diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn
index 7c30267b6..4e4f110ba 100644
--- a/examples/3instruments_collis.scn
+++ b/examples/3instruments_collis.scn
@@ -3,10 +3,10 @@
 	<Node name='Plugins'>
 	    <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [MultiAdaptiveBeamMapping WireBeamInterpolation WireRestShape] -->
 	    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
-	    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase DefaultPipeline] -->
+	    <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 [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-	    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
+	    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
 	    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
 	    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
 	    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
@@ -29,17 +29,18 @@
  	<FreeMotionAnimationLoop />
 	<LCPConstraintSolver mu='0.1' tolerance='1e-10' maxIt='1000' build_lcp='false' />
 	
-	<DefaultPipeline depth='6' verbose='1' draw='0'/>
+	<CollisionPipeline depth='6' verbose='1' draw='0'/>
 	<BruteForceBroadPhase/>
 	<BVHNarrowPhase/>
 	<LocalMinDistance name='localmindistance' alarmDistance='2' contactDistance='1' angleCone='0.8' coneFactor='0.8' />
-	<DefaultContactManager name='Response' response='FrictionContactConstraint' />
+	<CollisionResponse name='Response' response='FrictionContactConstraint' />
 
 <!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil)  ------------------------------ -->
 
 	<Node name='topoLines_cath'>
-        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
+        <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
+        <RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
         
         <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->		
     
@@ -49,8 +50,9 @@
 		<MechanicalObject template='Rigid3d' name='dofTopo1' />
 	</Node>
 	<Node name='topoLines_guide'>
-        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
+        <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
+        <RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
 		
         <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>
     
@@ -60,8 +62,9 @@
 		<MechanicalObject template='Rigid3d' name='dofTopo2' />
 	</Node>
 	<Node name='topoLines_coils'>
-        <RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>        
+        <!-- platine E = 168000 MPa // 21000 Kg/m3-->
+        <RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>        
 		
         <WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>
         
@@ -84,13 +87,13 @@
 		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/> 
 
 		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' radius='1' printLog='0'/> 
-		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' massDensity='0.00000155'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
+		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' /> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
 
 		<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' radius='0.9' printLog='0'/> 
-		<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/> 	
+		<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' /> 	
 
 		<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/> 
-		<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->	
+		<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' /> <!-- platine E = 168000 MPa // 21000 Kg/m3-->	
 
 		<InterventionalRadiologyController template='Rigid3d' name='m_ircontroller' printLog='1' xtip='1 0 0'  step='3' rotationInstrument='0 0 0' 
 							controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' speed='2' instruments='InterpolCatheter InterpolGuide InterpolCoils' />
@@ -154,7 +157,7 @@
 	
 
 	<Node name='CollisionModel'> 
-		<MeshObjLoader name='meshLoader' filename='mesh/phantom.obj' triangulate='true' flipNormals='1'/>
+		<MeshOBJLoader name='meshLoader' filename='mesh/phantom.obj' triangulate='true' flipNormals='1'/>
 		<MeshTopology position='@meshLoader.position'  triangles='@meshLoader.triangles'/>
 		<MechanicalObject name='DOFs1' position='0 0 400' scale='3' ry='90'/>	
 		<TriangleCollisionModel simulated='0' moving='0'/>	
diff --git a/examples/3instruments_collis_auto.scn b/examples/3instruments_collis_auto.scn
new file mode 100644
index 000000000..907afbbb9
--- /dev/null
+++ b/examples/3instruments_collis_auto.scn
@@ -0,0 +1,176 @@
+<?xml version='1.0'?>
+<Node name='root' dt='0.05'  gravity='0 0 0'> 
+	<Node name='Plugins'>
+	    <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [MultiAdaptiveBeamMapping WireBeamInterpolation WireRestShape] -->
+	    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+	    <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 [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
+	    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
+	    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
+	    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
+	    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+	    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+	    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
+	    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+	    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+	    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
+	    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+	    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+	    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
+	    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+	    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping] -->
+	    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+	    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+	</Node>
+    <VisualStyle displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields' />
+ 	<DefaultVisualManagerLoop/>
+
+ 	<FreeMotionAnimationLoop />
+	<LCPConstraintSolver mu='0.1' tolerance='1e-10' maxIt='1000' build_lcp='false' />
+	
+	<CollisionPipeline depth='6' verbose='1' draw='0'/>
+	<BruteForceBroadPhase/>
+	<BVHNarrowPhase/>
+	<LocalMinDistance name='localmindistance' alarmDistance='2' contactDistance='1' angleCone='0.8' coneFactor='0.8' />
+	<CollisionResponse name='Response' response='FrictionContactConstraint' />
+
+<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil)  ------------------------------ -->
+
+	<Node name='topoLines_cath'>
+        <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
+        <RodStraightSection name="StraightSection" youngModulus="1000" massDensity='0.000155' nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="1000" massDensity='0.000155' nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
+        
+        <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->		
+    
+		<EdgeSetTopologyContainer name='meshLinesCath' />
+		<EdgeSetTopologyModifier   name='Modifier' />
+		<EdgeSetGeometryAlgorithms name='GeomAlgo'   template='Rigid3d' />
+		<MechanicalObject template='Rigid3d' name='dofTopo1' />
+	</Node>
+	<Node name='topoLines_guide'>
+        <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
+        <RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
+		
+        <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>
+    
+		<EdgeSetTopologyContainer name='meshLinesGuide' />
+		<EdgeSetTopologyModifier   name='Modifier' />
+		<EdgeSetGeometryAlgorithms name='GeomAlgo'   template='Rigid3d' />
+		<MechanicalObject template='Rigid3d' name='dofTopo2' />
+	</Node>
+	<Node name='topoLines_coils'>
+        <!-- platine E = 168000 MPa // 21000 Kg/m3-->
+        <RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>        
+		
+        <WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>
+        
+		<EdgeSetTopologyContainer name='meshLinesCoils' />
+		<EdgeSetTopologyModifier   name='Modifier' />
+		<EdgeSetGeometryAlgorithms name='GeomAlgo'   template='Rigid3d' />
+		<MechanicalObject template='Rigid3d' name='dofTopo3' />
+	</Node>
+	
+
+	<Node name='InstrumentCombined'>
+		<EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
+		<BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/>
+		<RegularGridTopology name='meshLinesCombined'
+		nx='200' ny='1' nz='1'
+		xmin='0.0' xmax='1.0'
+		ymin='0' ymax='0'
+		zmin='1' zmax='1'
+		/>
+		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/> 
+
+		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' radius='1' printLog='0'/> 
+		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' /> 
+
+		<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' radius='0.9' printLog='0'/> 
+		<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' /> 	
+
+		<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/> 
+		<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' /> 
+
+		<InterventionalRadiologyController template='Rigid3d' name='m_ircontroller' printLog='1' xtip='1 0 0'  step='1' rotationInstrument='0 0 0' 
+						speed="0.01" controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' instruments='InterpolCatheter InterpolGuide InterpolCoils' />
+                            
+        <BeamAdapterActionController name="AController" interventionController="@m_ircontroller" writeMode="1"
+        />
+
+		<LinearSolverConstraintCorrection printLog='false' wire_optimization='true'/>
+
+		<FixedConstraint name='FixedConstraint' indices='0' />
+        <RestShapeSpringsForceField  points='@m_ircontroller.indexFirstNode' stiffness='1e8' angularStiffness='1e8'   />
+
+		<Node name='Collis' activated='true'>
+				<EdgeSetTopologyContainer name='collisEdgeSet' />
+				<EdgeSetTopologyModifier   name='colliseEdgeModifier' />
+                <EdgeSetGeometryAlgorithms name='GeomAlgo'  />
+				<MechanicalObject name='CollisionDOFs'/>
+				<MultiAdaptiveBeamMapping  name='collisMap'  controller='../m_ircontroller' useCurvAbs='1' printLog='0'/> 
+				<LineCollisionModel proximity='0.0' group='1'/>
+				<PointCollisionModel proximity='0.0' group='1'/>
+		</Node>	
+
+		<Node name='VisuCatheter' activated='true'>
+			<MechanicalObject name='Quads' />
+			<QuadSetTopologyContainer  name='ContainerCath' />
+			<QuadSetTopologyModifier   name='Modifier' />
+			<QuadSetGeometryAlgorithms name='GeomAlgo'  template='Vec3d' />
+			<Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='2' input='@../../topoLines_cath/meshLinesCath' output='@ContainerCath' flipNormals='true'/>
+
+			<AdaptiveBeamMapping  name='VisuMapCath' useCurvAbs='1' printLog='0' interpolation='@../InterpolCatheter' input='@../DOFs' output='@Quads' isMechanical='false'  />
+
+			<Node name='VisuOgl' activated='true'>
+				<OglModel name='Visual' color='0.7 0.7 0.7'  quads='@../ContainerCath.quads' material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20'/>
+				<IdentityMapping input='@../Quads' output='@Visual'/>
+			</Node>	
+		</Node>
+	
+		<Node name='VisuGuide' activated='true'>
+			<MechanicalObject name='Quads' />
+			<QuadSetTopologyContainer  name='ContainerGuide' />
+			<QuadSetTopologyModifier   name='Modifier' />
+			<QuadSetGeometryAlgorithms name='GeomAlgo'  template='Vec3d' />
+			<Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='1' input='@../../topoLines_guide/meshLinesGuide' output='@ContainerGuide'  flipNormals='true' listening='true'/> 
+			<AdaptiveBeamMapping  name='visuMapGuide' useCurvAbs='1' printLog='0' interpolation='@../InterpolGuide' input='@../DOFs' output='@Quads' isMechanical='false' />
+			<Node name='VisuOgl'>
+				<OglModel name='Visual' color='0.2 0.2 0.8'  material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20' quads='@../ContainerGuide.quads'/>
+				<IdentityMapping input='@../Quads' output='@Visual'/>
+			</Node>		
+		</Node> 
+	   
+		<Node name='VisuCoils' activated='true'>
+			<MechanicalObject name='Quads'/>
+			<QuadSetTopologyContainer  name='ContainerCoils' />
+			<QuadSetTopologyModifier   name='Modifier' />
+			<QuadSetGeometryAlgorithms name='GeomAlgo'  template='Vec3d' />
+			<Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='0.3'  input='@../../topoLines_coils/meshLinesCoils' output='@ContainerCoils'  flipNormals='true' listening='true' /> 
+			<AdaptiveBeamMapping  name='visuMapCoils' useCurvAbs='1' printLog='0' interpolation='@../InterpolCoils' input='@../DOFs' output='@Quads' isMechanical='false' />
+			<Node name='VisuOgl'>
+				<OglModel name='Visual' color='0.2 0.8 0.2'  material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20' quads='@../ContainerCoils.quads'/>
+				<IdentityMapping input='@../Quads' output='@Visual'/>
+			</Node>		
+		</Node>   
+	</Node>
+
+	
+
+	<Node name='CollisionModel'> 
+		<MeshOBJLoader name='meshLoader' filename='mesh/phantom.obj' triangulate='true' flipNormals='1'/>
+		<MeshTopology position='@meshLoader.position'  triangles='@meshLoader.triangles'/>
+		<MechanicalObject name='DOFs1' position='0 0 400' scale='3' ry='90'/>	
+		<TriangleCollisionModel simulated='0' moving='0'/>	
+		<LineCollisionModel simulated='0' moving='0'/>
+		<PointCollisionModel simulated='0' moving='0'/>
+		<OglModel name='Visual' src='@meshLoader' color='1 0 0 0.3' scale='3' ry='90'/>
+	</Node>
+	
+	
+	
+</Node>
+
diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn
index 4797b11e3..614eb62da 100644
--- a/examples/SingleBeamDeploymentCollision.scn
+++ b/examples/SingleBeamDeploymentCollision.scn
@@ -2,10 +2,10 @@
 <Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
     <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [MultiAdaptiveBeamMapping WireBeamInterpolation WireRestShape] -->
     <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase DefaultPipeline] -->
+    <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 [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
-    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
+    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
@@ -24,11 +24,11 @@
     <DefaultVisualManagerLoop />
 
     <LCPConstraintSolver mu='0.1' tolerance='1e-10' maxIt='1000' build_lcp='false' />
-    <DefaultPipeline draw='0' depth='6' verbose='1' />
+    <CollisionPipeline draw='0' depth='6' verbose='1' />
     <BruteForceBroadPhase name='N2' />
     <BVHNarrowPhase />
     <LocalMinDistance contactDistance='1' alarmDistance='5' name='localmindistance' angleCone='0.02' />
-    <DefaultContactManager name='Response' response='FrictionContactConstraint' />
+    <CollisionResponse name='Response' response='FrictionContactConstraint' />
 
 
     <Node name="EdgeTopology">