diff --git a/examples/OglFluidModel_SPH.scn b/examples/OglFluidModel_SPH.scn
index 47f460e..4c9add2 100644
--- a/examples/OglFluidModel_SPH.scn
+++ b/examples/OglFluidModel_SPH.scn
@@ -2,7 +2,7 @@
 <Node dt="0.01" gravity="0 -20 0.0" >
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -11,7 +11,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="SPH" >
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <RegularGridTopology nx="5" ny="400" nz="5" xmin="-3.0" xmax="0" ymin="-3" ymax="36" zmin="-3.0" zmax="0" />
         <MechanicalObject name="MModel" />
         <!-- A topology is used here just to set initial particles positions. It is a bad idea because this object has no real topology, but it works... -->
diff --git a/examples/OglFluidModel_SPHParticles.scn b/examples/OglFluidModel_SPHParticles.scn
index 443ecac..db388fc 100644
--- a/examples/OglFluidModel_SPHParticles.scn
+++ b/examples/OglFluidModel_SPHParticles.scn
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <Node dt="0.01" gravity="0 -10 0" bbox="-6 -6 -6  6 6 6">
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [PointSetTopologyContainer PointSetTopologyModifier] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -10,7 +10,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Particles">
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel"/>
         <ParticleSource name="Source" translation="0 20 0" radius="0.01 0.1 0.01" velocity="0 -10 0" delay="0.02" start="0.0" stop="10" printLog="0"
         center="-0.375 0 -0.75 
diff --git a/examples/ParticleSink.scn b/examples/ParticleSink.scn
index 5da3369..8ecdfd4 100644
--- a/examples/ParticleSink.scn
+++ b/examples/ParticleSink.scn
@@ -1,14 +1,14 @@
 <?xml version="1.0" ?>
 <Node dt="0.005" gravity="0 -10 0" bbox="-6 -6 -6  6 6 6">
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="SofaSphFluid"/> <!-- Needed to use components [ParticleSink ParticleSource] -->
     <VisualStyle displayFlags="showBehaviorModels showForceFields hideWireframe" />
     <DefaultAnimationLoop/>
     <Node name="Fluid">
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel" showObject="1"/>
         <ParticleSource name="Source" 
             center="-0.375 0 -0.75    
diff --git a/examples/ParticleSource.scn b/examples/ParticleSource.scn
index 8cd9167..bdb644d 100644
--- a/examples/ParticleSource.scn
+++ b/examples/ParticleSource.scn
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <Node dt="0.005" gravity="0 -10 0" bbox="-4 -4 -4 4 4 4">
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="SofaSphFluid"/> <!-- Needed to use components [ParticleSource] -->
@@ -9,7 +9,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Particles">
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel" showObject="1"/>        
         <ParticleSource name="Source" translation="0 4 0" radius="0.01 0.1 0.01" velocity="0 -1 0" delay="0.1" start="-0.1" stop="10" printLog="0"
         center="-0.375 0 -0.75 
diff --git a/examples/ParticlesRepulsionForceField.scn b/examples/ParticlesRepulsionForceField.scn
index 0286eac..aceb7d6 100644
--- a/examples/ParticlesRepulsionForceField.scn
+++ b/examples/ParticlesRepulsionForceField.scn
@@ -11,7 +11,7 @@
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping SubsetMapping] -->
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField SphereForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField QuadBendingSprings] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
@@ -35,7 +35,7 @@
     </Node>
     
     <Node name="SquareCloth1">
-        <EulerImplicitSolver rayleighMass="0.05"  rayleighStiffness="0.1" />
+        <EulerImplicitIntegrationScheme rayleighMass="0.05"  rayleighStiffness="0.1" />
         <CGLinearSolver iterations="10" threshold="0.000001" tolerance="1e-5"/>
         <RegularGridTopology nx="100" ny="1" nz="100" xmin="12" xmax="-12" ymin="7" ymax="7" zmin="-12" zmax="12" />
         <MechanicalObject />
diff --git a/examples/PointSplatModel.scn b/examples/PointSplatModel.scn
index bc3f67f..53eaed8 100644
--- a/examples/PointSplatModel.scn
+++ b/examples/PointSplatModel.scn
@@ -6,7 +6,7 @@
     <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
     <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [RungeKutta4Solver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [RungeKutta4IntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [PointSetTopologyContainer PointSetTopologyModifier] -->
@@ -20,7 +20,7 @@
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" />
     <Node name="Fluid">
-        <RungeKutta4Solver />
+        <RungeKutta4IntegrationScheme />
         <PointSetTopologyContainer />
         <MechanicalObject name="MModel" />
 
diff --git a/examples/SPHDemo.scn b/examples/SPHDemo.scn
index 7cb9632..6a4511f 100644
--- a/examples/SPHDemo.scn
+++ b/examples/SPHDemo.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
     <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.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
@@ -13,7 +13,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Liver">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
         <MeshGmshLoader name="loader" filename="mesh/liver.msh" />
         <MechanicalObject src="@loader" name="dofs" />
diff --git a/examples/SPHFluidForceField.scn b/examples/SPHFluidForceField.scn
index c1f56d4..d413dad 100644
--- a/examples/SPHFluidForceField.scn
+++ b/examples/SPHFluidForceField.scn
@@ -2,7 +2,7 @@
 <Node dt="0.01" gravity="0 -10 0">
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -12,7 +12,7 @@
 
     <DefaultAnimationLoop/>
     <Node>
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel" />
         <!-- A topology is used here just to set initial particles positions. It is a bad idea because this object has no real topology, but it works... -->
         <RegularGridTopology nx="5" ny="40" nz="5" xmin="-1.5" xmax="0" ymin="-3" ymax="12" zmin="-1.5" zmax="0"/>
diff --git a/examples/SPHFluidForceField_benchmarks.scn b/examples/SPHFluidForceField_benchmarks.scn
index 3bd2a5c..e00f1a1 100644
--- a/examples/SPHFluidForceField_benchmarks.scn
+++ b/examples/SPHFluidForceField_benchmarks.scn
@@ -3,7 +3,7 @@
     <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.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -13,7 +13,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Less_pressure">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
         
         <MechanicalObject name="Model" />
@@ -30,7 +30,7 @@
     </Node> 
     
     <Node name="Normal">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
         
         <MechanicalObject name="MModel" />
@@ -48,7 +48,7 @@
     
     
     <Node name="Double">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
         
         <MechanicalObject name="MModel" />
diff --git a/examples/SPHFluidSurfaceMapping.scn b/examples/SPHFluidSurfaceMapping.scn
index 01cbdbc..71b7ebc 100644
--- a/examples/SPHFluidSurfaceMapping.scn
+++ b/examples/SPHFluidSurfaceMapping.scn
@@ -3,7 +3,7 @@
     <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.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -13,7 +13,7 @@
     <VisualStyle displayFlags="hideBehaviorModels showForceFields hideCollisionModels" />
     <DefaultAnimationLoop/>    
     <Node name="SPHSurfaceMapping">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
         
         <RegularGridTopology nx="5" ny="40" nz="5" xmin="-1.5" xmax="0" ymin="-3" ymax="12" zmin="-1.5" zmax="0" drawEdges="0"/>
diff --git a/examples/SPHParticleSink.scn b/examples/SPHParticleSink.scn
index 7119edf..78a3aca 100644
--- a/examples/SPHParticleSink.scn
+++ b/examples/SPHParticleSink.scn
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <Node dt="0.01" gravity="0 -10 0" bbox="-4 -4 -4 4 4 4">
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [PointSetTopologyContainer PointSetTopologyModifier] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -10,7 +10,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Particles">
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel" />
         <ParticleSource name="Source" translation="0 10 0" radius="0.01 0.1 0.01" velocity="0 -10 0" delay="0.02" start="-0.1" stop="4" addNoise="0"
         center="-0.375 0 -0.75 
diff --git a/examples/SPHParticleSink_obstacle.scn b/examples/SPHParticleSink_obstacle.scn
index d7f0ef4..a9b98db 100644
--- a/examples/SPHParticleSink_obstacle.scn
+++ b/examples/SPHParticleSink_obstacle.scn
@@ -7,7 +7,7 @@
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
     <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.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [PointSetTopologyContainer PointSetTopologyModifier] -->
@@ -24,7 +24,7 @@
     <CollisionResponse name="Response" response="PenalityContactForceField" /> 
 
     <Node name="Particles">
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel" />
         <ParticleSource name="Source" translation="0 10 0" radius="0.01 0.1 0.01" velocity="0 -10 0" delay="0.02" start="-0.1" stop="4" printLog="0"
         center="-0.375 0 -0.75 
diff --git a/examples/SPHParticleSource.scn b/examples/SPHParticleSource.scn
index 0290c83..0fcf712 100644
--- a/examples/SPHParticleSource.scn
+++ b/examples/SPHParticleSource.scn
@@ -2,7 +2,7 @@
 <Node dt="0.01" gravity="0 -10 0" bbox="-4 -4 -4 4 4 4">
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
     <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [PointSetTopologyContainer PointSetTopologyModifier] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -11,7 +11,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Particles">
-        <EulerExplicitSolver symplectic="1" />
+        <EulerExplicitIntegrationScheme symplectic="1" />
         <MechanicalObject name="MModel" />
         <ParticleSource name="Source" translation="0 10 0" radius="0.01 0.1 0.01" velocity="0 -10 0" delay="0.02" start="-0.1" stop="4" addNoise="0"
         center="-0.375 0 -0.75 
diff --git a/examples/SpatialGridContainer.scn b/examples/SpatialGridContainer.scn
index da8fd13..141cc0d 100644
--- a/examples/SpatialGridContainer.scn
+++ b/examples/SpatialGridContainer.scn
@@ -3,7 +3,7 @@
     <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.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -13,7 +13,7 @@
 
     <DefaultAnimationLoop/>
     <Node name="Liver">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
         
         <!-- A topology is used here just to set initial particles positions. It is a bad idea because this object has no real topology, but it works... -->
diff --git a/examples/SpatialGridPointModel.scn b/examples/SpatialGridPointModel.scn
index 249c8c3..52b18d6 100644
--- a/examples/SpatialGridPointModel.scn
+++ b/examples/SpatialGridPointModel.scn
@@ -5,7 +5,7 @@
     <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
     <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
     <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [RungeKutta4Solver] -->
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Forward"/> <!-- Needed to use components [RungeKutta4IntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
@@ -22,7 +22,7 @@
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" />
     <Node name="Fluid">
-        <RungeKutta4Solver />        
+        <RungeKutta4IntegrationScheme />
         <RegularGridTopology nx="5" ny="30" nz="5" xmin="-1.5" xmax="0" ymin="-3" ymax="9" zmin="-1.5" zmax="0" drawEdges="0"/>
         <MechanicalObject name="MModel" />
         <UniformMass name="M1" vertexMass="1" />