diff --git a/examples/ManifoldTriangleSurfaceCutting.scn b/examples/ManifoldTriangleSurfaceCutting.scn
index 6ae92c8..301e240 100644
--- a/examples/ManifoldTriangleSurfaceCutting.scn
+++ b/examples/ManifoldTriangleSurfaceCutting.scn
@@ -11,7 +11,7 @@
         <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 [DiagonalMass] -->  
-        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->  
diff --git a/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn b/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
index 5cdd3fc..346a61b 100644
--- a/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
+++ b/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
@@ -10,7 +10,7 @@
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
         <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [SimpleTesselatedTetraMechanicalMapping, SimpleTesselatedTetraTopologicalMapping] -->  
         <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->  
-        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
         <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyModifier] -->  
@@ -21,7 +21,7 @@
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" name="collision response"/>
     <Node name="TetraTopology1">
-        <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="meshLoader0" filename="mesh/liver.msh" />
         <ManifoldTetrahedronSetTopologyContainer name="Container1" src="@meshLoader0" />
diff --git a/examples/SimpleTesselatedTetraTopologicalMapping.scn b/examples/SimpleTesselatedTetraTopologicalMapping.scn
index 6fc6f69..d5abfb5 100644
--- a/examples/SimpleTesselatedTetraTopologicalMapping.scn
+++ b/examples/SimpleTesselatedTetraTopologicalMapping.scn
@@ -8,7 +8,7 @@
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
         <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [SimpleTesselatedTetraMechanicalMapping, SimpleTesselatedTetraTopologicalMapping] -->  
         <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->  
-        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->  
         <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
         <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier] -->  
@@ -19,7 +19,7 @@
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" name="collision response"/>
     <Node name="TetraTopology1">
-        <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="meshLoader0" filename="mesh/liver.msh" />
         <TetrahedronSetTopologyContainer name="Container1" src="@meshLoader0" />
diff --git a/examples/Tri2edgeManiMapping.scn b/examples/Tri2edgeManiMapping.scn
index 7f73045..68fd13e 100644
--- a/examples/Tri2edgeManiMapping.scn
+++ b/examples/Tri2edgeManiMapping.scn
@@ -10,7 +10,7 @@
         <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 [DiagonalMass] -->  
-        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField, TriangularBendingSprings] -->  
diff --git a/examples/Tri2edgeMapping.scn b/examples/Tri2edgeMapping.scn
index 65460b5..6e14b34 100644
--- a/examples/Tri2edgeMapping.scn
+++ b/examples/Tri2edgeMapping.scn
@@ -9,7 +9,7 @@
         <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 [DiagonalMass] -->  
-        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->  
diff --git a/examples/mamailleMani.scn b/examples/mamailleMani.scn
index 38f92ea..ce5bee5 100644
--- a/examples/mamailleMani.scn
+++ b/examples/mamailleMani.scn
@@ -11,7 +11,7 @@
         <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 [DiagonalMass] -->  
-        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->  
         <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->