diff --git a/examples/Cube_AdvCarvingTexcoords.scn b/examples/Cube_AdvCarvingTexcoords.scn
index 3471206..d996cd0 100644
--- a/examples/Cube_AdvCarvingTexcoords.scn
+++ b/examples/Cube_AdvCarvingTexcoords.scn
@@ -43,7 +43,7 @@
     <Node name="carvingElement">
         <MechanicalObject name="Particles" template="Rigid3d" position="5 12 5 0 0 0 1" />
         <UniformMass name="Mass" totalMass="10.0" template="Rigid3d"/>
-        <SphereCollisionModel name="tool" radius="0.1" tags="CarvingTool"/>
+        <SphereCollisionModel name="tool" radius="0.1" tags="CarvingTool" contactStiffness="10"/>
         <Node name="VisuTool" >
             <MeshOBJLoader name="meshLoader_1" filename="./mesh/sphere.obj" scale3d="0.1 0.1 0.1"/>
             <OglModel name="InstrumentVisualModel" src="@meshLoader_1" color="0.0 1.0 0.0 1.0" />
@@ -51,17 +51,19 @@
         </Node>        
     </Node>
 
-    <Node name="Hexa2Tetra" >
+    <Node name="Hexa2Tetra">
         <RegularGridTopology name="HexaTop" n="11 11 11" min="0 0 0" max="10 10 10" />
-        <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
-        <TetrahedronSetTopologyModifier name="Modifier"/>
-        <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="false" />
+        <Node name="TetraMesh">
+            <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
+            <TetrahedronSetTopologyModifier name="Modifier"/>
+            <Hexa2TetraTopologicalMapping input="@../HexaTop" output="@Container" swapping="false" />
+        </Node>
     </Node>
 
     <Node name="Cube">
-        <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
+        <MechanicalObject position="@../Hexa2Tetra/TetraMesh/Container.position" name="Volume" />
 
-        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/Container" />
+        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/TetraMesh/Container" />
         <TetrahedronSetTopologyModifier name="Modifier" />
         <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
 
@@ -78,8 +80,8 @@
             <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
             <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
 
-            <TriangleCollisionModel name="triangleCol" />
-            <PointCollisionModel name="pointCol" tags="CarvingSurface"/>
+            <TriangleCollisionModel name="triangleCol" contactStiffness="10"/>
+            <PointCollisionModel name="pointCol" contactStiffness="10" tags="CarvingSurface"/>
 
             <Node name="liver-Visual">
                 <OglModel name="Visual" texcoords="@../../../ACarving.texcoords" texturename="textures/colorMap.png" />
diff --git a/examples/Cube_Carving.scn b/examples/Cube_Carving.scn
index 9aa94a9..2c34011 100644
--- a/examples/Cube_Carving.scn
+++ b/examples/Cube_Carving.scn
@@ -39,20 +39,22 @@
     <Node name="carvingElement">
         <MechanicalObject name="Particles" template="Vec3d" position="5 15 5" velocity="0 0 0"/>
         <UniformMass name="Mass" totalMass="10.0" />
-        <SphereCollisionModel name="tool" radius="0.1" tags="CarvingTool"/>
+        <SphereCollisionModel name="tool" radius="0.1" contactStiffness="10" tags="CarvingTool"/>
     </Node>
 
-    <Node name="Hexa2Tetra" >
+    <Node name="Hexa2Tetra">
         <RegularGridTopology name="HexaTop" n="11 11 11" min="0 0 0" max="10 10 10" />
-        <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
-        <TetrahedronSetTopologyModifier name="Modifier"/>
-        <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="false" />
+        <Node name="TetraMesh">
+            <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
+            <TetrahedronSetTopologyModifier name="Modifier"/>
+            <Hexa2TetraTopologicalMapping input="@../HexaTop" output="@Container" swapping="false" />
+        </Node>
     </Node>
 
     <Node name="Cube">
-        <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
+        <MechanicalObject position="@../Hexa2Tetra/TetraMesh/Container.position" name="Volume" />
 
-        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/Container" />
+        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/TetraMesh/Container" />
         <TetrahedronSetTopologyModifier name="Modifier" />
         <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
 
@@ -69,8 +71,8 @@
             <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
             <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
 
-            <TriangleCollisionModel name="triangleCol" tags="CarvingSurface"/>
-            <PointCollisionModel name="pointCol" tags="CarvingSurface"/>
+            <TriangleCollisionModel name="triangleCol" contactStiffness="10" tags="CarvingSurface"/>
+            <PointCollisionModel name="pointCol" contactStiffness="10" tags="CarvingSurface"/>
 
             <Node name="liver-Visual">
                 <OglModel name="Visual" color="green" />
diff --git a/examples/Cube_CarvingWithPenetration.scn b/examples/Cube_CarvingWithPenetration.scn
index 51b8137..d692231 100644
--- a/examples/Cube_CarvingWithPenetration.scn
+++ b/examples/Cube_CarvingWithPenetration.scn
@@ -41,7 +41,7 @@
     <Node name="carvingElement">
         <MechanicalObject name="Particles" template="Rigid3d" position="5 15 5 0 0 0 1" />
         <UniformMass name="Mass" totalMass="10.0" template="Rigid3d"/>
-        <SphereCollisionModel name="tool" radius="0.1" tags="CarvingTool"/>
+        <SphereCollisionModel name="tool" radius="0.1" contactStiffness="10" tags="CarvingTool"/>
         <Node name="VisuTool" >
             <MeshOBJLoader name="meshLoader_1" filename="./mesh/sphere.obj" scale3d="0.1 0.1 0.1"/>
             <OglModel name="InstrumentVisualModel" src="@meshLoader_1" color="0.0 1.0 0.0 1.0" />
@@ -49,17 +49,19 @@
         </Node>        
     </Node>
 
-    <Node name="Hexa2Tetra" >
+    <Node name="Hexa2Tetra">
         <RegularGridTopology name="HexaTop" n="11 11 11" min="0 0 0" max="10 10 10" />
-        <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
-        <TetrahedronSetTopologyModifier name="Modifier"/>
-        <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="false" />
+        <Node name="TetraMesh">
+            <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
+            <TetrahedronSetTopologyModifier name="Modifier"/>
+            <Hexa2TetraTopologicalMapping input="@../HexaTop" output="@Container" swapping="false" />
+        </Node>
     </Node>
 
     <Node name="Cube">
-        <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
+        <MechanicalObject position="@../Hexa2Tetra/TetraMesh/Container.position" name="Volume" />
 
-        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/Container" />
+        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/TetraMesh/Container" />
         <TetrahedronSetTopologyModifier name="Modifier" />
         <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
 
@@ -76,8 +78,8 @@
             <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
             <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
 
-            <TriangleCollisionModel name="triangleCol" tags="CarvingSurface"/>
-            <PointCollisionModel name="pointCol" tags="CarvingSurface"/>
+            <TriangleCollisionModel name="triangleCol" contactStiffness="10" tags="CarvingSurface"/>
+            <PointCollisionModel name="pointCol" contactStiffness="10" tags="CarvingSurface"/>
 
             <Node name="liver-Visual">
                 <OglModel name="Visual" color="red" />
diff --git a/examples/TetrahedronBeamMultiMaterials.scn b/examples/TetrahedronBeamMultiMaterials.scn
index d95b194..aa1ecb4 100644
--- a/examples/TetrahedronBeamMultiMaterials.scn
+++ b/examples/TetrahedronBeamMultiMaterials.scn
@@ -1,23 +1,25 @@
 <?xml version="1.0" ?>
 <Node name="root" dt="0.005" showBoundingTree="0" gravity="0 -9 0">
-
     <Node name="plugins">
         <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
-        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
-        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
+        <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 [LocalMinDistance] -->
+        <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.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
         <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.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
-        <RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] -->
-        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
         <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [TetrahedronHyperelasticityFEMForceField] -->
+        <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,TetrahedronSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyConta
+        iner,TetrahedronSetTopologyModifier,TriangleSetGeometryAlgorithms,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] -->
+        <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.GUI.Component"/> <!-- Needed to use components [ConstraintAttachButtonSetting] -->
     </Node>
 
     <VisualStyle displayFlags="showForceFields showBehaviorModels" />
diff --git a/regression/references/TetrahedronBeamMultiMaterials.scn.reference_0_mechObj_mstate.txt.gz b/regression/references/TetrahedronBeamMultiMaterials.scn.reference_0_mechObj_mstate.txt.gz
index 4463bd7..3594b42 100644
Binary files a/regression/references/TetrahedronBeamMultiMaterials.scn.reference_0_mechObj_mstate.txt.gz and b/regression/references/TetrahedronBeamMultiMaterials.scn.reference_0_mechObj_mstate.txt.gz differ
diff --git a/regression/references/TetrahedronBeamMultiMaterials.scn.reference_1_mechObj_mstate.txt.gz b/regression/references/TetrahedronBeamMultiMaterials.scn.reference_1_mechObj_mstate.txt.gz
new file mode 100644
index 0000000..e920127
Binary files /dev/null and b/regression/references/TetrahedronBeamMultiMaterials.scn.reference_1_mechObj_mstate.txt.gz differ