataTypes>
 class SubsetGeometry : public TBaseGeometry<DataTypes> {
diff --git a/src/sofa/collisionAlgorithm/geometry/TetrahedronGeometry.cpp b/src/CollisionAlgorithm/geometry/TetrahedronGeometry.cpp
similarity index 75%
rename from src/sofa/collisionAlgorithm/geometry/TetrahedronGeometry.cpp
rename to src/CollisionAlgorithm/geometry/TetrahedronGeometry.cpp
index aac4b8d5..156c2b16 100644
--- a/src/sofa/collisionAlgorithm/geometry/TetrahedronGeometry.cpp
+++ b/src/CollisionAlgorithm/geometry/TetrahedronGeometry.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/geometry/TetrahedronGeometry.h>
+#include <CollisionAlgorithm/geometry/TetrahedronGeometry.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerTetrahedronGeometry(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerTetrahedronGeometry(sofa::core::ObjectFactory* factory)
                                  "the proximity detection algorithm")
                                  .add<TetrahedronGeometry<sofa::defaulttype::Vec3dTypes> >());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/geometry/TetrahedronGeometry.h b/src/CollisionAlgorithm/geometry/TetrahedronGeometry.h
similarity index 88%
rename from src/sofa/collisionAlgorithm/geometry/TetrahedronGeometry.h
rename to src/CollisionAlgorithm/geometry/TetrahedronGeometry.h
index 4be0fae6..dad4e4a3 100644
--- a/src/sofa/collisionAlgorithm/geometry/TetrahedronGeometry.h
+++ b/src/CollisionAlgorithm/geometry/TetrahedronGeometry.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/geometry/TriangleGeometry.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
+#include <CollisionAlgorithm/geometry/TriangleGeometry.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/proximity/TetrahedronProximity.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 template<class DataTypes>
 class TetrahedronGeometry : public TriangleGeometry<DataTypes> {
diff --git a/src/sofa/collisionAlgorithm/geometry/TriangleGeometry.cpp b/src/CollisionAlgorithm/geometry/TriangleGeometry.cpp
similarity index 73%
rename from src/sofa/collisionAlgorithm/geometry/TriangleGeometry.cpp
rename to src/CollisionAlgorithm/geometry/TriangleGeometry.cpp
index 7790b145..b6fadbf1 100644
--- a/src/sofa/collisionAlgorithm/geometry/TriangleGeometry.cpp
+++ b/src/CollisionAlgorithm/geometry/TriangleGeometry.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/geometry/TriangleGeometry.h>
+#include <CollisionAlgorithm/geometry/TriangleGeometry.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 void registerTriangleGeometry(sofa::core::ObjectFactory* factory)
 {
@@ -10,4 +10,4 @@ void registerTriangleGeometry(sofa::core::ObjectFactory* factory)
                                            "the proximity detection algorithm")
             .add<TriangleGeometry<sofa::defaulttype::Vec3dTypes> >());
 }
-}  // namespace sofa::collisionAlgorithm
+}  // namespace sofa::collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/geometry/TriangleGeometry.h b/src/CollisionAlgorithm/geometry/TriangleGeometry.h
similarity index 84%
rename from src/sofa/collisionAlgorithm/geometry/TriangleGeometry.h
rename to src/CollisionAlgorithm/geometry/TriangleGeometry.h
index 6bab6515..dc20bcce 100644
--- a/src/sofa/collisionAlgorithm/geometry/TriangleGeometry.h
+++ b/src/CollisionAlgorithm/geometry/TriangleGeometry.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/geometry/EdgeGeometry.h>
-#include <sofa/collisionAlgorithm/proximity/TriangleProximity.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/geometry/EdgeGeometry.h>
+#include <CollisionAlgorithm/proximity/TriangleProximity.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 template<class DataTypes>
 class TriangleGeometry : public EdgeGeometry<DataTypes> {
diff --git a/src/sofa/collisionAlgorithm/initPlugin.cpp b/src/CollisionAlgorithm/initCollisionAlgorithm.cpp
similarity index 78%
rename from src/sofa/collisionAlgorithm/initPlugin.cpp
rename to src/CollisionAlgorithm/initCollisionAlgorithm.cpp
index 94288219..ba5b0849 100644
--- a/src/sofa/collisionAlgorithm/initPlugin.cpp
+++ b/src/CollisionAlgorithm/initCollisionAlgorithm.cpp
@@ -1,3 +1,5 @@
+#include <CollisionAlgorithm/initCollisionAlgorithm.h>
+
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/FileRepository.h>
 #include <sofa/helper/system/PluginManager.h>
@@ -10,7 +12,7 @@
 #define Q(x) #x
 #define QUOTE(x) Q(x)
 
-namespace sofa::collisionAlgorithm
+namespace sofa::collisionalgorithm
 {
 
 // CollisionPipeline
@@ -34,21 +36,15 @@ extern void registerPointGeometry(sofa::core::ObjectFactory* factory);
 extern void registerEdgeGeometry(sofa::core::ObjectFactory* factory);
 extern void registerTriangleGeometry(sofa::core::ObjectFactory* factory);
 extern void registerTetrahedronGeometry(sofa::core::ObjectFactory* factory);
-}  // namespace sofa::collisionAlgorithm
-
-namespace sofa::component
-{
-
-// Here are just several convenient functions to help user to know what contains the plugin
 
 extern "C"
 {
-    void initExternalModule();
-    const char* getModuleName();
-    const char* getModuleVersion();
-    const char* getModuleLicense();
-    const char* getModuleDescription();
-    void registerObjects(sofa::core::ObjectFactory* factory);
+    SOFA_COLLISIONALGORITHM_API void initExternalModule();
+    SOFA_COLLISIONALGORITHM_API const char* getModuleName();
+    SOFA_COLLISIONALGORITHM_API const char* getModuleVersion();
+    SOFA_COLLISIONALGORITHM_API const char* getModuleLicense();
+    SOFA_COLLISIONALGORITHM_API const char* getModuleDescription();
+    SOFA_COLLISIONALGORITHM_API void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initCollisionAlgorithm() 
@@ -56,6 +52,9 @@ void initCollisionAlgorithm()
     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;
 #ifdef PLUGIN_DATA_DIR
         sofa::helper::system::DataRepository.addLastPath(std::string(QUOTE(PLUGIN_DATA_DIR)));
@@ -70,7 +69,7 @@ void initExternalModule()
     initCollisionAlgorithm();
 }
 
-const char* getModuleName() { return "CollisionAlgorithm"; }
+const char* getModuleName() { return MODULE_NAME; }
 
 const char* getModuleVersion()
 {
@@ -87,7 +86,6 @@ const char* getModuleDescription() { return "Plugin for collision detection"; }
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    using namespace sofa::collisionAlgorithm;
     // Register CollisionPipeline
     registerCollisionLoop(factory);
     // Register Algorithms
@@ -107,4 +105,4 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     registerTetrahedronGeometry(factory);
 }
 
-}  // namespace sofa::component
+}  // namespace collisionalgorithm
diff --git a/src/CollisionAlgorithm/initCollisionAlgorithm.h b/src/CollisionAlgorithm/initCollisionAlgorithm.h
new file mode 100644
index 00000000..d6a9e848
--- /dev/null
+++ b/src/CollisionAlgorithm/initCollisionAlgorithm.h
@@ -0,0 +1,7 @@
+#pragma once
+#include <CollisionAlgorithm/config.h>
+
+namespace collisionalgorithm
+{
+    void SOFA_COLLISIONALGORITHM_API initCollisionAlgorithm();
+} // namespace collisionalgorithm
diff --git a/src/sofa/collisionAlgorithm/operations/ContainsPoint.cpp b/src/CollisionAlgorithm/operations/ContainsPoint.cpp
similarity index 56%
rename from src/sofa/collisionAlgorithm/operations/ContainsPoint.cpp
rename to src/CollisionAlgorithm/operations/ContainsPoint.cpp
index b6147edb..a171ebe5 100644
--- a/src/sofa/collisionAlgorithm/operations/ContainsPoint.cpp
+++ b/src/CollisionAlgorithm/operations/ContainsPoint.cpp
@@ -1,8 +1,8 @@
-#include <sofa/collisionAlgorithm/operations/ContainsPoint.h>
-#include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
-#include <sofa/collisionAlgorithm/proximity/TriangleProximity.h>
+#include <CollisionAlgorithm/operations/ContainsPoint.h>
+#include <CollisionAlgorithm/proximity/TetrahedronProximity.h>
+#include <CollisionAlgorithm/proximity/TriangleProximity.h>
 
-namespace sofa::collisionAlgorithm::Operations::ContainsPointInElement
+namespace sofa::collisionalgorithm::Operations::ContainsPointInElement
 {
 
 int register_ContainsPoint_Triangle =
@@ -11,9 +11,9 @@ int register_ContainsPoint_Triangle =
 int register_ContainsPoint_Tetrahedron =
     Operation::register_func<TetrahedronElement>(&toolbox::TetrahedronToolBox::containsPoint);
 
-}  // namespace sofa::collisionAlgorithm::Operations::ContainsPointInElement
+}  // namespace sofa::collisionalgorithm::Operations::ContainsPointInElement
 
-namespace sofa::collisionAlgorithm::Operations::ContainsPointInProximity
+namespace sofa::collisionalgorithm::Operations::ContainsPointInProximity
 {
 
 int register_ContainsPointInProximity_Triangle =
@@ -22,4 +22,4 @@ int register_ContainsPointInProximity_Triangle =
 int register_ContainsPointInProximity_Tetrahedron =
     Operation::register_func<TetrahedronElement>(&containsPoint<TetrahedronProximity>);
 
-}  // namespace sofa::collisionAlgorithm::Operations::ContainsPointInProximity
+}  // namespace sofa::collisionalgorithm::Operations::ContainsPointInProximity
diff --git a/src/sofa/collisionAlgorithm/operations/ContainsPoint.h b/src/CollisionAlgorithm/operations/ContainsPoint.h
similarity index 82%
rename from src/sofa/collisionAlgorithm/operations/ContainsPoint.h
rename to src/CollisionAlgorithm/operations/ContainsPoint.h
index e03407a9..e4edf11e 100644
--- a/src/sofa/collisionAlgorithm/operations/ContainsPoint.h
+++ b/src/CollisionAlgorithm/operations/ContainsPoint.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseElement.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/BaseElement.h>
+#include <CollisionAlgorithm/BaseOperation.h>
 
-namespace sofa::collisionAlgorithm::Operations::ContainsPointInElement
+namespace sofa::collisionalgorithm::Operations::ContainsPointInElement
 {
 
 typedef bool Result;
@@ -26,9 +26,9 @@ class Operation : public GenericOperation<Operation,  // Type of the operation
 
 typedef Operation::FUNC FUNC;
 
-}  // namespace sofa::collisionAlgorithm::Operations::ContainsPointInElement
+}  // namespace sofa::collisionalgorithm::Operations::ContainsPointInElement
 
-namespace sofa::collisionAlgorithm::Operations::ContainsPointInProximity
+namespace sofa::collisionalgorithm::Operations::ContainsPointInProximity
 {
 
 typedef bool Result;
@@ -65,10 +65,10 @@ Result containsPoint(const type::Vec3& P, const typename std::shared_ptr<PROX>&
 
     auto elem = prox->element();
     auto containsPointInElem =
-        sofa::collisionAlgorithm::Operations::ContainsPointInElement::Operation::get(elem);
+        sofa::collisionalgorithm::Operations::ContainsPointInElement::Operation::get(elem);
     return containsPointInElem(P, elem);
 }
 
 typedef Operation::FUNC FUNC;
 
-}  // namespace sofa::collisionAlgorithm::Operations::ContainsPointInProximity
+}  // namespace sofa::collisionalgorithm::Operations::ContainsPointInProximity
diff --git a/src/sofa/collisionAlgorithm/operations/CreateCenterProximity.cpp b/src/CollisionAlgorithm/operations/CreateCenterProximity.cpp
similarity index 58%
rename from src/sofa/collisionAlgorithm/operations/CreateCenterProximity.cpp
rename to src/CollisionAlgorithm/operations/CreateCenterProximity.cpp
index 4456712d..0ea11073 100644
--- a/src/sofa/collisionAlgorithm/operations/CreateCenterProximity.cpp
+++ b/src/CollisionAlgorithm/operations/CreateCenterProximity.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-#include <sofa/collisionAlgorithm/toolbox/PointToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/EdgeToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/toolbox/PointToolBox.h>
+#include <CollisionAlgorithm/toolbox/EdgeToolBox.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/toolbox/TetrahedronToolBox.h>
 
-namespace sofa::collisionAlgorithm::Operations::CreateCenterProximity {
+namespace sofa::collisionalgorithm::Operations::CreateCenterProximity {
 
 int register_CenterProximity_Point = Operation::register_func<PointElement>(&toolbox::PointToolBox::createCenterProximity);
 
diff --git a/src/sofa/collisionAlgorithm/operations/CreateCenterProximity.h b/src/CollisionAlgorithm/operations/CreateCenterProximity.h
similarity index 71%
rename from src/sofa/collisionAlgorithm/operations/CreateCenterProximity.h
rename to src/CollisionAlgorithm/operations/CreateCenterProximity.h
index e567b76a..bcaf53b4 100644
--- a/src/sofa/collisionAlgorithm/operations/CreateCenterProximity.h
+++ b/src/CollisionAlgorithm/operations/CreateCenterProximity.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/proximity/MultiProximity.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/proximity/MultiProximity.h>
 
-namespace sofa::collisionAlgorithm::Operations::CreateCenterProximity {
+namespace sofa::collisionalgorithm::Operations::CreateCenterProximity {
 
 typedef BaseProximity::SPtr Result;
 
diff --git a/src/CollisionAlgorithm/operations/FindClosestProximity.cpp b/src/CollisionAlgorithm/operations/FindClosestProximity.cpp
new file mode 100644
index 00000000..cd7d38a9
--- /dev/null
+++ b/src/CollisionAlgorithm/operations/FindClosestProximity.cpp
@@ -0,0 +1,10 @@
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/toolbox/PointToolBox.h>
+#include <CollisionAlgorithm/toolbox/EdgeToolBox.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/toolbox/TetrahedronToolBox.h>
+
+namespace sofa::collisionalgorithm::Operations {
+
+}
+
diff --git a/src/sofa/collisionAlgorithm/operations/FindClosestProximity.h b/src/CollisionAlgorithm/operations/FindClosestProximity.h
similarity index 97%
rename from src/sofa/collisionAlgorithm/operations/FindClosestProximity.h
rename to src/CollisionAlgorithm/operations/FindClosestProximity.h
index 4e76c272..e446ba6a 100644
--- a/src/sofa/collisionAlgorithm/operations/FindClosestProximity.h
+++ b/src/CollisionAlgorithm/operations/FindClosestProximity.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseOperation.h>
 #include <limits.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/Project.h>
 
-namespace sofa::collisionAlgorithm::Operations::FindClosestProximity {
+namespace sofa::collisionalgorithm::Operations::FindClosestProximity {
 
 typedef BaseProximity::SPtr Result;
 typedef std::function<bool(const BaseProximity::SPtr&,const BaseProximity::SPtr&)> FilterFUNC;
diff --git a/src/sofa/collisionAlgorithm/operations/NeedleOperations.cpp b/src/CollisionAlgorithm/operations/NeedleOperations.cpp
similarity index 83%
rename from src/sofa/collisionAlgorithm/operations/NeedleOperations.cpp
rename to src/CollisionAlgorithm/operations/NeedleOperations.cpp
index dbde50a2..1cf2cb54 100644
--- a/src/sofa/collisionAlgorithm/operations/NeedleOperations.cpp
+++ b/src/CollisionAlgorithm/operations/NeedleOperations.cpp
@@ -1,6 +1,6 @@
-#include <sofa/collisionAlgorithm/operations/NeedleOperations.h>
+#include <CollisionAlgorithm/operations/NeedleOperations.h>
 
-namespace sofa::collisionAlgorithm::Operations::Needle
+namespace sofa::collisionalgorithm::Operations::Needle
 {
 
 bool prunePointsUsingEdges(std::vector<BaseProximity::SPtr>& couplingPts,
@@ -28,4 +28,4 @@ bool prunePointsUsingEdges(std::vector<BaseProximity::SPtr>& couplingPts,
 
 int register_PrunePointsAheadOfTip_Edge =
     PrunePointsAheadOfTip::register_func<EdgeElement>(&prunePointsUsingEdges);
-}  // namespace sofa::collisionAlgorithm::Operations::Needle
+}  // namespace sofa::collisionalgorithm::Operations::Needle
diff --git a/src/sofa/collisionAlgorithm/operations/NeedleOperations.h b/src/CollisionAlgorithm/operations/NeedleOperations.h
similarity index 77%
rename from src/sofa/collisionAlgorithm/operations/NeedleOperations.h
rename to src/CollisionAlgorithm/operations/NeedleOperations.h
index 8b0b553c..4466e22f 100644
--- a/src/sofa/collisionAlgorithm/operations/NeedleOperations.h
+++ b/src/CollisionAlgorithm/operations/NeedleOperations.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseOperation.h>
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
 
-namespace sofa::collisionAlgorithm::Operations::Needle
+namespace sofa::collisionalgorithm::Operations::Needle
 {
 
 class PrunePointsAheadOfTip
@@ -31,4 +31,4 @@ class PrunePointsAheadOfTip
 bool prunePointsUsingEdges(std::vector<BaseProximity::SPtr>& couplingPts,
                            const EdgeElement::SPtr& edgeProx);
 
-}  // namespace sofa::collisionAlgorithm::Operations::Needle
+}  // namespace sofa::collisionalgorithm::Operations::Needle
diff --git a/src/sofa/collisionAlgorithm/operations/Project.cpp b/src/CollisionAlgorithm/operations/Project.cpp
similarity index 55%
rename from src/sofa/collisionAlgorithm/operations/Project.cpp
rename to src/CollisionAlgorithm/operations/Project.cpp
index 9bae6a46..8c9762bd 100644
--- a/src/sofa/collisionAlgorithm/operations/Project.cpp
+++ b/src/CollisionAlgorithm/operations/Project.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/toolbox/PointToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/EdgeToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/toolbox/PointToolBox.h>
+#include <CollisionAlgorithm/toolbox/EdgeToolBox.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/toolbox/TetrahedronToolBox.h>
 
-namespace sofa::collisionAlgorithm::Operations::Project {
+namespace sofa::collisionalgorithm::Operations::Project {
 
 int register_Project_Point = Operation::register_func<PointElement>(&toolbox::PointToolBox::project);
 
diff --git a/src/sofa/collisionAlgorithm/operations/Project.h b/src/CollisionAlgorithm/operations/Project.h
similarity index 80%
rename from src/sofa/collisionAlgorithm/operations/Project.h
rename to src/CollisionAlgorithm/operations/Project.h
index 8010eeb1..e5e82cd1 100644
--- a/src/sofa/collisionAlgorithm/operations/Project.h
+++ b/src/CollisionAlgorithm/operations/Project.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/BaseOperation.h>
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseOperation.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
 #include <limits.h>
 
-namespace sofa::collisionAlgorithm::Operations::Project {
+namespace sofa::collisionalgorithm::Operations::Project {
 
 struct Result {
     Result() {}
diff --git a/src/sofa/collisionAlgorithm/proximity/EdgeProximity.h b/src/CollisionAlgorithm/proximity/EdgeProximity.h
similarity index 94%
rename from src/sofa/collisionAlgorithm/proximity/EdgeProximity.h
rename to src/CollisionAlgorithm/proximity/EdgeProximity.h
index 0c0f87f8..45d33281 100644
--- a/src/sofa/collisionAlgorithm/proximity/EdgeProximity.h
+++ b/src/CollisionAlgorithm/proximity/EdgeProximity.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class EdgeProximity : public BaseProximity {
 public:
diff --git a/src/sofa/collisionAlgorithm/proximity/FixedProximity.h b/src/CollisionAlgorithm/proximity/FixedProximity.h
similarity index 89%
rename from src/sofa/collisionAlgorithm/proximity/FixedProximity.h
rename to src/CollisionAlgorithm/proximity/FixedProximity.h
index 6681112b..3c27fca4 100644
--- a/src/sofa/collisionAlgorithm/proximity/FixedProximity.h
+++ b/src/CollisionAlgorithm/proximity/FixedProximity.h
@@ -1,13 +1,13 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseProximity.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class FixedProximity : public BaseProximity{
 public:
   typedef std::shared_ptr<FixedProximity> SPtr;
-  typedef typename collisionAlgorithm::BaseProximity Inherits;
+  typedef typename collisionalgorithm::BaseProximity Inherits;
   typedef type::Vec3d Vec3d;
 
   FixedProximity(Vec3d P ) : m_position(P) { m_normal = Vec3d(); }
diff --git a/src/sofa/collisionAlgorithm/proximity/MechanicalProximity.h b/src/CollisionAlgorithm/proximity/MechanicalProximity.h
similarity index 95%
rename from src/sofa/collisionAlgorithm/proximity/MechanicalProximity.h
rename to src/CollisionAlgorithm/proximity/MechanicalProximity.h
index 010a9368..915430d9 100644
--- a/src/sofa/collisionAlgorithm/proximity/MechanicalProximity.h
+++ b/src/CollisionAlgorithm/proximity/MechanicalProximity.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 template<class DataTypes>
 class MechanicalProximity : public BaseProximity {
diff --git a/src/sofa/collisionAlgorithm/proximity/MultiProximity.h b/src/CollisionAlgorithm/proximity/MultiProximity.h
similarity index 95%
rename from src/sofa/collisionAlgorithm/proximity/MultiProximity.h
rename to src/CollisionAlgorithm/proximity/MultiProximity.h
index 0f902933..3a2433ed 100644
--- a/src/sofa/collisionAlgorithm/proximity/MultiProximity.h
+++ b/src/CollisionAlgorithm/proximity/MultiProximity.h
@@ -1,8 +1,8 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseProximity.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class MultiProximity : public BaseProximity {
 public:
diff --git a/src/sofa/collisionAlgorithm/proximity/PointProximity.h b/src/CollisionAlgorithm/proximity/PointProximity.h
similarity index 94%
rename from src/sofa/collisionAlgorithm/proximity/PointProximity.h
rename to src/CollisionAlgorithm/proximity/PointProximity.h
index dbf93aca..d0d3d198 100644
--- a/src/sofa/collisionAlgorithm/proximity/PointProximity.h
+++ b/src/CollisionAlgorithm/proximity/PointProximity.h
@@ -1,8 +1,8 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class PointProximity : public BaseProximity {
 public:
diff --git a/src/sofa/collisionAlgorithm/proximity/TetrahedronProximity.h b/src/CollisionAlgorithm/proximity/TetrahedronProximity.h
similarity index 94%
rename from src/sofa/collisionAlgorithm/proximity/TetrahedronProximity.h
rename to src/CollisionAlgorithm/proximity/TetrahedronProximity.h
index 8b869361..fbe3a7fb 100644
--- a/src/sofa/collisionAlgorithm/proximity/TetrahedronProximity.h
+++ b/src/CollisionAlgorithm/proximity/TetrahedronProximity.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/toolbox/TetrahedronToolBox.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class TetrahedronProximity : public BaseProximity {
 public:
diff --git a/src/sofa/collisionAlgorithm/proximity/TriangleProximity.h b/src/CollisionAlgorithm/proximity/TriangleProximity.h
similarity index 94%
rename from src/sofa/collisionAlgorithm/proximity/TriangleProximity.h
rename to src/CollisionAlgorithm/proximity/TriangleProximity.h
index 8198f270..b5ba63de 100644
--- a/src/sofa/collisionAlgorithm/proximity/TriangleProximity.h
+++ b/src/CollisionAlgorithm/proximity/TriangleProximity.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
 
-namespace sofa::collisionAlgorithm {
+namespace sofa::collisionalgorithm {
 
 class TriangleProximity : public BaseProximity {
 public:
diff --git a/src/sofa/collisionAlgorithm/toolbox/EdgeToolBox.cpp b/src/CollisionAlgorithm/toolbox/EdgeToolBox.cpp
similarity index 89%
rename from src/sofa/collisionAlgorithm/toolbox/EdgeToolBox.cpp
rename to src/CollisionAlgorithm/toolbox/EdgeToolBox.cpp
index 5702c971..0972f3e4 100644
--- a/src/sofa/collisionAlgorithm/toolbox/EdgeToolBox.cpp
+++ b/src/CollisionAlgorithm/toolbox/EdgeToolBox.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/toolbox/EdgeToolBox.h>
-#include <sofa/collisionAlgorithm/proximity/EdgeProximity.h>
+#include <CollisionAlgorithm/toolbox/EdgeToolBox.h>
+#include <CollisionAlgorithm/proximity/EdgeProximity.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 Operations::CreateCenterProximity::Result EdgeToolBox::createCenterProximity(const EdgeElement::SPtr & edge) {
     return EdgeProximity::create(edge,0.5,0.5);
diff --git a/src/sofa/collisionAlgorithm/toolbox/EdgeToolBox.h b/src/CollisionAlgorithm/toolbox/EdgeToolBox.h
similarity index 64%
rename from src/sofa/collisionAlgorithm/toolbox/EdgeToolBox.h
rename to src/CollisionAlgorithm/toolbox/EdgeToolBox.h
index 829c7da0..520d9158 100644
--- a/src/sofa/collisionAlgorithm/toolbox/EdgeToolBox.h
+++ b/src/CollisionAlgorithm/toolbox/EdgeToolBox.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/EdgeElement.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 class EdgeToolBox {
 public:
diff --git a/src/sofa/collisionAlgorithm/toolbox/PointToolBox.cpp b/src/CollisionAlgorithm/toolbox/PointToolBox.cpp
similarity index 71%
rename from src/sofa/collisionAlgorithm/toolbox/PointToolBox.cpp
rename to src/CollisionAlgorithm/toolbox/PointToolBox.cpp
index d9f4fb29..d8534b60 100644
--- a/src/sofa/collisionAlgorithm/toolbox/PointToolBox.cpp
+++ b/src/CollisionAlgorithm/toolbox/PointToolBox.cpp
@@ -1,7 +1,7 @@
-#include <sofa/collisionAlgorithm/toolbox/PointToolBox.h>
-#include <sofa/collisionAlgorithm/proximity/PointProximity.h>
+#include <CollisionAlgorithm/toolbox/PointToolBox.h>
+#include <CollisionAlgorithm/proximity/PointProximity.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 Operations::CreateCenterProximity::Result PointToolBox::createCenterProximity(const PointElement::SPtr & point) {
     return point->getP0();
diff --git a/src/CollisionAlgorithm/toolbox/PointToolBox.h b/src/CollisionAlgorithm/toolbox/PointToolBox.h
new file mode 100644
index 00000000..6b3a03c3
--- /dev/null
+++ b/src/CollisionAlgorithm/toolbox/PointToolBox.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/PointElement.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+
+namespace sofa::collisionalgorithm::toolbox {
+
+class PointToolBox {
+public:
+
+    static Operations::CreateCenterProximity::Result createCenterProximity(const PointElement::SPtr & point);
+
+    static Operations::Project::Result project(const type::Vec3 & P, const PointElement::SPtr & point);
+
+};
+
+
+
+}
+
diff --git a/src/sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.cpp b/src/CollisionAlgorithm/toolbox/TetrahedronToolBox.cpp
similarity index 91%
rename from src/sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.cpp
rename to src/CollisionAlgorithm/toolbox/TetrahedronToolBox.cpp
index 8cb12f9a..0bf65ec1 100644
--- a/src/sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.cpp
+++ b/src/CollisionAlgorithm/toolbox/TetrahedronToolBox.cpp
@@ -1,10 +1,10 @@
-#include <sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/toolbox/TetrahedronToolBox.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/proximity/TetrahedronProximity.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 Operations::CreateCenterProximity::Result TetrahedronToolBox::createCenterProximity(const TetrahedronElement::SPtr & tetra) {
     return TetrahedronProximity::create(tetra, 1.0/4.0,1.0/4.0,1.0/4.0,1.0/4.0);
diff --git a/src/sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h b/src/CollisionAlgorithm/toolbox/TetrahedronToolBox.h
similarity index 75%
rename from src/sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h
rename to src/CollisionAlgorithm/toolbox/TetrahedronToolBox.h
index 75d6e701..542dc833 100644
--- a/src/sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h
+++ b/src/CollisionAlgorithm/toolbox/TetrahedronToolBox.h
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-#include <sofa/collisionAlgorithm/operations/ContainsPoint.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/TetrahedronElement.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/operations/ContainsPoint.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 class TetrahedronToolBox {
 public:
@@ -27,7 +27,4 @@ class TetrahedronToolBox {
 
 };
 
-
-
 }
-
diff --git a/src/sofa/collisionAlgorithm/toolbox/TriangleToolBox.cpp b/src/CollisionAlgorithm/toolbox/TriangleToolBox.cpp
similarity index 93%
rename from src/sofa/collisionAlgorithm/toolbox/TriangleToolBox.cpp
rename to src/CollisionAlgorithm/toolbox/TriangleToolBox.cpp
index 8af3bc7e..4de047b3 100644
--- a/src/sofa/collisionAlgorithm/toolbox/TriangleToolBox.cpp
+++ b/src/CollisionAlgorithm/toolbox/TriangleToolBox.cpp
@@ -1,8 +1,8 @@
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/EdgeToolBox.h>
-#include <sofa/collisionAlgorithm/proximity/TriangleProximity.h>
+#include <CollisionAlgorithm/toolbox/TriangleToolBox.h>
+#include <CollisionAlgorithm/toolbox/EdgeToolBox.h>
+#include <CollisionAlgorithm/proximity/TriangleProximity.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 Operations::CreateCenterProximity::Result TriangleToolBox::createCenterProximity(const TriangleElement::SPtr & tri) {
     return TriangleProximity::create(tri, 1.0/3.0,1.0/3.0,1.0/3.0);
diff --git a/src/sofa/collisionAlgorithm/toolbox/TriangleToolBox.h b/src/CollisionAlgorithm/toolbox/TriangleToolBox.h
similarity index 74%
rename from src/sofa/collisionAlgorithm/toolbox/TriangleToolBox.h
rename to src/CollisionAlgorithm/toolbox/TriangleToolBox.h
index f5bc8598..9fef9f69 100644
--- a/src/sofa/collisionAlgorithm/toolbox/TriangleToolBox.h
+++ b/src/CollisionAlgorithm/toolbox/TriangleToolBox.h
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-#include <sofa/collisionAlgorithm/operations/ContainsPoint.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/elements/TriangleElement.h>
+#include <CollisionAlgorithm/operations/Project.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/operations/ContainsPoint.h>
 
-namespace sofa::collisionAlgorithm::toolbox {
+namespace sofa::collisionalgorithm::toolbox {
 
 class TriangleToolBox {
 public:
@@ -27,7 +27,4 @@ class TriangleToolBox {
 
 };
 
-
-
 }
-
diff --git a/src/sofa/collisionAlgorithm/elements/PointElement.cpp b/src/sofa/collisionAlgorithm/elements/PointElement.cpp
deleted file mode 100644
index 3dffa86d..00000000
--- a/src/sofa/collisionAlgorithm/elements/PointElement.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/elements/EdgeElement.h>
-#include <sofa/collisionAlgorithm/elements/TriangleElement.h>
-#include <sofa/collisionAlgorithm/elements/TetrahedronElement.h>
-#include <sofa/collisionAlgorithm/proximity/PointProximity.h>
-
-namespace sofa::collisionAlgorithm {
-
-PointElement::SPtr PointElement::create(const BaseProximity::SPtr &prox) {
-    return PointElement::SPtr(new PointElement(prox));
-}
-
-}
diff --git a/src/sofa/collisionAlgorithm/operations/FindClosestProximity.cpp b/src/sofa/collisionAlgorithm/operations/FindClosestProximity.cpp
deleted file mode 100644
index 5dd545bb..00000000
--- a/src/sofa/collisionAlgorithm/operations/FindClosestProximity.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/toolbox/PointToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/EdgeToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TriangleToolBox.h>
-#include <sofa/collisionAlgorithm/toolbox/TetrahedronToolBox.h>
-
-namespace sofa::collisionAlgorithm::Operations {
-
-}
-
diff --git a/src/sofa/collisionAlgorithm/toolbox/PointToolBox.h b/src/sofa/collisionAlgorithm/toolbox/PointToolBox.h
deleted file mode 100644
index 8f9d3386..00000000
--- a/src/sofa/collisionAlgorithm/toolbox/PointToolBox.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/collisionAlgorithm/elements/PointElement.h>
-#include <sofa/collisionAlgorithm/operations/Project.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
-
-namespace sofa::collisionAlgorithm::toolbox {
-
-class PointToolBox {
-public:
-
-    static Operations::CreateCenterProximity::Result createCenterProximity(const PointElement::SPtr & point);
-
-    static Operations::Project::Result project(const type::Vec3 & P, const PointElement::SPtr & point);
-
-};
-
-
-
-}
-