diff --git a/examples/xml/testClampedSquare.scn b/examples/xml/testClampedSquare.scn
index 9c042cb..076f653 100644
--- a/examples/xml/testClampedSquare.scn
+++ b/examples/xml/testClampedSquare.scn
@@ -1,33 +1,60 @@
-<Node name="root" dt="0.01" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
+<?xml version="1.0"?>
+<Node name="root" dt="0.01" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels hideMappings hideForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
 
     <Node name="SmallSquare" activated="true">
-<!--        <EulerImplicitSolver/>-->
-        <StaticSolver/>
+        <EulerImplicitSolver/>
+        <!--<StaticSolver/>-->
         <CGLinearSolver iterations="500" tolerance="1e-15" threshold="1e-15"/>
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="../mesh/square5x5.obj"/>
-        <MechanicalObject name="tri" template="Rigid"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/square5x5.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
 
-<!--        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->
+<!--       <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->
 
         <BoxROI name="Side1" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
-        <FixedConstraint indices="@Side1.indices" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side1.indices" drawSize="0"/>
         <BoxROI name="Side2" box="-5.1 5.1 -0.1 5.1 4.9 0.1" drawSize="0"/>
-        <FixedConstraint indices="@Side2.indices" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side2.indices" drawSize="0"/>
         <BoxROI name="Side3" box="5.1 5.1 -0.1 4.9 -5.1 0.1" drawSize="0"/>
-        <FixedConstraint indices="@Side3.indices" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side3.indices" drawSize="0"/>
         <BoxROI name="Side4" box="5.1 -5.1 -0.1 -5.1 -4.9 0.1" drawSize="0"/>
-        <FixedConstraint indices="@Side4.indices" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side4.indices" drawSize="0"/>
 
-        <ConstantForceField points="0-24" forces="0 0 11.1 0 0 0"/>
+        <ConstantForceField indices="0-24" forces="0 0 11.1 0 0 0"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.3" thickness="0.1" />
         
         <Node name="SubTriangles">
+            
             <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
-            <MechanicalObject name="subPoints" />
-            <BendingPlateMechanicalMapping />
-            <Triangle/>
+<!--            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
+-->         <MechanicalObject name="subPoints" topology="@subTrianglesTopo" />
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints" />
+            <TriangleCollisionModel/>
         </Node>
 
     </Node>
diff --git a/examples/xml/testContacts.scn b/examples/xml/testContacts.scn
index 115a945..fff7d4f 100644
--- a/examples/xml/testContacts.scn
+++ b/examples/xml/testContacts.scn
@@ -1,13 +1,45 @@
-<Node name="root" dt="0.01" gravity="0 -10 0" showBehaviorModels="1" showCollisionModels="1">
+<?xml version="1.0"?>
+<Node name="root" dt="0.01" gravity="0 -10 0" >
+    
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,CollisionPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField] -->  
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels showCollisionModels"/>
+    <DefaultAnimationLoop/>
 <!--    <MasterContactSolver name="MasterSolver" maxIt="5000" tolerance="0.00000001"  displayTime="true"  printLog="0" mu="0.1"/>-->
     <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse />
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="response" response="PenaltyContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="0.005" contactDistance="0.001"/>
-    <CollisionGroup />
+    
 
     <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="-0.03 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="-0.03 0 0 0 0 0 1"/>
     </Node>
 
 
@@ -18,27 +50,24 @@
         <MechanicalObject name="ArticulatedObject" template="Vec1d"/>
         <Node name="6D_DOFs1">
 
-            <MechanicalObject name="6D_Dof" template="Rigid"/>
-            <UniformMass totalmass="1" showAxisSizeFactor="0.001"/>
-            <ArticulatedSystemMapping object1="ArticulatedObject" object2="6D_Dof"/>
+            <MechanicalObject name="6D_Dof" template="Rigid3"/>
+            <UniformMass totalMass="1" showAxisSizeFactor="0.001"/>
+            <ArticulatedSystemMapping input1="@../ArticulatedObject" output="@6D_Dof"/>
         </Node>
         <ArticulatedHierarchyContainer filename="BeamMotionInTube.bvh"/>
         <ArticulatedHierarchyBVHController />
     </Node>
 
 
-
-
-
     <Node name="Beam">
-        <EulerImplicit rayleighStiffness="0" printLog="false" />
+        <EulerImplicitSolver rayleighStiffness="0" printLog="false" />
 <!--        <BTDLinearSolver template="NewMatBand" bandWidth="11"  printLog="false" verbose="false" />-->
-        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />
-        <MechanicalObject template="Rigid" name="DOFs" position="-0.03 0 0 0 0 0 1    -0.02 0 0 0 0 0 1    -0.01 0 0 0 0 0 1    0 0 0 0 0 0 1    0.01 0 0 0 0 0 1     0.02 0 0 0 0 0 1     0.03 0 0 0 0 0 1     0.04 0 0 0 0 0 1" />
-        <Mesh name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
-
-        <AttachConstraint name="Constraint" object2="DOFs" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <UniformMass mass="0.5 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.1 ]" totalMass="0.2" showAxisSizeFactor="0.01" printLog="false" />
+        <SparseLDLSolver name="SparseLDL Solver" printLog="false" template="CompressedRowSparseMatrixd"/>
+        <MechanicalObject template="Rigid3" name="DOFs" position="-0.03 0 0 0 0 0 1    -0.02 0 0 0 0 0 1    -0.01 0 0 0 0 0 1    0 0 0 0 0 0 1    0.01 0 0 0 0 0 1     0.02 0 0 0 0 0 1     0.03 0 0 0 0 0 1     0.04 0 0 0 0 0 1" />
+        <MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
+        <!--<AttachProjectiveConstraint name="Constraint" object2="@DOFs" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />-->
+        <FixedProjectiveConstraint indices="0"/>
+        <UniformMass vertexMass="0.5 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.1 ]" showAxisSizeFactor="0.01" printLog="false" />
         <BeamFEMForceField name="FEM" radius="0.01" youngModulus="1e6" />
 
 <!--        <RestShapeSpringsForceField points="7" stiffness="1e6" angularStiffness="1e6" external_rest_shape="../Motion/6D_DOFs1/6D_Dof" external_points="1"/>-->
@@ -47,15 +76,15 @@
 <!--            <CubeTopology nx="2" ny="15" nz="2" min="0.001 -0.03 -0.001" max="-0.001 0.04 0.001" />-->
 <!--            <MechanicalObject />-->
 <!--            <BeamLinearMapping isMechanical="true" localCoord="false"/>-->
-<!--            <Triangle />-->
+<!--            <TriangleCollisionModel />-->
 <!--        </Node>-->
         <Node name="Collision">
             <CubeTopology nx="15" ny="2" nz="2" min="0 -0.1 -0.1" max="7 0.1 0.1" />
             <MechanicalObject />
             <BeamLinearMapping isMechanical="true" localCoord="true"/>
-            <Triangle contactStiffness="1e4" bothSide="1"/>
-            <Line contactStiffness="1e4" bothSide="1"/>
-            <Point contactStiffness="1e4" bothSide="1"/>
+            <TriangleCollisionModel contactStiffness="1e4" bothSide="1"/>
+            <LineCollisionModel contactStiffness="1e4" bothSide="1"/>
+            <PointCollisionModel contactStiffness="1e4" bothSide="1"/>
         </Node>
     </Node>
 
@@ -63,39 +92,40 @@
 
 
     <Node name="Rest_colon">
-        <MeshLoader name="rest_shape" filename="applications/plugins/shells/mesh/fake_colon.obj"/>
-        <Mesh/>
-        <Vertex2Frame name="RestVertex2Frame" template="Rigid" invertNormals="false" vertices="@rest_shape.vertices" normals="@rest_shape.normals" />
+        <MeshOBJLoader name="rest_shape" filename="../../../Shell/mesh/fake_colon.obj"/>
+        <MeshTopology/>
+        <Vertex2Frame name="RestVertex2Frame" template="Rigid3" invertNormals="false" position="@rest_shape.position" normals="@rest_shape.normals" />
     </Node>
 
 
     <Node name="Fake_colon" activated="true">
         <EulerImplicitSolver/>
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="applications/plugins/shells/mesh/fake_colon.obj"/>
-        <MechanicalObject name="colon" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0003" position="@../Rest_colon/RestVertex2Frame.frames" />
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/fake_colon.obj" />
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
+        <MechanicalObject name="colon" template="Rigid3" showIndices="false" showIndicesScale="0.0003" position="@../Rest_colon/RestVertex2Frame.frames" topology="@trianglesTopo"/>
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.003" totalmass="3" />
+        <UniformMass showAxisSizeFactor="0.003" totalMass="3" />
 
         <BoxROI name="box1" box="-0.065 -0.03 -0.03 -0.06 0.03 0.03" drawSize="0"/>
-        <FixedConstraint indices="@box1.indices" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box1.indices" drawSize="0"/>
         <BoxROI name="box2" box="0.06 -0.03 -0.03 0.065 0.03 0.03" drawSize="0"/>
-        <FixedConstraint indices="@box2.indices" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box2.indices" drawSize="0"/>
 
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1e5" poissonRatio="0.42" thickness="0.001" />
 
         <Node name="SubTriangles">
             <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>
-            <MechanicalObject name="subPoints" />
-            <BendingPlateMechanicalMapping />
-            <Triangle contactStiffness="1e4" bothSide="1"/>
-            <Line contactStiffness="1e4" bothSide="1"/>
-            <Point contactStiffness="1e4" bothSide="1"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>-->
+            <MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
+            <BendingPlateMechanicalMapping input="@../colon" output="@subPoints"/>
+            <TriangleCollisionModel contactStiffness="1e4" bothSide="1"/>
+            <LineCollisionModel contactStiffness="1e4" bothSide="1"/>
+            <PointCollisionModel contactStiffness="1e4" bothSide="1"/>
             <Node name="visual">
                 <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
         </Node>
 
diff --git a/examples/xml/testDoubleShell.scn b/examples/xml/testDoubleShell.scn
index d630f69..3f40e78 100644
--- a/examples/xml/testDoubleShell.scn
+++ b/examples/xml/testDoubleShell.scn
@@ -1,60 +1,87 @@
 <?xml version="1.0"?>
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] --> 
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Generate"/> <!-- Needed to use components [NormalsFromPoints] --> 
+
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualsModels"/>
+    <DefaultAnimationLoop/>
     <CollisionPipeline verbose="0"/>
-    <BruteForceDetection name="N2"/>
-    <CollisionResponse response="default"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
-    <CollisionGroup/>
+    
 
     <Node name="points">
-        <MechanicalObject template="Rigid" name="fixedPoints"
+        <MechanicalObject template="Rigid3" name="fixedPoints"
                           position="0.5 0.9 1 0.3856834 0 0 0.9238795"
                           showObject="true" />
-        <FixedConstraint indices="0" />
+        <FixedProjectiveConstraint indices="0" />
     </Node>
 
     <Node name="shell">
         <EulerImplicitSolver/>
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="applications/plugins/shells/mesh/oneTriangle.obj"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+<!--        <MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
 
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="1"/>
-        <FixedConstraint indices="0 1" drawSize="0"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" />
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
 
-        <RestShapeSpringsForceField template="Rigid" name="Springs" external_rest_shape="../points/fixedPoints"
+        <RestShapeSpringsForceField template="Rigid3" name="Springs" external_rest_shape="@../points/fixedPoints"
             points="2"
             external_points="0"
             stiffness="50000"
             angularStiffness="50000" />
 
 
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
 
         <Node name="SubTriangles">
-            <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
-            <MechanicalObject name="subPoints"/>
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+            <TriangleSetTopologyContainer name="subTrianglesTopo" src="@loader"/>
+<!--            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
+-->            <MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
             <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="visual">
                 <OglModel name="Visual" color="red"/>
                 <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
@@ -66,47 +93,54 @@
         <EulerImplicitSolver/>
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="applications/plugins/shells/mesh/oneTriangle.obj"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+<!--        <MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
-
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
+        <NormalsFromPoints name="NormalsFrom"  position="@tri.position"/>
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="1"/>
-        <FixedConstraint indices="0 1" drawSize="0"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" />
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
 
-        <RestShapeSpringsForceField template="Rigid" name="Springs" external_rest_shape="../points/fixedPoints"
+        <RestShapeSpringsForceField template="Rigid3" name="Springs" external_rest_shape="@../points/fixedPoints"
             points="2"
             external_points="0"
             stiffness="50000"
             angularStiffness="50000" />
 
 
-        <BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
+        <BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1" normals="@NormalsFrom.normals"/>
+        <!--<TriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1" />-->
 
         <Node name="SubTriangles">
-            <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
-            <MechanicalObject name="subPoints"/>
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+            <TriangleSetTopologyContainer name="subTrianglesTopo" src="@loader"/>
+<!--            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
+-->         <MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
             <BezierTriangleMechanicalMapping input="@../tri" output="@subPoints"/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="visual">
                 <OglModel name="Visual" color="green"/>
                 <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
         </Node>
         
     </Node>
+
+
+
+    
 </Node>
diff --git a/examples/xml/testDoubleShell2.scn b/examples/xml/testDoubleShell2.scn
index aa8d091..eaf8a2a 100644
--- a/examples/xml/testDoubleShell2.scn
+++ b/examples/xml/testDoubleShell2.scn
@@ -1,15 +1,39 @@
 <?xml version="1.0"?>
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] --> 
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] --> 
+        <RequiredPlugin name="Sofa.Component.Engine.Generate"/> <!-- Needed to use components [NormalsFromPoints] --> 
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualsModels"/>
+    <DefaultAnimationLoop/>
     <CollisionPipeline verbose="0"/>
-    <BruteForceDetection name="N2"/>
-    <CollisionResponse response="default"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
-    <CollisionGroup/>
 
     <Node name="shell">
         <EulerImplicitSolver/>
-        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
-<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15" />
+<!--    <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
 
         <TriangleSetTopologyContainer name="trianglesTopo"
             nbPoints="3" position="
@@ -20,34 +44,34 @@
         />
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+<!--        <MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
 
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="1"/>
-        <FixedConstraint indices="0 1" drawSize="0"/>
-        <ConstantForceField points="2" forces="0 0 3 0 0 0"/>
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" />
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
+        <ConstantForceField indices="2" forces="0 0 3 0 0 0"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
 
         <Node name="SubTriangles">
             <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
-            <MechanicalObject name="subPoints"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>-->
+            <MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
             <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="Visual" >
                 <OglModel name="Visual" color="red"/>
                 <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
@@ -55,41 +79,46 @@
         
     </Node>
 
+
+    
     <Node name="shellBezier">
         <EulerImplicitSolver/>
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="applications/plugins/shells/mesh/oneTriangle.obj"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+<!--        <MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
+        <NormalsFromPoints name="NormalsFrom"  position="@tri.position"/>
 
-
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="1"/>
-        <FixedConstraint indices="0 1" drawSize="0"/>
-        <ConstantForceField points="2" forces="0 0 3 0 0 0"/>
-        <FixedRotationConstraint FixedZRotation="true"/>
-        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" />
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
+        <ConstantForceField indices="2" forces="0 0 3 0 0 0"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <!--<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>-->
+        <BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1" normals="@NormalsFrom.normals"/>
 
         <Node name="SubTriangles">
-            <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
-            <MechanicalObject name="subPoints"/>
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+            <TriangleSetTopologyContainer name="subTrianglesTopo" src="@loader"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>-->
+            <MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
             <BezierTriangleMechanicalMapping input="@../tri" output="@subPoints"/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="Visual">
                 <OglModel name="Visual" color="green"/>
                 <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
diff --git a/examples/xml/testShell2.scn b/examples/xml/testShell2.scn
index 91eef08..c67d38b 100644
--- a/examples/xml/testShell2.scn
+++ b/examples/xml/testShell2.scn
@@ -1,13 +1,37 @@
 <?xml version="1.0"?>
 <Node name="root" dt="0.02" gravity="0 0 0">
 
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+
+
+
+    </Node>
+
     <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
 
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
     <Node name="one_triangle">
         <EulerImplicitSolver rayleighMass="1" rayleighStiffness="1" />
@@ -15,39 +39,37 @@
         <!--
         <SparseLDLSolver name="SparseLDL Solver" printLog="false" />
         -->
-
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="../mesh/oneTriangle.obj" />
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader" />
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+        <!--<MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+        <!--<MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+        <!--<MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <MechanicalObject name="tri" template="Rigid"
-            rest_position="@trianglesTopo.position"
-            />
+        <!--<MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" rest_position="@trianglesTopo.position"/>-->
         <!--position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"-->
 
-        <UniformMass showAxisSizeFactor="0.1" totalmass="1" />
-        <FixedConstraint indices="0-1" drawSize="0"/>
+        <UniformMass showAxisSizeFactor="0.1" totalMass="1" />
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
         <ConstantForceField indices="2" forces="0 0 3 0 0 0"/>
 
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
 
         <TriangularBendingFEMForceField name="FEM" bending="true"
             youngModulus="20000" poissonRatio="0.45" thickness="0.1" printLog="true"/>
-
-        <OglModel name="Visual" color="green"/>
-        <IdentityMapping input="@." output="@Visual"/>
-
+        <Node name="visual">
+            <OglModel name="Visual" color="green"/>
+            <IdentityMapping input="@../tri" output="@Visual"/>
+        </Node>
         <!--
         <Node name="SubTriangles">
             <TriangleSubdivisionTopologicalMapping name="subMapping"
diff --git a/examples/xml/testShell2_bezier.scn b/examples/xml/testShell2_bezier.scn
index e958309..54f3d90 100644
--- a/examples/xml/testShell2_bezier.scn
+++ b/examples/xml/testShell2_bezier.scn
@@ -1,16 +1,38 @@
 <?xml version="1.0"?>
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<Node name="root" dt="0.02" gravity="0 0 0">
+    
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,BruteForceDetection,CollisionPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <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.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Generate"/> <!-- Needed to use components [NormalsFromPoints] --> 
+
+    </Node>
+
+    <VisualStyle displayFlags ="showBehaviorModels showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
     <Node name="points">
-        <MechanicalObject template="Rigid" name="fixedPoints"
+        <MechanicalObject template="Rigid3" name="fixedPoints"
             position="0.5 0.9 1 0.3856834 0 0 0.9238795"
             showObject="true" />
-        <FixedConstraint indices="0" />
+        <FixedProjectiveConstraint indices="0" />
     </Node>
 
     <Node name="one_triangle">
@@ -27,35 +49,36 @@
         />
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+<!--        <MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <!--<MechanicalObject name="tri" template="Rigid"
+        <!--<MechanicalObject name="tri" template="Rigid3"
             position="
             0   0   0 0 0 0 1
             1   0   0 0 0 0 1
             0.5 0.9 0 0 0 0 1"/>
         -->
 
-        <MechanicalObject name="tri" template="Rigid" rest_position="trianglesTopo.position" />
-
+        <!--<MechanicalObject name="tri" template="Rigid3" rest_position="trianglesTopo.position" />-->
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" rest_position="0 0 0 1 0 0 0.5 0.9 0" />
+        <NormalsFromPoints name="NormalsFrom"  position="@tri.position"/>
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="1" />
-        <FixedConstraint indices="0 1" drawSize="0"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2"/>
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
 
         <!--
         <ConstantForceField points="2" forces="0 0 10 0 0 0"/>
         -->
-        <RestShapeSpringsForceField template="Rigid" name="Springs" external_rest_shape="../points/fixedPoints"
+        <RestShapeSpringsForceField template="Rigid3" name="Springs" external_rest_shape="@../points/fixedPoints"
             points="2"
             external_points="0"
             stiffness="50000"
@@ -63,7 +86,7 @@
 
 
         <!--<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>-->
-        <BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1" printLog="true"/>
+        <BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1" printLog="false" normals="@NormalsFrom.normals"/>
 
         <!--
         <OglModel name="Visual" />
diff --git a/examples/xml/testShell2_bezier2.scn b/examples/xml/testShell2_bezier2.scn
index 3a56cd7..ba4f77f 100644
--- a/examples/xml/testShell2_bezier2.scn
+++ b/examples/xml/testShell2_bezier2.scn
@@ -1,10 +1,36 @@
 <?xml version="1.0"?>
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,BruteForceDetection,CollisionPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <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.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Generate"/> <!-- Needed to use components [NormalsFromPoints] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+    </Node>
+
+    <VisualStyle displayFlags ="showBehaviorModels showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
 
     <Node name="one_triangle">
         <EulerImplicitSolver />
@@ -20,35 +46,37 @@
         />
 
         <!--                No rotation - flat rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" />-->
+<!--        <MechanicalObject name="tri" template="Rigid3" />-->
 
         <!--                No rotation - deformed rest position                -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1    0.5 0.9 0 0.107456 0 0 0.99421"/>-->
 
         <!--        Rotation of Pi/2 around z        -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"  position="0 0 0 0 0 0.707107 0.707107   1 0 0 0 0 0.707107 0.707107   0.5 0.9 0 0 0 0.707107 0.707107"/>-->
 
         <!--        Rotation of Pi/2 around z + torque on vertex 2 around local x       -->
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
+<!--        <MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"  position="0 0 0 0 0 0.707629 0.706586   1 0 0 0 0 0.707629 0.706586   0.5 0.9 0 0.0783006 -0.0735901 0.680883 0.724466"/>-->
 
         <!--        Rotation of Pi/2 around z + displacement on vertex 2 along z       -->
-        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1" position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"/>
-
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
+        <NormalsFromPoints name="NormalsFrom"  position="@tri.position"/>
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="1" />
-        <FixedConstraint indices="0 1" drawSize="0"/>
-        <ConstantForceField points="2" forces="0 0 3 0 0 0"/>
-        <FixedRotationConstraint FixedZRotation="true"/>
-        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
-        <!--<BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>-->
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.2" />
+        <FixedProjectiveConstraint indices="0 1" drawSize="0"/>
+        <ConstantForceField indices="2" forces="0 0 3 0 0 0"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <!--<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>-->
+        <BezierTriangularBendingFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.45" thickness="0.1" normals="@NormalsFrom.normals"/>
 
         <Node name="SubTriangles">
-            <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>
-            <MechanicalObject name="subPoints"/>
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+            <TriangleSetTopologyContainer name="subTriangles" src="@loader"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="3"/>-->
+            <MechanicalObject name="subPoints" topology="@subTriangles"/>
             <BezierTriangleMechanicalMapping input="@../tri" output="@subPoints"/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <!--<BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>-->
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="Visual">
                 <OglModel name="Visual" color="red"/>
                 <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
diff --git a/examples/xml/testShell2_directSolver.scn b/examples/xml/testShell2_directSolver.scn
index 883755d..c171e8e 100644
--- a/examples/xml/testShell2_directSolver.scn
+++ b/examples/xml/testShell2_directSolver.scn
@@ -1,50 +1,77 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,BruteForceDetection,CollisionPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <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.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
 
-    <Node name="pointA">
-        <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+    </Node>
+
+    <VisualStyle displayFlags ="showBehaviorModels showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+    
+    <!--<Node name="pointA">
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
     </Node>
     <Node name="pointB">
-        <MechanicalObject template="Rigid" name="fixedPoint" position="1 0 0 0 0 0 1"/>
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="1 0 0 0 0 0 1"/>
     </Node>
     <Node name="pointC">
-        <MechanicalObject template="Rigid" name="fixedPoint" position="0.5 0.9 0 0 0 0 1"/>
-    </Node>
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0.5 0.9 0 0 0 0 1"/>
+    </Node>-->
 
 
     <Node name="one_triangle">
         <EulerImplicitSolver />
-<!--        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>
-<!--        <SparseTAUCSSolver name="Solver" symmetric="true" options="taucs.factor.indefinite=true taucs.factor.ordering=metis" printLog="false" />-->
-<!--        <CholeskySolver name="Cholesky Preconditioner" printLog="false" />-->
-<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="../mesh/oneTriangle.obj" />
-        <MechanicalObject name="tri" template="Rigid" />
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0.258819 0 0 0.965926"/>-->
-
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.5" totalmass="0.01" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-<!--        <AttachConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="true" />-->
-        <ConstantForceField points="2" forces="0 500 0 0 0 0"/>
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15" template="GraphScattered"/>
+        <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<SparseTAUCSSolver name="Solver" symmetric="true" options="taucs.factor.indefinite=true taucs.factor.ordering=metis" printLog="false" />-->
+        <!--<CholeskySolver name="Cholesky Preconditioner" printLog="false" />-->
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader" />
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
+        <!--<MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0 0 0 1"  position="0 0 0 0 0 0 1   1 0 0 0 0 0 1   0.5 0.9 0 0.258819 0 0 0.965926"/>-->
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.5"  />
+        <!--<AttachProjectiveConstraint name="Constraint" object2="@tri" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+        <AttachProjectiveConstraint name="Constraint2" object2="@tri" object1="@/pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />-->
+        <!--AttachProjectiveConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="true" />-->
+        <FixedProjectiveConstraint indices="0 1"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <ConstantForceField indices="2" forces="0 500 0 0 0 0"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
             
         <Node name="SubTriangles">
-            <TriangleSetTopologyContainer  name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
-            <MechanicalObject  name="subPoints" />
-            <BendingPlateMechanicalMapping/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle.obj"/>
+            <TriangleSetTopologyContainer  name="subTrianglesTopo" src="@loader"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTrianglesTopo" />
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints" />
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="Visual">
                 <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
         </Node>
         
diff --git a/examples/xml/testShell3.scn b/examples/xml/testShell3.scn
index 585a3d9..e399d21 100644
--- a/examples/xml/testShell3.scn
+++ b/examples/xml/testShell3.scn
@@ -1,47 +1,76 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,BruteForceDetection,CollisionPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <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.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+
+    </Node>
+
+    <VisualStyle displayFlags ="showBehaviorModels showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
 <!--    <MultiStepMasterSolver collisionSteps="1" integrationSteps="100"/>-->
 
-    <Node name="pointA">
-        <Object type="MechanicalObject" template="Rigid" name="fixedPoint" position="0 1 0 -0 -0 -0.707107 0.707107"/>
+    <!--<Node name="pointA">
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0 1 0 -0 -0 -0.707107 0.707107"/>
     </Node>
     <Node name="pointB">
-        <Object type="MechanicalObject" template="Rigid" name="fixedPoint" position="0 0 0 -0 -0 -0.707107 0.707107"/>
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 -0 -0 -0.707107 0.707107"/>
     </Node>
     <Node name="pointC">
-        <Object type="MechanicalObject" template="Rigid" name="fixedPoint" position="0.9 0.5 0 -0 -0 -0.707107 0.707107"/>
-    </Node>
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0.9 0.5 0 -0 -0 -0.707107 0.707107"/>
+    </Node>-->
 
     <Node name="one_triangle">
         <EulerImplicitSolver />
-<!--        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />
-<!--        <RungeKutta4Solver/>-->
-        <TriangleSetTopologyContainer name="trianglesTopo" filename="../mesh/anotherTriangle.obj" />
-        <MechanicalObject name="tri" template="Rigid"/>
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.5" totalmass="1" />
-
-        <AttachConstraint name="Constraint" object2="@tri" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="@tri" object1="@pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-<!--        <AttachConstraint name="Constraint" object2="@tri" object1="@pointC/fixedPoint" indices1="0" indices2="2" freeRotations="true" />-->
-        <ConstantForceField points="2" forces="0 0 1 0 0 0"/>
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" template="CompressedRowSparseMatrixd"/>-->
+        <!--<RungeKutta4Solver/>-->
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/anotherTriangle.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader" />
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.5" />
+
+        <!--<AttachProjectiveConstraint name="Constraint" object2="@tri" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+        <AttachProjectiveConstraint name="Constraint2" object2="@tri" object1="@pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />-->
+        <!--<AttachProjectiveConstraint name="Constraint" object2="@tri" object1="@pointC/fixedPoint" indices1="0" indices2="2" freeRotations="true" />-->
+        <ConstantForceField indices="2" forces="0 0 1 0 0 0"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <FixedProjectiveConstraint indices="0 1"/>  
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" thickness="0.1"/>
 
         <Node name="SubTriangles">
             <TriangleSetTopologyContainer  name="subTrianglesTopo"/>
-            <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
-            <MechanicalObject  name="subPoints" />
-            <BendingPlateMechanicalMapping/>
-            <Triangle contactStiffness="0.001"/>
-            <Node>
+            <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTrianglesTopo" />
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints" />
+            <TriangleCollisionModel contactStiffness="0.001"/>
+            <Node name="Visual">
                 <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
         </Node>
 
diff --git a/examples/xml/testShell4bis.scn b/examples/xml/testShell4bis.scn
index e030be4..1f3bf7d 100644
--- a/examples/xml/testShell4bis.scn
+++ b/examples/xml/testShell4bis.scn
@@ -1,57 +1,89 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
-
-    <Node name="pointA">
-        <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0.5 -0.5 -0.5 0.5"/>
+<?xml version="1.0"?>
+
+<Node name="root" dt="0.02" gravity="0 0 0">
+
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <!--<Node name="pointA">
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0.5 -0.5 -0.5 0.5"/>
     </Node>
     <Node name="pointB">
-        <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 1 0.5 -0.5 -0.5 0.5"/>
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 1 0.5 -0.5 -0.5 0.5"/>
     </Node>
     <Node name="pointC">
-        <MechanicalObject template="Rigid" name="fixedPoint" position="0 0.9 0.5 0.5 -0.5 -0.5 0.5"/>
-    </Node>
+        <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0.9 0.5 0.5 -0.5 -0.5 0.5"/>
+    </Node>-->
 
     <Node name="initial_triangle">
-        <MeshLoader name="initial_shape" filename="mesh/oneTriangle_yz.obj" />
-        <Vertex2Frame name="Vertex2Frame" template="Rigid" vertices="@initial_shape.vertices" normals="@initial_shape.normals" />
+        <MeshOBJLoader name="initial_shape" filename="../../../Shell/mesh/oneTriangle_yz.obj" />
+        <Vertex2Frame name="Vertex2Frame" template="Rigid3" position="@initial_shape.vertices" normals="@initial_shape.normals" />
     </Node>
 
     <Node name="one_triangle">
         <EulerImplicitSolver />
-<!--        <StaticSolver/>-->
-<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <!--<StaticSolver/>-->
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
-<!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-        <TriangleSetTopologyContainer name="initial_triangle_topo" filename="applications/plugins/shells/mesh/oneTriangle_yz.obj" />
-        <MechanicalObject name="basePoints" template="Rigid" position="@../initial_triangle/Vertex2Frame.frames"/>
-<!--        <MechanicalObject name="tri" template="Rigid" rest_position="0 0 0 0.5 -0.5 -0.5 0.5     0 0 1 0.5 -0.5 -0.5 0.5     0 0.9 0.5 0.549125 -0.44549 -0.44126 0.55253"  position="0 0 0 0.5 -0.5 -0.5 0.5     0 0 1 0.5 -0.5 -0.5 0.5     0 0.9 0.5 0.549125 -0.44549 -0.44126 0.55253"/>-->
+        <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle_yz.obj" />
+        <TriangleSetTopologyContainer name="initial_triangle_topo" src="@loader" />
+        <MechanicalObject name="basePoints" template="Rigid3" topology="@initial_triangle_topo" position="@../initial_triangle/Vertex2Frame.frames"/>
+        <!--<MechanicalObject name="tri" template="Rigid3" rest_position="0 0 0 0.5 -0.5 -0.5 0.5     0 0 1 0.5 -0.5 -0.5 0.5     0 0.9 0.5 0.549125 -0.44549 -0.44126 0.55253"  position="0 0 0 0.5 -0.5 -0.5 0.5     0 0 1 0.5 -0.5 -0.5 0.5     0 0.9 0.5 0.549125 -0.44549 -0.44126 0.55253"/>-->
 
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0,  0 0 0.05 ]" showAxisSizeFactor="0.3" totalmass="0.01" />
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0,  0 0 0.05 ]" showAxisSizeFactor="0.3" />
 
 <!--        <WriteState filename="FoldedSquare.state" writeX="1" period="100"/>-->
 
-        <AttachConstraint name="Constraint" object2="basePoints" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="basePoints" object1="pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="basePoints" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="true" />
-
-        <ConstantForceField points="2" forces="0 0 0 0 0 0.5"/>
-        <FixedRotationConstraint FixedZRotation="true"/>
+        <!--<AttachProjectiveConstraint name="ConstraintA" object2="@basePoints" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintB" object2="@basePoints" object1="@pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintC" object2="@basePoints" object1="@pointC/fixedPoint" indices1="0" indices2="2" freeRotations="true" />-->
+        <FixedProjectiveConstraint indices="0 1 2"/>
+        <ConstantForceField indices="2" forces="0 0 0 0 0 0.5"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.45" thickness="0.1"/>
 
         <Node name="SubTriangles">
-            <TriangleSetTopologyContainer  name="sub_triangle_topo"/>
-<!--            <TriangleSetTopologyContainer  name="sub_triangle_topo" filename="applications/plugins/shells/mesh/oneTriangle_yz_sub.obj"/>-->
-            <TriangleSubdivisionTopologicalMapping object1="initial_triangle_topo" object2="sub_triangle_topo" subdivisions="5"/>
-            <MechanicalObject  name="subPoints" template="Vec3d"/>
-            <BendingPlateMechanicalMapping/>
-            <Triangle />
-            <Node>
+            <!--<TriangleSetTopologyContainer  name="sub_triangle_topo"/>-->
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/oneTriangle_yz_sub.obj"/>
+            <TriangleSetTopologyContainer  name="sub_triangle_topo" src="@loader" />
+            <!--<TriangleSubdivisionTopologicalMapping object1="initial_triangle_topo" object2="sub_triangle_topo" subdivisions="5"/>-->
+            <MechanicalObject  name="subPoints" topology="@sub_triangle_topo"/>
+            <BendingPlateMechanicalMapping input="@../basePoints" output="@subPoints"/>
+            <TriangleCollisionModel />
+            <Node name="Visual">
                 <OglModel name="Visual" color="red"/>
-                <IdentityMapping name="PLOUF" object1="subPoints" object2="Visual"/>
+                <IdentityMapping name="PLOUF" input="@../subPoints" output="@Visual"/>
             </Node>
 <!--            <Node>-->
 <!--                <DrawV name="VelocityVisual"/>-->
diff --git a/examples/xml/testShell5.scn b/examples/xml/testShell5.scn
index 5164f3e..8d7dfe4 100644
--- a/examples/xml/testShell5.scn
+++ b/examples/xml/testShell5.scn
@@ -1,39 +1,79 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
-
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 1.0 0 0 0 1"/>
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 1.0 0 0 0 1"/>
     </Node>
 
     <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0.9 0.5 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0.9 0.5 0 0 0 1"/>
     </Node>
 
     <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 -0.9 0.5 0 0 0 1"/>
-    </Node>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 -0.9 0.5 0 0 0 1"/>
+    </Node>-->
 
     <Node name="2triangles">
         <EulerImplicitSolver />
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
-<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="baseTriangles" filename="../mesh/2triangles.obj"/>
-        <MechanicalObject name="tri" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0007"/>
-        <UniformMass mass="0.1 0.1 [ 0.05 0 0 ,  0 0.1 0 ,  0 0 0.1 ]" showAxisSizeFactor="0.5" totalmass="0.1" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-        <FixedRotationConstraint FixedZRotation="true"/>
-        <ConstantForceField points="2 3" forces="1 0 0 0 0 0"/>
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/2triangles.obj"/>
+        <TriangleSetTopologyContainer name="baseTriangles" src="@loader"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.05 0 0 ,  0 0.1 0 ,  0 0 0.1 ]" showAxisSizeFactor="0.5" />
+        <!--<AttachProjectiveConstraint name="Constraint" object2="@tri" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+        <AttachProjectiveConstraint name="Constraint2" object2="@tri" object1="@../pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />-->
+        <FixedProjectiveConstraint indices="0 1"/>
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <ConstantForceField indices="2 3" forces="1 0 0 0 0 0"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.49" thickness="0.1"/>
-
+        <Node name="SubTriangles">
+            <TriangleSetTopologyContainer  name="subTriangles"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="true" showIndicesScale="0.0003"/>
+            <!--<ConstantForceField points="5 9" forces="0 0 3"/>-->
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+            <TriangleCollisionModel />
+            <Node name="visual">
+                <OglModel name="Visual" color="red"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
+            </Node>
+        </Node>
 <!--        <Node>-->
 <!--            <MechanicalObject name="basePointsVec3" template="Vec3d"/>-->
 <!--            <IdentityMapping/>-->
@@ -43,18 +83,7 @@
 <!--            </Node>-->
 <!--        </Node>-->
 
-        <Node name="SubTriangles">
-            <TriangleSetTopologyContainer  name="subTriangles"/>
-            <TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>
-            <MechanicalObject  name="subPoints" debugViewIndices="true" debugViewIndicesScale="0.0003"/>
-<!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
-            <BendingPlateMechanicalMapping/>
-            <Triangle />
-            <Node>
-                <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
-            </Node>
-        </Node>
+        
 
     </Node>
 </Node>
diff --git a/examples/xml/testShell6.scn b/examples/xml/testShell6.scn
index 9d5dac1..f693036 100644
--- a/examples/xml/testShell6.scn
+++ b/examples/xml/testShell6.scn
@@ -1,47 +1,91 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
 
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 1 0 0 0 0 1"/>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 1 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0.5 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0.5 0 0 0 0 1"/>
    </Node>
 
    <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
    </Node>
 
     <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.45 0.75 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.45 0.75 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointE">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.45 0.25 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.45 0.25 0 0 0 1"/>
     </Node>
 
     <Node name="pointF">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.9 0.5 0 0 0 0 1"/>
-    </Node>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.9 0.5 0 0 0 0 1"/>
+    </Node>-->
 
     <Node name="4triangles">
         <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
-<!--        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>
-<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="baseTriangles" filename="../mesh/4triangles.obj"/>
-        <MechanicalObject name="tri" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0007"/>
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="0.1" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
-        <FixedRotationConstraint FixedZRotation="true"/>
-        <ConstantForceField points="5" forces="0 0 0.05 0 0 0"/>
-        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.01"/>
+        <!--<CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+        <Node name="fixed">
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/4triangles.obj"/>
+            <TriangleSetTopologyContainer name="baseTriangles" src="@loader"/>
+            <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007"/>
+            <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2" />
+            <!--<AttachProjectiveConstraint name="Constraint" object2="@tri" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+            <AttachProjectiveConstraint name="Constraint2" object2="@tri" object1="@/pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />-->
+            <FixedProjectiveConstraint indices="0 2"/>
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+            <ConstantForceField indices="5" forces="0 0 0.05 0 0 0"/>
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.01"/>
+            <Node name="SubTriangles">
+            <TriangleSetTopologyContainer  name="subTriangles"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="true" showIndicesScale="0.0003"/>
+            <!--<ConstantForceField points="5 9" forces="0 0 3"/>-->
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+            <TriangleCollisionModel />
+            <Node name="visual">
+                <OglModel name="Visual" color="red"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
+            </Node>
+        </Node>
+        </Node>
+        
 
 <!--        <Node>-->
 <!--            <MechanicalObject name="basePointsVec3" template="Vec3d"/>-->
@@ -52,18 +96,7 @@
 <!--            </Node>-->
 <!--        </Node>-->
 
-        <Node name="SubTriangles">
-            <TriangleSetTopologyContainer  name="subTriangles"/>
-            <TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>
-            <MechanicalObject  name="subPoints" debugViewIndices="false" debugViewIndicesScale="0.0003"/>
-<!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
-            <BendingPlateMechanicalMapping/>
-            <Triangle />
-            <Node>
-                <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
-            </Node>
-        </Node>
+        
 
     </Node>
 </Node>
diff --git a/examples/xml/testShell6bis.scn b/examples/xml/testShell6bis.scn
index b3d6b01..f50a298 100644
--- a/examples/xml/testShell6bis.scn
+++ b/examples/xml/testShell6bis.scn
@@ -1,48 +1,91 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->  
 
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.5 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.5 0 0 0 0 0 1"/>
    </Node>
 
    <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="1 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="1 0 0 0 0 0 1"/>
    </Node>
 
     <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.25 0.45 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.25 0.45 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointE">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.75 0.45 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.75 0.45 0 0 0 1"/>
     </Node>
 
     <Node name="pointF">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.5 0.9 0 0 0 0 1"/>
-    </Node>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.5 0.9 0 0 0 0 1"/>
+    </Node>-->
 
     <Node name="4triangles">
-        <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
-<!--        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-<!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />
-        <TriangleSetTopologyContainer name="baseTriangles" filename="../mesh/4triangles_bis.obj"/>
-        <MechanicalObject name="tri" template="Rigid" debugViewIndices="true" debugViewIndicesScale="0.0007"/>
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="0.1" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
-        <FixedRotationConstraint FixedZRotation="true"/>
-        <ConstantForceField points="5" forces="0 0 1 0 0 0"/>
-        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.42" thickness="0.1"/>
-
+            <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
+    <!--        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+    <!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+            <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+            <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+            <Node name="fixed">
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/4triangles_bis.obj"/>
+            <TriangleSetTopologyContainer name="baseTriangles" src="@loader" />
+            <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="true" showIndicesScale="0.0007"/>
+            <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2"  />
+            <!--<AttachProjectiveConstraint name="Constraint" object2="@tri" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+            <AttachProjectiveConstraint name="Constraint2" object2="@tri" object1="@/pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />-->
+            <FixedProjectiveConstraint indices="0 2"/>
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+            <ConstantForceField indices="5" forces="0 0 1 0 0 0"/>
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.42" thickness="0.1"/>
+            <Node name="SubTriangles">
+                <TriangleSetTopologyContainer  name="subTriangles"/>
+                <!--<TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>-->
+                <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="true" showIndicesScale="0.0003"/>
+    <!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
+                <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+                <TriangleCollisionModel />
+                <Node name="visual">
+                    <OglModel name="Visual" color="red"/>
+                    <IdentityMapping input="@../subPoints" output="@Visual"/>
+                </Node>
+            </Node>
+        </Node>
 <!--        <Node>-->
 <!--            <MechanicalObject name="basePointsVec3" template="Vec3d"/>-->
 <!--            <IdentityMapping/>-->
@@ -52,18 +95,7 @@
 <!--            </Node>-->
 <!--        </Node>-->
 
-        <Node name="SubTriangles">
-            <TriangleSetTopologyContainer  name="subTriangles"/>
-            <TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="1"/>
-            <MechanicalObject  name="subPoints" debugViewIndices="true" debugViewIndicesScale="0.0003"/>
-<!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
-            <BendingPlateMechanicalMapping/>
-            <Triangle />
-            <Node>
-                <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
-            </Node>
-        </Node>
+        
 
     </Node>
 </Node>
diff --git a/examples/xml/testShell7.scn b/examples/xml/testShell7.scn
index 37e525f..59ddec1 100644
--- a/examples/xml/testShell7.scn
+++ b/examples/xml/testShell7.scn
@@ -1,78 +1,102 @@
 <?xml version="1.0"?>
 <Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+
+    </Node>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
 
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="1 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="1 0 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="2 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="2 0 0 0 0 0 1"/>
    </Node>
 
    <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="3 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="3 0 0 0 0 0 1"/>
    </Node>
 
     <Node name="pointE">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="4 0 0 0 0 0 1"/>
-    </Node>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="4 0 0 0 0 0 1"/>
+    </Node>-->
 
-    <Node name="4trianglesAgain">
+    <Node name="7triangles">
         <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
         <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
 <!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="baseTriangles" filename="../mesh/7triangles.obj"/>
-        <MechanicalObject name="tri" template="Rigid" showIndices="false" showIndicesScale="0.0007"/>
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2" totalmass="0.1" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />
-        <FixedRotationConstraint FixedZRotation="true"/>
-<!--        <FixedConstraint indices="5-8"/>-->
-        <ConstantForceField points="9-11" forces="0 0 5 0 0 0"/>
-        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.49" thickness="0.1"/>
-
+        <Node name="fixed">
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/7triangles.obj"/>
+            <TriangleSetTopologyContainer name="baseTriangles" src="@loader"/>
+            <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007"/>
+            <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2"/>
+            <!--<AttachProjectiveConstraint name="ConstraintA" object2="@tri" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintB" object2="@tri" object1="@pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintC" object2="@tri" object1="@pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintD" object2="@tri" object1="@pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintE" object2="@tri" object1="@pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />-->
+            <FixedProjectiveConstraint indices="0 1 2 3 4"/>
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+            <ConstantForceField indices="9-11" forces="0 0 5 0 0 0"/>
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.49" thickness="0.1"/>
+            <Node name="SubTriangles">
+                <!--<TriangleSubdivisionTopologicalMapping name="subMapping"
+                    input="@../baseTriangles" output="@../baseTriangles"
+                    inputPositions="@../tri.position" inputTriangles="@../baseTriangles.triangles"
+                    subdivisions="3"/>-->
+                <TriangleSetTopologyContainer  name="subTrianglesTopo"
+                    position="@subMapping.outputPositions" triangles="@subMapping.outputTriangles" />
+                <MechanicalObject name="subPoints" topology="@subTrianglesTopo" rest_position="@subMapping.outputPositions" />
+                <BendingPlateMechanicalMapping input="@.." output="@."/>
+                <TriangleCollisionModel />
+                <Node name="visual">
+                    <OglModel name="Visual" color="red"/>
+                    <IdentityMapping input="@../subPoints" output="@Visual"/>
+                </Node>
+            </Node>
+        </Node>
 <!--        <Node>-->
 <!--            <MechanicalObject name="basePointsVec3" template="Vec3d"/>-->
 <!--            <IdentityMapping/>-->
 <!--            <Node name="VisualBasePoints">-->
 <!--                <OglModel name="Visual" color="green"/>-->
-<!--                <IdentityMapping object1="basePointsVec3" object2="Visual"/>-->
+<!--                <IdentityMapping object1="@basePointsVec3" object2="Visual"/>-->
 <!--            </Node>-->
 <!--        </Node>-->
 
-        <Node name="SubTriangles">
-            <TriangleSubdivisionTopologicalMapping name="subMapping"
-                input="@../baseTriangles" output="@../baseTriangles"
-                inputPositions="@../tri.position" inputTriangles="@../baseTriangles.triangles"
-                subdivisions="3"/>
-            <TriangleSetTopologyContainer  name="subTrianglesTopo"
-                position="@subMapping.outputPositions" triangles="@subMapping.outputTriangles" />
-            <MechanicalObject name="subPoints" rest_position="@subMapping.outputPositions" />
-
-<!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
-            <BendingPlateMechanicalMapping input="@.." output="@."/>
-            <Triangle />
-            <Node>
-                <OglModel name="Visual" color="red"/>
-                <IdentityMapping input="@../subPoints" output="@Visual"/>
-            </Node>
-        </Node>
+        
 
     </Node>
 </Node>
diff --git a/examples/xml/testShell7_small.scn b/examples/xml/testShell7_small.scn
index 97fb3c3..59cda47 100644
--- a/examples/xml/testShell7_small.scn
+++ b/examples/xml/testShell7_small.scn
@@ -1,69 +1,98 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
 
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.001 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.001 0 0 0 0 0 1"/>
     </Node>
 
     <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.002 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.002 0 0 0 0 0 1"/>
    </Node>
 
    <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.003 0 0 0 0 0 1"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.003 0 0 0 0 0 1"/>
    </Node>
 
     <Node name="pointE">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.004 0 0 0 0 0 1"/>
-    </Node>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0.004 0 0 0 0 0 1"/>
+    </Node>-->
 
     <Node name="7smallTriangles">
         <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="0.5"/>
-        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-50"/>
 <!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-        <TriangleSetTopologyContainer name="baseTriangles" filename="../mesh/7small_triangles.obj"/>
-        <MechanicalObject name="tri" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0007"/>
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.0002" totalmass="0.0001" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />
-        <FixedRotationConstraint FixedZRotation="true"/>
-<!--        <FixedConstraint indices="5-8"/>-->
-        <ConstantForceField points="9-11" forces="0 0 0.00005 0 0 0"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/7small_triangles.obj"/>
+        <TriangleSetTopologyContainer name="baseTriangles" src="@loader"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.0002" />
+        <!--<AttachProjectiveConstraint name="ConstraintA" object2="@tri" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintB" object2="@tri" object1="@pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintC" object2="@tri" object1="@pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintD" object2="@tri" object1="@pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintE" object2="@tri" object1="@pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />-->
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <FixedProjectiveConstraint indices="0 1 2 3 4"/>
+        <ConstantForceField indices="9-11" forces="0 0 0.00005 0 0 0"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e3" poissonRatio="0.42" thickness="0.0001"/>
-
+        <Node name="SubTriangles">
+            <TriangleSetTopologyContainer  name="subTriangles"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="@baseTriangles" object2="@subTriangles" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="false" showIndicesScale="0.0003"/>
+<!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+            <TriangleCollisionModel />
+            <Node name="visual">
+                <OglModel name="Visual" color="red"/>
+                <IdentityMapping input="@subPoints" output="@Visual"/>
+            </Node>
+        </Node>
 <!--        <Node>-->
 <!--            <MechanicalObject name="basePointsVec3" template="Vec3d"/>-->
 <!--            <IdentityMapping/>-->
 <!--            <Node name="VisualBasePoints">-->
 <!--                <OglModel name="Visual" color="green"/>-->
-<!--                <IdentityMapping object1="basePointsVec3" object2="Visual"/>-->
+<!--                <IdentityMapping object1="@basePointsVec3" object2="@Visual"/>-->
 <!--            </Node>-->
 <!--        </Node>-->
 
-        <Node name="SubTriangles">
-            <TriangleSetTopologyContainer  name="subTriangles"/>
-            <TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>
-            <MechanicalObject  name="subPoints" debugViewIndices="false" debugViewIndicesScale="0.0003"/>
-<!--            <ConstantForceField points="5 9" forces="0 0 3"/>-->
-<!--            <BendingPlateMechanicalMapping/>-->
-            <Triangle />
-            <Node>
-                <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
-            </Node>
-        </Node>
+        
 
     </Node>
 </Node>
diff --git a/examples/xml/testShell7_small_bis.scn b/examples/xml/testShell7_small_bis.scn
index 8257eba..44372e9 100644
--- a/examples/xml/testShell7_small_bis.scn
+++ b/examples/xml/testShell7_small_bis.scn
@@ -1,54 +1,84 @@
-<Node name="root" dt="0.02" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->  
+
+
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
     <Node name="Rest_position">
-        <MeshLoader name="rest_shape" filename="../mesh/7small_triangles_bis.obj"/>
-        <Mesh/>
-        <Vertex2Frame name="RestVertex2Frame" template="Rigid" vertices="@rest_shape.vertices" normals="@rest_shape.normals" />
-<!--        <MechanicalObject name="rest_triangles" template="Rigid" position="@RestVertex2Frame.frames"/>-->
+        <MeshOBJLoader name="rest_shape" filename="../../../Shell/mesh/7small_triangles_bis.obj"/>
+        <MeshTopology/>
+        <Vertex2Frame name="RestVertex2Frame" template="Rigid3" position="@rest_shape.position" normals="@rest_shape.normals" />
+<!--        <MechanicalObject name="rest_triangles" template="Rigid3" position="@RestVertex2Frame.frames"/>-->
 <!--        <OglModel name="Visual" color="green"/>-->
     </Node>
 
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0 0.5 -0.5 -0.5 0.5"/>
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0.5 -0.5 -0.5 0.5"/>
     </Node>
 
     <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0.001 0.5 -0.5 -0.5 0.5"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0.001 0.5 -0.5 -0.5 0.5"/>
     </Node>
 
     <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0.002 0.5 -0.5 -0.5 0.5"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0.002 0.5 -0.5 -0.5 0.5"/>
    </Node>
 
    <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0.003 0.5 -0.5 -0.5 0.5"/>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0.003 0.5 -0.5 -0.5 0.5"/>
    </Node>
 
     <Node name="pointE">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0 0 0.004 0.5 -0.5 -0.5 0.5"/>
-    </Node>
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0.004 0.5 -0.5 -0.5 0.5"/>
+    </Node>-->
 
     <Node name="7smallTriangles">
         <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="0.5"/>
-<!--        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-<!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />
-        <TriangleSetTopologyContainer name="baseTriangles" filename="../mesh/7small_triangles_bis.obj"/>
-        <MechanicalObject name="tri" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0007" rest_position="@../Rest_position/RestVertex2Frame.frames" position="@../Rest_position/RestVertex2Frame.frames"/>
-        <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.0002" totalmass="0.0001" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
-        <AttachConstraint name="Constraint" object2="tri" object1="pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />
-        <FixedRotationConstraint FixedZRotation="true"/>
-<!--        <FixedConstraint indices="5-8"/>-->
-        <ConstantForceField points="9-11" forces="-0.00005 0 0 0 0 0"/>
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-50"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/7small_triangles_bis.obj"/>
+        <TriangleSetTopologyContainer name="baseTriangles" src="@loader" />
+        <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007" rest_position="@../Rest_position/RestVertex2Frame.frames" position="@../Rest_position/RestVertex2Frame.frames"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.0002"  />
+        <!--<AttachProjectiveConstraint name="ConstraintA" object2="@tri" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintB" object2="@tri" object1="@/pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintC" object2="@tri" object1="@/pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintD" object2="@tri" object1="@/pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
+        <AttachProjectiveConstraint name="ConstraintE" object2="@tri" object1="@/pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />-->
+        <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+        <FixedProjectiveConstraint indices="0-4"/>
+        <ConstantForceField indices="9-11" forces="-0.00005 0 0 0 0 0"/>
         <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.0001"/>
 
 <!--        <Node>-->
@@ -56,19 +86,19 @@
 <!--            <IdentityMapping/>-->
 <!--            <Node name="VisualBasePoints">-->
 <!--                <OglModel name="Visual" color="green"/>-->
-<!--                <IdentityMapping object1="basePointsVec3" object2="Visual"/>-->
+<!--                <IdentityMapping object1="@/basePointsVec3" object2="@Visual"/>-->
 <!--            </Node>-->
 <!--        </Node>-->
 
         <Node name="SubTriangles">
             <TriangleSetTopologyContainer  name="subTriangles"/>
-            <TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>
-            <MechanicalObject  name="subPoints" debugViewIndices="false" debugViewIndicesScale="0.0003"/>
-            <BendingPlateMechanicalMapping/>
-            <Triangle />
-            <Node>
+            <!--<TriangleSubdivisionTopologicalMapping object1="@baseTriangles" object2="@subTriangles" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="false" showIndicesScale="0.0003"/>
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+            <TriangleCollisionModel />
+            <Node name="visual">
                 <OglModel name="Visual" color="red"/>
-                <IdentityMapping object1="subPoints" object2="Visual"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
             </Node>
         </Node>
 
diff --git a/examples/xml/testShellClampedSquare.scn b/examples/xml/testShellClampedSquare.scn
index 3380592..0be8e4b 100644
--- a/examples/xml/testShellClampedSquare.scn
+++ b/examples/xml/testShellClampedSquare.scn
@@ -31,89 +31,86 @@ Results with bending only and a 9x9 grid:
     q = 5 => zmax = 0.637 (should be 0.630) zmax = 0.644 with an 11x11 grid
 -->
 
-<Node name="root" dt="0.01" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<Node name="root" dt="0.01" gravity="0 0 0">
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> 
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Quad2TriangleTopologicalMapping] --> 
 
-
-<!--
-
-    <Node name="pointA">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="-0.005 -0.002 0 0 0 0 1"/>
-    </Node>
-
-    <Node name="pointB">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="-0.005 0 0 0 0 0 1"/>
-    </Node>
-
-    <Node name="pointC">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="-0.005 0.002 0 0 0 0 1"/>
     </Node>
 
-    <Node name="pointD">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.005 -0.002 0 0 0 0 1"/>
-    </Node>
-
-    <Node name="pointE">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.005 0 0 0 0 0 1"/>
-    </Node>
-
-    <Node name="pointF">
-       <MechanicalObject template="Rigid" name="fixedPoint" position="0.005 0.002 0 0 0 0 1"/>
-    </Node>
-
-
--->
-
-
+    <VisualStyle displayFlags ="showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
     <Node name="Square2" activated="true">
         <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
         <CGLinearSolver iterations="200" tolerance="1e-15" threshold="1e-15"/>
-<!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
-<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
-<!--        <RegularGrid name="gridTopo" min="-0.005 -0.002 0" max="0.005 0.002 0" nx="7" ny="3" nz="1" />-->
-        <RegularGrid name="gridTopo" min="-5 -5 0" max="5 5 0" nx="3" ny="3" nz="1" />
-    
-
-        <Node>
+        <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <!--<RegularGrid name="gridTopo" min="-0.005 -0.002 0" max="0.005 0.002 0" nx="7" ny="3" nz="1" />-->
+        <RegularGridTopology name="gridTopo" min="-5 -5 0" max="5 5 0" nx="3" ny="3" nz="1" />
+        <MechanicalObject name="basePoints" template="Rigid3" />
+        <UniformMass showAxisSizeFactor="1" totalMass="0.00012" />
+
+        <BoxROI name="box1" box="-5.1 -5.1 -0.1 5.1 -4.9 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box1.indices" drawSize="0"/>
+        
+        <BoxROI name="box2" box="-5.1 4.9 -0.1 5.1 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box2.indices" drawSize="0"/>
+        
+        <BoxROI name="box3" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box3.indices" drawSize="0"/>
+        
+        <BoxROI name="box4" box="4.9 -5.1 -0.1 5.1 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box4.indices" drawSize="0"/>
+        
+
+        <Node name="triangles">
             <TriangleSetTopologyContainer name="trianglesTopo"/>
             <TriangleSetTopologyModifier name="Modifier" />
-            <Quad2TriangleTopologicalMapping object1="gridTopo" object2="trianglesTopo" />
-            <MechanicalObject name="basePoints" template="Rigid" />
-            <IdentityMapping />
-
-     
-
-            <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="1" totalmass="0.00012" />
-
-            <BoxROI name="box1" box="-5.1 -5.1 -0.1 5.1 -4.9 0.1" drawSize="0"/>
-            <FixedConstraint indices="@box1.indices" drawSize="0"/>
-            <BoxROI name="box2" box="-5.1 4.9 -0.1 5.1 5.1 0.1" drawSize="0"/>
-            <FixedConstraint indices="@box2.indices" drawSize="0"/>
-            <BoxROI name="box3" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
-            <FixedConstraint indices="@box3.indices" drawSize="0"/>
-            <BoxROI name="box4" box="4.9 -5.1 -0.1 5.1 5.1 0.1" drawSize="0"/>
+            <Quad2TriangleTopologicalMapping input="@../gridTopo" output="@trianglesTopo" />
+            
 
-            <FixedConstraint indices="@box4.indices" drawSize="0"/>
-            <ConstantForceField points="0-8" forces="0 0 0.001 0 0 0"/>
-<!--            <FixedRotationConstraint FixedZRotation="true"/>-->
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
 
             <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.001" />
+            <ConstantForceField indices="0 1 2 3 4 5 6 7 8" forces="0 0 0.001 0 0 0"/>
             
             <Node name="SubTriangles">
                 <TriangleSetTopologyContainer name="subTrianglesTopo"/>
-                <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>
-                <MechanicalObject name="subPoints" />
-                <BendingPlateMechanicalMapping input="@../basePoints" output="@subPoints" />
-				<Triangle />
+                <!--TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>-->
+                <MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
+                <BendingPlateMechanicalMapping input="@../../basePoints" output="@subPoints" />
+				<TriangleCollisionModel />
 				
                 <Node name="visual">
                     <OglModel name="Visual" color="green"/>
-                    <IdentityMapping object1="subPoints" object2="Visual"/>
+                    <IdentityMapping input="@../subPoints" output="@Visual"/>
                 </Node>
             </Node>
 			
diff --git a/examples/xml/testShellFoldingSquare2.scn b/examples/xml/testShellFoldingSquare2.scn
index 75def1b..fda941b 100644
--- a/examples/xml/testShellFoldingSquare2.scn
+++ b/examples/xml/testShellFoldingSquare2.scn
@@ -1,33 +1,63 @@
-<Node name="root" dt="0.01" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
-    <CollisionPipeline verbose="0" />
-    <BruteForceDetection name="N2" />
-    <CollisionResponse response="default" />
-    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <CollisionGroup />
+<?xml version="1.0"?>
+<Node name="root" dt="0.01" gravity="0 0 0">
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MinProximityIntersection] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> 
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Quad2TriangleTopologicalMapping] --> 
+
+    </Node>
+
+    <VisualStyle displayFlags =" showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
 
     <Node name="Square">
         <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.0" />
         <CGLinearSolver iterations="75" tolerance="1e-15" threshold="1e-15"/>
 <!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
 <!--        <CholeskySolver name="Cholesky Preconditioner" printLog="false" />-->
-        <RegularGrid name="gridTopo" min="0 0 0" max="0.01 0.01 0" nx="10" ny="10" nz="1"/>
-        <MechanicalObject template="Rigid" />
-        <UniformMass mass="0.01 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.005" totalmass="0.1"/>
+        <RegularGridTopology name="gridTopo" min="0 0 0" max="0.01 0.01 0" nx="10" ny="10" nz="1"/>
+        <MechanicalObject template="Rigid3" />
+        <UniformMass vertexMass="0.01 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.005"/>
 
-        <BoxConstraint box="0.004 0 -0.0001  0.006 0.01 0.0001"/>
+        <BoxConstraint name="BoxConstraint" box="0.004 0 -0.0001  0.006 0.01 0.0001"/>
 
-        <FixedRotationConstraint FixedZRotation="true" />
+        <FixedRotationProjectiveConstraint FixedZRotation="true" />
 
-        <Node>
+        <Node name="triangles">
             <TriangleSetTopologyContainer  name="trianglesTopo"/>
             <TriangleSetTopologyModifier   name="Modifier" />
-            <Quad2TriangleTopologicalMapping object1="gridTopo" object2="trianglesTopo" />
-            <MechanicalObject  name="basePoints" template="Rigid"/>
+            <Quad2TriangleTopologicalMapping input="@../gridTopo" output="@trianglesTopo" />
+            <MechanicalObject  name="basePoints" template="Rigid3"/>
 <!--            <WriteState filename="FoldingSquare.state" writeX="1" writeV="0"/>-->
             <IdentityMapping />
             <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1e6" poissonRatio="0.42" thickness="0.001" />
 
-            <ConstantForceField points="0-99" forces="0 0 0.3 0 0 0"/>
+            <ConstantForceField indices="0-99" forces="0 0 0.3 0 0 0"/>
 
 <!--            <Node>-->
 <!--                <MechanicalObject name="basePointsVec3" template="Vec3d"/>-->
@@ -41,12 +71,12 @@
             <Node name="SubTriangles">
 <!--                <TriangleSetTopologyContainer  name="subTrianglesTopo" filename="applications/plugins/shells/mesh/square3.msh"/>-->
                 <TriangleSetTopologyContainer  name="subTrianglesTopo"/>
-                <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
-                <MechanicalObject  name="subPoints" />
-                <BendingPlateMechanicalMapping />
+                <!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>-->
+                <MechanicalObject  name="subPoints" topology="@subTrianglesTopo" />
+                <BendingPlateMechanicalMapping input="@../basePoints" output="@subPoints"/>
                 <Node name="visual">
                     <OglModel name="Visual" color="red"/>
-                    <IdentityMapping object1="subPoints" object2="Visual"/>
+                    <IdentityMapping input="@../subPoints" output="@Visual"/>
                 </Node>
             </Node>