diff --git a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py
index b53a64ccc8b..c7d8f85c2af 100644
--- a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py
+++ b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py
@@ -11,7 +11,7 @@ def addHeader(rootNode):
         'Sofa.Component.LinearSolver.Direct',
         'Sofa.Component.Mapping.NonLinear',
         'Sofa.Component.Mass',
-        'Sofa.Component.ODESolver.Backward',
+        'Sofa.Component.IntegrationScheme.Backward',
         'Sofa.Component.Setting',
         'Sofa.Component.SolidMechanics.Spring',
         'Sofa.Component.StateContainer',
diff --git a/applications/plugins/PersistentContact/examples/grasping.scn b/applications/plugins/PersistentContact/examples/grasping.scn
index 38f587bca3d..60d4b22a1c7 100644
--- a/applications/plugins/PersistentContact/examples/grasping.scn
+++ b/applications/plugins/PersistentContact/examples/grasping.scn
@@ -14,7 +14,7 @@
     <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/>
     <RequiredPlugin name="Sofa.Component.Mass"/>
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
diff --git a/applications/plugins/SixenseHydra/Scenes/Hydra_test.scn b/applications/plugins/SixenseHydra/Scenes/Hydra_test.scn
index c0e4dd199cc..679c5488cd0 100644
--- a/applications/plugins/SixenseHydra/Scenes/Hydra_test.scn
+++ b/applications/plugins/SixenseHydra/Scenes/Hydra_test.scn
@@ -1,5 +1,6 @@
 <Node 	name="Root" dt="0.02"  >
 	<VisualStyle displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
+	<RequiredPlugin name="Razer Hydra Driver" pluginName="SixenseHydra" />
 
 	<EulerImplicitIntegrationScheme name="EulerImplicitIntegrationScheme2"  rayleighStiffness="0.01"  rayleighMass="0.1" />
 	<CGLinearSolver template="GraphScattered" name="linear solver"  iterations="40"  tolerance="1e-009"  threshold="1e-015" />
diff --git a/applications/plugins/SofaCHOLMOD/examples/FEMBAR-common.xml b/applications/plugins/SofaCHOLMOD/examples/FEMBAR-common.xml
index c6c9948dc87..7e7e0a5ce57 100644
--- a/applications/plugins/SofaCHOLMOD/examples/FEMBAR-common.xml
+++ b/applications/plugins/SofaCHOLMOD/examples/FEMBAR-common.xml
@@ -4,7 +4,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SVDLinearSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
diff --git a/applications/plugins/SofaCHOLMOD/examples/TorusFall.scn b/applications/plugins/SofaCHOLMOD/examples/TorusFall.scn
index fbee788fd23..d59e1c334ba 100644
--- a/applications/plugins/SofaCHOLMOD/examples/TorusFall.scn
+++ b/applications/plugins/SofaCHOLMOD/examples/TorusFall.scn
@@ -19,7 +19,7 @@
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
     <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
     <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetTopologyContainer] -->
@@ -49,7 +49,7 @@
 
   <Node name="Simulation">
     <Node name="Torus0" activated="1">
-      <EulerImplicitSolver name="ODE0" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE0" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear0" />
       <TransformEngine name="Torus0VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-17.800790396426 30 18.046774108916" rotation="35.624275834125 79.418789031645 -15.634653477759" />
       <TetrahedronSetTopologyContainer name="Torus0Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -71,7 +71,7 @@
       </Node>
     </Node>
     <Node name="Torus1" activated="1">
-      <EulerImplicitSolver name="ODE1" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE1" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear1" />
       <TransformEngine name="Torus1VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="31.203746381776 46 -3.9584052767411" rotation="-81.407505530588 -41.699467018107 65.027568971285" />
       <TetrahedronSetTopologyContainer name="Torus1Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -93,7 +93,7 @@
       </Node>
     </Node>
     <Node name="Torus2" activated="1">
-      <EulerImplicitSolver name="ODE2" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE2" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear2" />
       <TransformEngine name="Torus2VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-22.646083078648 62 -29.076289417723" rotation="-48.524586576281 9.6813763210929 49.716395474838" />
       <TetrahedronSetTopologyContainer name="Torus2Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -115,7 +115,7 @@
       </Node>
     </Node>
     <Node name="Torus3" activated="1">
-      <EulerImplicitSolver name="ODE3" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE3" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear3" />
       <TransformEngine name="Torus3VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-0.36212878318602 78 39.681506827325" rotation="58.536139097314 -42.029633536949 -32.440462048371" />
       <TetrahedronSetTopologyContainer name="Torus3Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -137,7 +137,7 @@
       </Node>
     </Node>
     <Node name="Torus4" activated="1">
-      <EulerImplicitSolver name="ODE4" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE4" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear4" />
       <TransformEngine name="Torus4VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="23.392304286078 94 -30.079806740433" rotation="39.709873269177 15.292576442143 7.9574386952247" />
       <TetrahedronSetTopologyContainer name="Torus4Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -159,7 +159,7 @@
       </Node>
     </Node>
     <Node name="Torus5" activated="0">
-      <EulerImplicitSolver name="ODE5" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE5" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear5" />
       <TransformEngine name="Torus5VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-39.61300034058 110 0.86055988485951" rotation="45.193954620135 -42.616531463627 77.409719260135" />
       <TetrahedronSetTopologyContainer name="Torus5Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -181,7 +181,7 @@
       </Node>
     </Node>
     <Node name="Torus6" activated="0">
-      <EulerImplicitSolver name="ODE6" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE6" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear6" />
       <TransformEngine name="Torus6VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="17.130322557469 126 17.800171588454" rotation="72.186179143463 59.053434119119 88.31836399544" />
       <TetrahedronSetTopologyContainer name="Torus6Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -203,7 +203,7 @@
       </Node>
     </Node>
     <Node name="Torus7" activated="0">
-      <EulerImplicitSolver name="ODE7" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE7" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear7" />
       <TransformEngine name="Torus7VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-10.390362092476 142 -33.168565888502" rotation="-89.649008726538 -67.300238701189 -9.8223450965352" />
       <TetrahedronSetTopologyContainer name="Torus7Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -225,7 +225,7 @@
       </Node>
     </Node>
     <Node name="Torus8" activated="0">
-      <EulerImplicitSolver name="ODE8" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE8" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear8" />
       <TransformEngine name="Torus8VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-26.521328197104 158 28.966597611535" rotation="14.924939379527 81.74878913525 -44.199652361777" />
       <TetrahedronSetTopologyContainer name="Torus8Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
@@ -247,7 +247,7 @@
       </Node>
     </Node>
     <Node name="Torus9" activated="0">
-      <EulerImplicitSolver name="ODE9" rayleighMass="0.1" rayleighStiffness="0.1" />
+      <EulerImplicitIntegrationScheme name="ODE9" rayleighMass="0.1" rayleighStiffness="0.1" />
       <EigenCholmodSupernodalLLT  template="CompressedRowSparseMatrixMat3x3" name="Linear9" />
       <TransformEngine name="Torus9VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="35.093469803731 174 -3.1191041148822" rotation="-5.1181413303679 82.199841808621 -51.436056066973" />
       <TetrahedronSetTopologyContainer name="Torus9Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
diff --git a/applications/plugins/SofaCUDA/examples/CudaCorotationalFEMForceField.scn b/applications/plugins/SofaCUDA/examples/CudaCorotationalFEMForceField.scn
index 3f65d050936..0d443498674 100644
--- a/applications/plugins/SofaCUDA/examples/CudaCorotationalFEMForceField.scn
+++ b/applications/plugins/SofaCUDA/examples/CudaCorotationalFEMForceField.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -16,7 +16,7 @@
     <DefaultVisualManagerLoop />
 
 <!--     <Node name="Hexahedron">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
         <RegularGridTopology name="grid" n="80 20 20" min="0 6 -2" max="16 10 2" />
@@ -45,7 +45,7 @@
         
         
         <Node name="TetrahedronFEMForceField-GPU-Green">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
             
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
@@ -66,7 +66,7 @@
 <!--     <Node name="Triangle">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
@@ -84,7 +84,7 @@
 <!--     <Node name="Quad">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/CudaLinearSmallStrainFEMForceField.scn b/applications/plugins/SofaCUDA/examples/CudaLinearSmallStrainFEMForceField.scn
index 5b88ab29745..285a93db5d6 100644
--- a/applications/plugins/SofaCUDA/examples/CudaLinearSmallStrainFEMForceField.scn
+++ b/applications/plugins/SofaCUDA/examples/CudaLinearSmallStrainFEMForceField.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -15,7 +15,7 @@
     <DefaultAnimationLoop/>
 
 <!--     <Node name="Hexahedron">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
         <RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
@@ -44,7 +44,7 @@
         
         
         <Node name="TetrahedronFEMForceField-GPU-Green">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
             
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
@@ -65,7 +65,7 @@
 <!--     <Node name="Triangle">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
@@ -83,7 +83,7 @@
 <!--     <Node name="Quad">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_hexa.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_hexa.scn
index 4087b4d35f6..3fae04b2959 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_hexa.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_hexa.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -16,7 +16,7 @@
     <DefaultVisualManagerLoop />
 
     <Node name="Hexahedron">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
         <RegularGridTopology name="grid" n="80 20 20" min="0 6 -2" max="16 10 2" />
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn
index 0d6c13dad2e..607061866b1 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -22,7 +22,7 @@
         </Node>
 
         <Node name="Simulated">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn
index 7733aa92c89..645efaa2b02 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
@@ -15,7 +15,7 @@
     <DefaultVisualManagerLoop />
 
     <Node name="Pyramid">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
         <!-- A cube made of 6 pyramids -->
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_quad.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_quad.scn
index 391720de4cd..c73195dc88a 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_quad.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_quad.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -18,7 +18,7 @@
     <Node name="Quad">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_tetra.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_tetra.scn
index 99db3eb91d8..236ff172751 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_tetra.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_tetra.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -26,7 +26,7 @@
         
         
         <Node name="Simulated">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
             
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_triangle.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_triangle.scn
index b0cf2b2f857..feddc049235 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_triangle.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_triangle.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -18,7 +18,7 @@
     <Node name="Triangle">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_hexa.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_hexa.scn
index d97ce9cf27a..e4b2897ba14 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_hexa.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_hexa.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -15,7 +15,7 @@
     <DefaultAnimationLoop/>
 
     <Node name="Hexahedron">
-        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
         <RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn
index e7e30a3f603..bad5f0d43c9 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -22,7 +22,7 @@
         </Node>
 
         <Node name="Simulated">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn
index 85b53b7e588..9f47fb24778 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
@@ -15,7 +15,7 @@
     <DefaultVisualManagerLoop />
 
     <Node name="Pyramid">
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
         <!-- A cube made of 6 pyramids -->
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_quad.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_quad.scn
index 2542b7b7e41..4d2b2adf3aa 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_quad.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_quad.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -17,7 +17,7 @@
     <Node name="Quad">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_tetra.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_tetra.scn
index 8864c7a68d3..bca275e80b9 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_tetra.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_tetra.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -25,7 +25,7 @@
         
         
         <Node name="TetrahedronFEMForceField-GPU-Green">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
             
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_triangle.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_triangle.scn
index d383bf5db04..682cc44d616 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_triangle.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_triangle.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin pluginName="Sofa.Component.Mass"/>
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -17,7 +17,7 @@
     <Node name="Triangle">
         <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />
 
-        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
         
         <MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Hexahedron_corotational.py b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Hexahedron_corotational.py
index 295a7ac4e1a..15ccb39ca40 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Hexahedron_corotational.py
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Hexahedron_corotational.py
@@ -25,7 +25,7 @@ def createScene(root_node):
     plugin_node = root_node.addChild('Plugins')
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.Engine.Select")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.LinearSolver.Iterative")
-    plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.ODESolver.Backward")
+    plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.IntegrationScheme.Backward")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.StateContainer")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.Topology.Container.Dynamic")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.Topology.Container.Grid")
@@ -42,7 +42,7 @@ def createScene(root_node):
     grid_nodes, grid_hexa = generate_regular_grid(nx=g_grid_nx, ny=g_grid_ny, nz=g_grid_nz, min_corner=g_grid_min_corner, max_corner=g_grid_max_corner)
 
     hexahedron_node = root_node.addChild('Hexahedron')
-    hexahedron_node.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
+    hexahedron_node.addObject('EulerImplicitIntegrationScheme', rayleighStiffness="0.1", rayleighMass="0.1")
     hexahedron_node.addObject('CGLinearSolver', iterations="250", name="linear_solver", tolerance="1.0e-12", threshold="1.0e-12")
     hexahedron_node.addObject('MechanicalObject', name="ms", template=g_fem_template, position=grid_nodes)
     hexahedron_node.addObject('HexahedronSetTopologyContainer', hexahedra=grid_hexa)
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Tetrahedron_corotational.py b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Tetrahedron_corotational.py
index 734eb29e9cd..34442194f51 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Tetrahedron_corotational.py
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/benchmarks/Tetrahedron_corotational.py
@@ -25,7 +25,7 @@ def createScene(root_node):
     plugin_node = root_node.addChild('Plugins')
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.Engine.Select")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.LinearSolver.Iterative")
-    plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.ODESolver.Backward")
+    plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.IntegrationScheme.Backward")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.StateContainer")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.Topology.Container.Dynamic")
     plugin_node.addObject('RequiredPlugin', pluginName="Sofa.Component.Topology.Container.Grid")
@@ -43,7 +43,7 @@ def createScene(root_node):
     grid_tetra = hexa_to_tetra(grid_hexa)
     
     tetrahedron_node = root_node.addChild('Tetrahedron')
-    tetrahedron_node.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
+    tetrahedron_node.addObject('EulerImplicitIntegrationScheme', rayleighStiffness="0.1", rayleighMass="0.1")
     tetrahedron_node.addObject('CGLinearSolver', iterations="250", name="linear_solver", tolerance="1.0e-12", threshold="1.0e-12")
     tetrahedron_node.addObject('MechanicalObject', name="ms", template=g_fem_template, position=grid_nodes)
     tetrahedron_node.addObject('TetrahedronSetTopologyContainer', tetrahedra=grid_tetra)
diff --git a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn
index 6875f9a8849..9e8a195fe6d 100644
--- a/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn
+++ b/applications/plugins/SofaCUDA/examples/ElementFEMForcefield/cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn
@@ -5,7 +5,7 @@
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
     <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
     <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->  
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronCorotationalFEMForceField] -->  
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetTopologyContainer,HexahedronSetTopologyModifier,QuadSetTopologyContainer,QuadSetTopologyModifier] -->  
@@ -30,7 +30,7 @@
         </Node>
         
         <Node name="Simulated">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
             
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
@@ -67,7 +67,7 @@
         </Node>
         
         <Node name="Simulated">
-            <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+            <EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />
             
             <MechanicalObject position="@../Beam/grid.position" name="Volume" template="Vec3d"/>
diff --git a/applications/plugins/SofaCUDA/examples/raptor-cpu.scn b/applications/plugins/SofaCUDA/examples/raptor-cpu.scn
index 874388d2174..c6c35ba2b85 100644
--- a/applications/plugins/SofaCUDA/examples/raptor-cpu.scn
+++ b/applications/plugins/SofaCUDA/examples/raptor-cpu.scn
@@ -6,7 +6,7 @@
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mass"/>
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/>
diff --git a/applications/plugins/SofaEulerianFluid/examples/Fluid2D.scn b/applications/plugins/SofaEulerianFluid/examples/Fluid2D.scn
index c303164ee0f..a569d340832 100644
--- a/applications/plugins/SofaEulerianFluid/examples/Fluid2D.scn
+++ b/applications/plugins/SofaEulerianFluid/examples/Fluid2D.scn
@@ -1,7 +1,7 @@
 <Node dt="0.04" gravity="0 -10 0">
-    <VisualStyle displayFlags="showForceFields showCollisionModels showMappings" />
     <RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin pluginName="SofaEulerianFluid"/> <!-- Needed to use components [Fluid2D] -->
+    <VisualStyle displayFlags="showForceFields showCollisionModels showMappings" />
 
     <Fluid2D nx="32" ny="32" tstart="30" tstop="60" height="15.5" dir="1 0" />
 </Node>
diff --git a/applications/plugins/SofaEulerianFluid/examples/Fluid3D.scn b/applications/plugins/SofaEulerianFluid/examples/Fluid3D.scn
index bec2f117eb5..23db2358316 100644
--- a/applications/plugins/SofaEulerianFluid/examples/Fluid3D.scn
+++ b/applications/plugins/SofaEulerianFluid/examples/Fluid3D.scn
@@ -1,7 +1,7 @@
 <Node dt="0.04" gravity="0 -10 0">
-    <VisualStyle displayFlags="showForceFields showCollisionModels showMappings" />
     <RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin pluginName="SofaEulerianFluid"/> <!-- Needed to use components [Fluid3D] -->
+    <VisualStyle displayFlags="showForceFields showCollisionModels showMappings" />
 
     <Fluid3D nx="32" ny="32" nz="32" tstart="0" tstop="0" height="20.5" dir="0.5 0 1" />
 </Node>
diff --git a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_hexa_physics.scn b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_hexa_physics.scn
index 2de52fd0144..5edc6c03c17 100644
--- a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_hexa_physics.scn
+++ b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_hexa_physics.scn
@@ -2,7 +2,7 @@
 <Node name="root" dt="0.02">
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
diff --git a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_physics.scn b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_physics.scn
index 2de52fd0144..5edc6c03c17 100644
--- a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_physics.scn
+++ b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_physics.scn
@@ -2,7 +2,7 @@
 <Node name="root" dt="0.02">
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
diff --git a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_clipped_physics.scn b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_clipped_physics.scn
index 839fcc8a916..25816adcd7f 100644
--- a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_clipped_physics.scn
+++ b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_clipped_physics.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/>
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
diff --git a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_physics.scn b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_physics.scn
index 2edf0b7ec5f..9cc072f4492 100644
--- a/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_physics.scn
+++ b/applications/plugins/VolumetricRendering/examples/OglVolumetricModel_tetra_physics.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/>
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
diff --git a/examples/Component/Constraint/Lagrangian/PrecomputedConstraintCorrection.scn b/examples/Component/Constraint/Lagrangian/PrecomputedConstraintCorrection.scn
index 937058e759a..068e6d76f78 100644
--- a/examples/Component/Constraint/Lagrangian/PrecomputedConstraintCorrection.scn
+++ b/examples/Component/Constraint/Lagrangian/PrecomputedConstraintCorrection.scn
@@ -13,7 +13,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
         <RequiredPlugin pluginName="Sofa.Component.Mass"/>
         <RequiredPlugin pluginName="Sofa.Component.MechanicalLoad"/>
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
@@ -35,7 +35,7 @@
 
     <Node name="BeamPrecomputed">
         <Visual3DText text="PrecomputedConstraintCorrection" position="0 3 6" scale="0.4" color="0.3 0.7 1 1" />
-        <EulerImplicitSolver name="odeSolver" rayleighStiffness="0.01" rayleighMass="0.01" linearSolver="@linearSolver"/>
+        <EulerImplicitIntegrationScheme name="odeSolver" rayleighStiffness="0.01" rayleighMass="0.01" linearSolver="@linearSolver"/>
 
         <MatrixLinearSystem name="precondSystem" template="CompressedRowSparseMatrixd"/>
         <SSORPreconditioner name="precond" linearSystem="@precondSystem"/>
@@ -60,7 +60,7 @@
 
     <Node name="BeamLinearSolver">
         <Visual3DText text="LinearSolverConstraintCorrection" position="0 3 12" scale="0.4" color="0.3 0.7 1 1" />
-        <EulerImplicitSolver name="odeSolver" rayleighStiffness="0.01" rayleighMass="0.01" linearSolver="@linearSolver"/>
+        <EulerImplicitIntegrationScheme name="odeSolver" rayleighStiffness="0.01" rayleighMass="0.01" linearSolver="@linearSolver"/>
 
         <MatrixLinearSystem name="precondSystem" template="CompressedRowSparseMatrixd"/>
         <SSORPreconditioner name="precond" linearSystem="@precondSystem"/>
diff --git a/examples/Component/Mass/FEMMass_lumping.scn b/examples/Component/Mass/FEMMass_lumping.scn
index 49047004688..6c706c5d443 100644
--- a/examples/Component/Mass/FEMMass_lumping.scn
+++ b/examples/Component/Mass/FEMMass_lumping.scn
@@ -9,7 +9,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Ordering"/> <!-- Needed to use components [NaturalOrderingMethod] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier] -->
@@ -28,7 +28,7 @@
 
     <Node name="consistent">
         <Visual3DText text="consistent mass" position="-0.09 0.03 0" scale="0.01" color="teal"/>
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <NaturalOrderingMethod/>
@@ -50,7 +50,7 @@
 
     <Node name="lumped">
         <Visual3DText text="lumped mass" position="0.01 0.03 0" scale="0.01" color="orange"/>
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <NaturalOrderingMethod/>
diff --git a/examples/Component/SolidMechanics/FEM/VonMisesStress.scn b/examples/Component/SolidMechanics/FEM/VonMisesStress.scn
index afb3186a691..a062a89dd89 100644
--- a/examples/Component/SolidMechanics/FEM/VonMisesStress.scn
+++ b/examples/Component/SolidMechanics/FEM/VonMisesStress.scn
@@ -6,7 +6,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [FEMMass,NodalMassDensity] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [LinearSmallStrainFEMForceField,VonMisesStress] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
@@ -17,7 +17,7 @@
 
     <VisualStyle displayFlags="showBehaviorModels showVisualModels" />
 
-    <EulerImplicitSolver name="ODE_solver" rayleighStiffness="0.01" rayleighMass="0.01" />
+    <EulerImplicitIntegrationScheme name="ODE_solver" rayleighStiffness="0.01" rayleighMass="0.01" />
     <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrixMat3x3"/>
 
     <RegularGridTopology name="grid" n="20 5 5" min="0 -0.05 -0.05" max="0.4 0.05 0.05" />
diff --git a/examples/Component/Visual/VisualMesh.scn b/examples/Component/Visual/VisualMesh.scn
index 50af4bb0e9a..5d89a0580f4 100644
--- a/examples/Component/Visual/VisualMesh.scn
+++ b/examples/Component/Visual/VisualMesh.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin name="Sofa.Component.Engine.Select"/>
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mass"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
diff --git a/examples/Component/Visual/VisualVectorField.scn b/examples/Component/Visual/VisualVectorField.scn
index eef5eb41090..ceda92366ff 100644
--- a/examples/Component/Visual/VisualVectorField.scn
+++ b/examples/Component/Visual/VisualVectorField.scn
@@ -4,7 +4,7 @@
     <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/>
     <RequiredPlugin name="Sofa.Component.LinearSystem"/>
     <RequiredPlugin name="Sofa.Component.Mass"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/>
diff --git a/examples/Demos/PressureTest.py b/examples/Demos/PressureTest.py
index 168d99a2101..7473d299ef4 100644
--- a/examples/Demos/PressureTest.py
+++ b/examples/Demos/PressureTest.py
@@ -51,6 +51,19 @@ def onAnimateEndEvent(self, event):
 def createScene(node):
     node.dt = 0.05
     node.gravity = [0, 0, 0]
+
+    node.addObject('RequiredPlugin', pluginName=['Sofa.Component.Constraint.Projective',
+                                                 'Sofa.Component.Engine.Generate',
+                                                 'Sofa.Component.Engine.Select',
+                                                 'Sofa.Component.IntegrationScheme.Backward',
+                                                 'Sofa.Component.LinearSolver.Iterative',
+                                                 'Sofa.Component.Mass',
+                                                 'Sofa.Component.MechanicalLoad',
+                                                 'Sofa.Component.SolidMechanics.FEM.Elastic',
+                                                 'Sofa.Component.StateContainer',
+                                                 'Sofa.Component.Topology.Container.Dynamic',
+                                                 'Sofa.Component.Visual'])
+
     node.addObject("VisualStyle", displayFlags="showBehaviorModels showForceFields showInteractionForceFields showCollisionModels showMappings")
 
     node.addObject("DefaultAnimationLoop", name = "animationLoop" )
diff --git a/examples/Demos/mixedPendulum.scn b/examples/Demos/mixedPendulum.scn
index 500b7729fe4..a197a1f6016 100644
--- a/examples/Demos/mixedPendulum.scn
+++ b/examples/Demos/mixedPendulum.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="Sofa.Component.Constraint.Projective"/>
     <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/>
     <RequiredPlugin name="Sofa.Component.Mass"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Forward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Visual"/>
diff --git a/examples/Demos/oneTetrahedron.scn b/examples/Demos/oneTetrahedron.scn
index 322f97f7491..0518a8bb37b 100644
--- a/examples/Demos/oneTetrahedron.scn
+++ b/examples/Demos/oneTetrahedron.scn
@@ -5,7 +5,7 @@
     <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
     <RequiredPlugin name="Sofa.Component.Mass"/>
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
+    <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
     <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
     <RequiredPlugin name="Sofa.Component.StateContainer"/>
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/>
diff --git a/examples/Demos/particle.scn b/examples/Demos/particle.scn
index 9e804cad458..25b2c274ada 100644
--- a/examples/Demos/particle.scn
+++ b/examples/Demos/particle.scn
@@ -14,6 +14,8 @@
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
     <RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    <RequiredPlugin pluginName='Sofa.Component.LinearSolver.Direct'/>
+
 
     <DefaultAnimationLoop/>
 <!--    <FreeMotionAnimationLoop/>-->
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn
index b1d35919472..7999d86e21f 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="true"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn
index 2766817da67..e9d1a64ae4f 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn
index 1178c9d0d91..590e2976f09 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="true"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn
index eb5050fe034..d020ed2aa44 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn
@@ -11,7 +11,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn
index 1b88e2a5b8d..910a2cbf47d 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn
index 719c77d6f73..2a1e10a2a23 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn
index ec1fb2dc36b..5ce5bda3889 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn
index 3d89220c35c..234a4c64d21 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_hexahedron/plugins.xml b/examples/Validation/cantilever_beam/quadratic_hexahedron/plugins.xml
index a69d1867eef..80aad95f755 100644
--- a/examples/Validation/cantilever_beam/quadratic_hexahedron/plugins.xml
+++ b/examples/Validation/cantilever_beam/quadratic_hexahedron/plugins.xml
@@ -7,7 +7,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Ordering"/> <!-- Needed to use components [NaturalOrderingMethod] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [FEMMass,NodalMassDensity] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [LinearSmallStrainFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn
index 3991ca5a482..e817dd47382 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/assembled/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn
index 9fa5a384412..5f6f3de3d88 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/parallel/matrixfree/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn
index 310274c85f3..56126b0aee7 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/assembled/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn
index cba4d4f08ce..f66840a61c5 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/corotational/sequential/matrixfree/CorotationalFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn
index 7b6666c5513..ad93e7b8edf 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/assembled/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn
index 1a15b3d914c..40788290609 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/parallel/matrixfree/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn
index 7b6666c5513..ad93e7b8edf 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/assembled/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
         <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn
index baaf8a3fa26..b48537bb895 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/linear/sequential/matrixfree/LinearSmallStrainFEMForceField.scn
@@ -12,7 +12,7 @@
     <include href="../../../QuadraticTopology.xml"/>
 
     <Node name="simulation">
-        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />
 
diff --git a/examples/Validation/cantilever_beam/quadratic_tetrahedron/plugins.xml b/examples/Validation/cantilever_beam/quadratic_tetrahedron/plugins.xml
index a69d1867eef..80aad95f755 100644
--- a/examples/Validation/cantilever_beam/quadratic_tetrahedron/plugins.xml
+++ b/examples/Validation/cantilever_beam/quadratic_tetrahedron/plugins.xml
@@ -7,7 +7,7 @@
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Ordering"/> <!-- Needed to use components [NaturalOrderingMethod] -->
         <RequiredPlugin pluginName="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] -->
         <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [FEMMass,NodalMassDensity] -->
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [LinearSmallStrainFEMForceField] -->
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->