diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
index 61ec57f65ca..0695a61feea 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
@@ -483,7 +483,7 @@ void ConstraintAnimationLoop::correctiveMotion(const core::ExecParams* params, s
     }
 }
 
-void ConstraintAnimationLoop::step ( const core::ExecParams* params, SReal dt )
+void ConstraintAnimationLoop::doStep ( const core::ExecParams* params, SReal dt )
 {
     auto node = dynamic_cast<sofa::simulation::Node*>(this->l_node.get());
 
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
index 43c65a90504..2c59fefd372 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
@@ -93,9 +93,8 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintAnimationLoop : public sofa::si
 protected:
     ConstraintAnimationLoop();
     ~ConstraintAnimationLoop() override;
-public:
 
-    void step(const core::ExecParams* params, SReal dt) override;
+public:
     void init() override;
 
     Data<bool> d_displayTime; ///< Display time for each important step of ConstraintAnimationLoop.
@@ -118,6 +117,8 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintAnimationLoop : public sofa::si
     ConstraintProblem *getConstraintProblem() {return bufCP1 ? &CP1 : &CP2;}
 
 protected:
+    void doStep(const core::ExecParams* params, SReal dt) override;
+    
     void launchCollisionDetection(const core::ExecParams* params);
     void freeMotion(const core::ExecParams* params, simulation::Node *context, SReal &dt);
     void setConstraintEquations(const core::ExecParams* params, simulation::Node *context);
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp
index 9ef600d8d71..6dd3f1e47c9 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp
@@ -142,7 +142,7 @@ void FreeMotionAnimationLoop::init()
 }
 
 
-void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt)
+void FreeMotionAnimationLoop::doStep(const sofa::core::ExecParams* params, SReal dt)
 {
     auto node = dynamic_cast<sofa::simulation::Node*>(this->l_node.get());
 
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h
index c930a8b53b2..b966c2310ee 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h
@@ -41,7 +41,6 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API FreeMotionAnimationLoop : public sofa::si
     SOFA_CLASS(FreeMotionAnimationLoop, sofa::simulation::CollisionAnimationLoop);
 
 public:
-    void step (const sofa::core::ExecParams* params, SReal dt) override;
     void init() override;
 
     Data<bool> d_solveVelocityConstraintFirst; ///< solve separately velocity constraint violations before position constraint violations
@@ -53,6 +52,8 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API FreeMotionAnimationLoop : public sofa::si
     FreeMotionAnimationLoop();
     ~FreeMotionAnimationLoop() override ;
 
+    void doStep (const sofa::core::ExecParams* params, SReal dt) override;
+    
     ///< The ConstraintSolver used in this animation loop (required)
     SingleLink<FreeMotionAnimationLoop, sofa::core::behavior::ConstraintSolver, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_constraintSolver;
 
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.cpp
index fbb409c4dd5..7516e74d12d 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.cpp
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.cpp
@@ -59,7 +59,7 @@ MultiStepAnimationLoop::~MultiStepAnimationLoop()
 {
 }
 
-void MultiStepAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt)
+void MultiStepAnimationLoop::doStep(const sofa::core::ExecParams* params, SReal dt)
 {
     auto node = dynamic_cast<sofa::simulation::Node*>(this->l_node.get());
 
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h
index 1a71de83df1..5af77dacdb2 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h
@@ -38,9 +38,9 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API MultiStepAnimationLoop : public sofa::sim
     MultiStepAnimationLoop();
 
     ~MultiStepAnimationLoop() override;
+    
+    void doStep (const sofa::core::ExecParams* params, SReal dt) override;
 public:
-    void step (const sofa::core::ExecParams* params, SReal dt) override;
-
     Data<int> d_collisionSteps; ///< number of collision steps between each frame rendering
     Data<int> d_integrationSteps; ///< number of integration steps between each collision detection
 };
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.cpp
index 990eb77dd46..b482c3ae6c1 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.cpp
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.cpp
@@ -68,7 +68,7 @@ void MultiTagAnimationLoop::init()
 
 
 
-void MultiTagAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt)
+void MultiTagAnimationLoop::doStep(const sofa::core::ExecParams* params, SReal dt)
 {
     auto node = dynamic_cast<sofa::simulation::Node*>(this->l_node.get());
 
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.h
index 630e423adee..969471bb4dc 100644
--- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.h
+++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.h
@@ -45,7 +45,8 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API MultiTagAnimationLoop : public sofa::simu
 
     ~MultiTagAnimationLoop() override;
 
-    void step (const sofa::core::ExecParams* params, SReal dt) override;
+protected:
+    void doStep (const sofa::core::ExecParams* params, SReal dt) override;
 
 private:
     sofa::core::objectmodel::TagSet tagList;
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp
index 6fb78d79921..d2c9ee3a93b 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp
@@ -57,6 +57,33 @@ void BaseSubCollisionPipeline::bwdInit()
     doBwdInit();
 }
 
+void BaseSubCollisionPipeline::computeCollisionReset()
+{
+    //TODO (SPRINT SED 2025): Component state mechamism
+    if (!this->isComponentStateValid())
+        return;
+    
+    doComputeCollisionReset();
+}
+
+void BaseSubCollisionPipeline::computeCollisionDetection()
+{
+    //TODO (SPRINT SED 2025): Component state mechamism
+    if (!this->isComponentStateValid())
+        return;
+
+    doComputeCollisionDetection();
+}
+
+void BaseSubCollisionPipeline::computeCollisionResponse()
+{
+    //TODO (SPRINT SED 2025): Component state mechamism
+    if (!this->isComponentStateValid())
+        return;
+
+    doComputeCollisionResponse();
+}
+
 /**
  * @brief Queries all registered contact response types from the Contact factory.
  *
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h
index 9e626ac2d2b..a2bee362bbe 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h
@@ -64,19 +64,28 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BaseSubCollisionPipeline
     /// @brief Called during rendering. Default implementation is empty.
     virtual void doDraw(const core::visual::VisualParams* vparams);
 
+    /// @brief Delegates collision reset 
+    virtual void doComputeCollisionReset() = 0;
+
+    /// @brief Delegates collision detection
+    virtual void doComputeCollisionDetection() = 0;
+
+    /// @brief Delegates response creation
+    virtual void doComputeCollisionResponse() = 0;
+
 public:
     ///@{
     /// @name Collision Pipeline Interface
     /// These methods define the three-phase collision workflow that derived classes must implement.
 
     /// @brief Clears collision state from the previous time step (contacts, responses).
-    virtual void computeCollisionReset() = 0;
+    virtual void computeCollisionReset() final;
 
     /// @brief Performs collision detection (bounding tree, broad phase, narrow phase).
-    virtual void computeCollisionDetection() = 0;
+    virtual void computeCollisionDetection() final;
 
     /// @brief Creates collision responses based on detected contacts.
-    virtual void computeCollisionResponse() = 0;
+    virtual void computeCollisionResponse() final;
 
     ///@}
 
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp
index a93bc56cda3..1774bf938f9 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp
@@ -139,7 +139,7 @@ void CompositeCollisionPipeline::reset()
 }
 
 /// Delegates collision reset to all sub-pipelines sequentially.
-void CompositeCollisionPipeline::doCollisionReset()
+void CompositeCollisionPipeline::doComputeCollisionReset()
 {
     msg_info() << "CompositeCollisionPipeline::doCollisionReset" ;
 
@@ -158,7 +158,7 @@ void CompositeCollisionPipeline::doCollisionReset()
  *
  * @param collisionModels Ignored - each sub-pipeline uses its own linked collision models.
  */
-void CompositeCollisionPipeline::doCollisionDetection(const type::vector<core::CollisionModel*>& collisionModels)
+void CompositeCollisionPipeline::doComputeCollisionDetection(const type::vector<core::CollisionModel*>& collisionModels)
 {
     SOFA_UNUSED(collisionModels);
 
@@ -188,7 +188,7 @@ void CompositeCollisionPipeline::doCollisionDetection(const type::vector<core::C
 }
 
 /// Delegates collision response creation to all sub-pipelines sequentially.
-void CompositeCollisionPipeline::doCollisionResponse()
+void CompositeCollisionPipeline::doComputeCollisionResponse()
 {
     for (const auto& subPipeline : l_subCollisionPipelines)
     {
@@ -202,35 +202,4 @@ std::set< std::string > CompositeCollisionPipeline::getResponseList() const
     return BaseSubCollisionPipeline::getResponseList();
 }
 
-/// Entry point for collision reset phase, called by the simulation loop.
-void CompositeCollisionPipeline::computeCollisionReset()
-{
-    if(!this->isComponentStateValid())
-        return;
-
-    doCollisionReset();
-}
-
-/// Entry point for collision detection phase, called by the simulation loop.
-void CompositeCollisionPipeline::computeCollisionDetection()
-{
-    if(!this->isComponentStateValid())
-        return;
-
-    // The collision models parameter is not used by this pipeline
-    // since each sub-pipeline manages its own set of models
-    static std::vector<CollisionModel*> collisionModels{};
-
-    doCollisionDetection(collisionModels);
-}
-
-/// Entry point for collision response phase, called by the simulation loop.
-void CompositeCollisionPipeline::computeCollisionResponse()
-{
-    if(!this->isComponentStateValid())
-        return;
-
-    doCollisionResponse();
-}
-
 } // namespace sofa::component::collision::detection::algorithm
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h
index 706e6b8da4c..713f690b397 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h
@@ -68,27 +68,18 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API CompositeCollisionPipelin
     // -- Pipeline interface
 
     /// @brief Delegates reset to all sub-pipelines to clear previous contacts.
-    void doCollisionReset() override;
+    void doComputeCollisionReset() override;
 
     /// @brief Delegates collision detection to all sub-pipelines (optionally in parallel).
     /// @note The collisionModels parameter is ignored; each sub-pipeline uses its own models.
-    void doCollisionDetection(const sofa::type::vector<sofa::core::CollisionModel*>& collisionModels) override;
+    void doComputeCollisionDetection(const sofa::type::vector<sofa::core::CollisionModel*>& collisionModels) override;
 
     /// @brief Delegates response creation to all sub-pipelines.
-    void doCollisionResponse() override;
+    void doComputeCollisionResponse() override;
 
     void bwdInit() override;
     void reset() override;
 
-    /// @brief Entry point for collision reset, called by the simulation loop.
-    virtual void computeCollisionReset() override final;
-
-    /// @brief Entry point for collision detection, called by the simulation loop.
-    virtual void computeCollisionDetection() override final;
-
-    /// @brief Entry point for collision response, called by the simulation loop.
-    virtual void computeCollisionResponse() override final;
-
 public:
     /// When true, collision detection across sub-pipelines runs in parallel using the task scheduler.
     sofa::Data<bool> d_parallelDetection;
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.cpp
index 4743daf2221..e977cdfe6f9 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.cpp
@@ -142,11 +142,8 @@ void SubCollisionPipeline::doInit()
  *
  * This ensures a clean slate before new collisions are detected.
  */
-void SubCollisionPipeline::computeCollisionReset()
+void SubCollisionPipeline::doComputeCollisionReset()
 {
-    if (!this->isComponentStateValid())
-        return;
-
     msg_info() << "SubCollisionPipeline::doCollisionReset";
 
     // Propagate the intersection method to all collision detection components
@@ -168,15 +165,12 @@ void SubCollisionPipeline::computeCollisionReset()
 /**
  * @brief Performs collision detection in two phases: broad phase and narrow phase.
  */
-void SubCollisionPipeline::computeCollisionDetection()
+void SubCollisionPipeline::doComputeCollisionDetection()
 {
     const std::string timerPrefix = formatComponentName(this->getName()) + " ";
     const std::string globalTimerName = timerPrefix + "doCollisionDetection";
     SCOPED_TIMER_VARNAME_DYN(docollisiontimer, globalTimerName.c_str());
 
-    if (!this->isComponentStateValid())
-        return;
-
     msg_info()  << "doCollisionDetection, compute Bounding Trees" ;
 
     // Phase 1: Compute bounding volumes for all collision models
@@ -271,11 +265,8 @@ void SubCollisionPipeline::computeCollisionDetection()
 /**
  * @brief Creates collision responses based on detected contacts.
  */
-void SubCollisionPipeline::computeCollisionResponse()
+void SubCollisionPipeline::doComputeCollisionResponse()
 {
-    if (!this->isComponentStateValid())
-        return;
-
     core::objectmodel::BaseContext* scene = getContext();
 
     msg_info() << "Create Contacts " << l_contactManager->getName() ;
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.h
index 406d036b493..1604e2ed708 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.h
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/SubCollisionPipeline.h
@@ -75,13 +75,13 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API SubCollisionPipeline : pu
     void doHandleEvent(sofa::core::objectmodel::Event*) override {}
 
     /// @brief Clears contact responses from the previous time step.
-    void computeCollisionReset() override;
+    void doComputeCollisionReset() override;
 
     /// @brief Performs collision detection: computes bounding trees, runs broad and narrow phase detection.
-    void computeCollisionDetection() override;
+    void doComputeCollisionDetection() override;
 
     /// @brief Creates contact responses based on detected collisions.
-    void computeCollisionResponse() override;
+    void doComputeCollisionResponse() override;
 
     /// @brief Returns the list of collision models handled by this pipeline.
     std::vector<sofa::core::CollisionModel*> getCollisionModels() override;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.cpp
index 0e756637900..13a2959bba3 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.cpp
@@ -43,7 +43,7 @@ CubeCollisionModel::CubeCollisionModel()
     enum_type = AABB_TYPE;
 }
 
-void CubeCollisionModel::resize(sofa::Size size)
+void CubeCollisionModel::doResize(sofa::Size size)
 {
     const auto size0 = this->size;
     if (size == size0) return;
@@ -54,7 +54,7 @@ void CubeCollisionModel::resize(sofa::Size size)
         parent->resize(0);
         parent = parent->getPrevious();
     }
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
     this->elems.resize(size);
     this->parentOf.resize(size);
     // set additional indices
@@ -104,7 +104,7 @@ Index CubeCollisionModel::addCube(Cube subcellsBegin, Cube subcellsEnd)
 {
     const sofa::Index index = size;
 
-    this->core::CollisionModel::resize(index + 1);
+    this->core::CollisionModel::doResize(index + 1);
     elems.resize(index + 1);
     
     elems[index].subcells.first = subcellsBegin;
@@ -226,7 +226,7 @@ bool CubeCollisionModel::isLeaf(sofa::Index index ) const
     return elems[index].children.first.valid();
 }
 
-void CubeCollisionModel::computeBoundingTree(int maxDepth)
+void CubeCollisionModel::doComputeBoundingTree(int maxDepth)
 {
 
     dmsg_info() << ">CubeCollisionModel::computeBoundingTree(" << maxDepth << ")";
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.h
index 511aad2d24d..9794922c20b 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeCollisionModel.h
@@ -90,8 +90,22 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API CubeCollisionModel : public core::Co
     CubeCollisionModel();
 
     void drawCollisionModel(const core::visual::VisualParams* vparams) override;
+    void doResize(sofa::Size size) override;
+
+    // -- CollisionModel interface
+
+    /**
+      *Here we make up the hierarchy (a tree) of bounding boxes which contain final CollisionElements like Spheres or Triangles.
+      *The leafs of the tree contain final CollisionElements. This hierarchy is made up from the top to the bottom, i.e., we begin
+      *to compute a bounding box containing all CollisionElements, then we divide this big bounding box into two boxes.
+      *These new two boxes inherit from the root box and have depth 1. Then we can do the same operation for the new boxes.
+      *The division is done only if the box contains more than 4 final CollisionElements and if the depth doesn't exceed
+      *the max depth. The division is made along an axis. This axis corresponds to the biggest dimension of the current bounding box.
+      *Note : a bounding box is a Cube here.
+      */
+    void doComputeBoundingTree(int maxDepth=0) override;
+
 public:
-    void resize(sofa::Size size) override;
 
     void setParentOf(sofa::Index childIndex, const sofa::type::Vec3& min, const sofa::type::Vec3& max);
     void setParentOf(sofa::Index childIndex, const sofa::type::Vec3& min, const sofa::type::Vec3& max, const sofa::type::Vec3& normal, const SReal angle=0);
@@ -121,19 +135,6 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API CubeCollisionModel : public core::Co
 
     const CubeData & getCubeData(sofa::Index index)const{return elems[index];}
 
-    // -- CollisionModel interface
-
-    /**
-      *Here we make up the hierarchy (a tree) of bounding boxes which contain final CollisionElements like Spheres or Triangles.
-      *The leafs of the tree contain final CollisionElements. This hierarchy is made up from the top to the bottom, i.e., we begin
-      *to compute a bounding box containing all CollisionElements, then we divide this big bounding box into two boxes.
-      *These new two boxes inherit from the root box and have depth 1. Then we can do the same operation for the new boxes.
-      *The division is done only if the box contains more than 4 final CollisionElements and if the depth doesn't exceed
-      *the max depth. The division is made along an axis. This axis corresponds to the biggest dimension of the current bounding box.
-      *Note : a bounding box is a Cube here.
-      */
-    void computeBoundingTree(int maxDepth=0) override;
-
     std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getInternalChildren(sofa::Index index) const override;
 
     std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getExternalChildren(sofa::Index index) const override;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.h
index ed1fbd88f95..15f4bdfa21c 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.h
@@ -101,13 +101,13 @@ class CylinderCollisionModel : public core::CollisionModel
     CylinderCollisionModel();
     CylinderCollisionModel(core::behavior::MechanicalState<DataTypes>* mstate );
 
-public:
-    void init() override;
-
     // -- CollisionModel interface
-    void resize(sofa::Size size) override;
+    void doResize(sofa::Size size) override;
 
-    void computeBoundingTree(int maxDepth=0) override;
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+public:
+    void init() override;
 
     void draw(const core::visual::VisualParams* vparams,sofa::Index index) override;
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.inl
index b73b1a0641e..1568538a060 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.inl
@@ -55,9 +55,9 @@ CylinderCollisionModel<DataTypes>::CylinderCollisionModel(core::behavior::Mechan
 }
 
 template<class DataTypes>
-void CylinderCollisionModel<DataTypes>::resize(sofa::Size size)
+void CylinderCollisionModel<DataTypes>::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
 
     VecReal & Cylinder_radii = *d_cylinder_radii.beginEdit();
     VecReal & Cylinder_heights = *d_cylinder_heights.beginEdit();
@@ -115,7 +115,7 @@ void CylinderCollisionModel<DataTypes>::init()
 
 
 template<class DataTypes>
-void CylinderCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
+void CylinderCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth)
 {
     using namespace sofa::type;
     using namespace sofa::defaulttype;
@@ -125,6 +125,7 @@ void CylinderCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     bool updated = false;
     if (ncyl != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(ncyl);
         updated = true;
         cubeModel->resize(0);
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h
index 374569733fa..41221a72bbf 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h
@@ -104,6 +104,21 @@ public :
 
     void drawCollisionModel(const core::visual::VisualParams* vparams) override;
 
+    // -- CollisionModel interface
+
+    void doResize(sofa::Size size) override;
+
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+    void doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth=0) override;
+
+    bool doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
+
+    sofa::core::topology::BaseMeshTopology* doGetCollisionTopology() override
+    {
+        return l_topology.get();
+    }
+    
 public:
     typedef TDataTypes DataTypes;
     typedef DataTypes InDataTypes;
@@ -118,18 +133,8 @@ public :
 
     void init() override;
 
-    // -- CollisionModel interface
-
-    void resize(sofa::Size size) override;
-
-    void computeBoundingTree(int maxDepth=0) override;
-
-    void computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
-
     void handleTopologyChange() override;
 
-    bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
-
     core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return mstate; }
 
     Deriv velocity(sofa::Index index)const;
@@ -154,11 +159,6 @@ public :
         return sofa::core::objectmodel::BaseComponent::canCreate(obj, context, arg);
     }
 
-    sofa::core::topology::BaseMeshTopology* getCollisionTopology() override
-    {
-        return l_topology.get();
-    }
-
     void computeBBox(const core::ExecParams* params, bool onlyVisible) override;
 
     Data<bool> d_displayFreePosition; ///< Display Collision Model Points free position(in green)
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.inl
index dd485591a07..9f5959d0938 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.inl
@@ -47,9 +47,9 @@ LineCollisionModel<DataTypes>::LineCollisionModel()
 
 
 template<class DataTypes>
-void LineCollisionModel<DataTypes>::resize(sofa::Size size)
+void LineCollisionModel<DataTypes>::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
     elems.resize(size);
 }
 
@@ -354,7 +354,7 @@ void LineCollisionModel<DataTypes>::drawCollisionModel(const core::visual::Visua
 }
 
 template<class DataTypes>
-bool LineCollisionModel<DataTypes>::canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
+bool LineCollisionModel<DataTypes>::doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
 {
     if (!this->bSelfCollision.getValue()) return true;
     if (this->getContext() != model2->getContext()) return true;
@@ -458,7 +458,7 @@ bool LineCollisionModel<DataTypes>::canCollideWithElement(sofa::Index index, Col
 }
 
 template<class DataTypes>
-void LineCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
+void LineCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     updateFromTopology();
@@ -495,7 +495,7 @@ void LineCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
 }
 
 template<class DataTypes>
-void LineCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
+void LineCollisionModel<DataTypes>::doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     updateFromTopology();
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.h
index e5ebbec02ba..53f16464340 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.h
@@ -84,19 +84,9 @@ class PointCollisionModel : public core::CollisionModel
 
 public:
     void init() override;
-
-    // -- CollisionModel interface
-
-    void resize(sofa::Size size) override;
-
-    void computeBoundingTree(int maxDepth=0) override;
-
-    void computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
-
+    
     void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
-    bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
-
     core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return mstate; }
 
     Deriv getNormal(sofa::Index index){ return (normals.size()) ? normals[index] : Deriv();}
@@ -122,11 +112,6 @@ class PointCollisionModel : public core::CollisionModel
     void computeBBox(const core::ExecParams* params, bool onlyVisible) override;
     void updateNormals();
 
-    sofa::core::topology::BaseMeshTopology* getCollisionTopology() override
-    {
-        return l_topology.get();
-    }
-
 protected:
 
     core::behavior::MechanicalState<DataTypes>* mstate;
@@ -139,6 +124,18 @@ class PointCollisionModel : public core::CollisionModel
     /// Link to be set to the topology container in the component graph.
     SingleLink<PointCollisionModel<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
 
+    // -- CollisionModel interface
+
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+    void doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
+
+    bool doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
+
+    sofa::core::topology::BaseMeshTopology* doGetCollisionTopology() override
+    {
+        return l_topology.get();
+    }
 };
 
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.inl
index 8a10d5227df..72d95d13a7a 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.inl
@@ -43,12 +43,6 @@ PointCollisionModel<DataTypes>::PointCollisionModel()
     enum_type = POINT_TYPE;
 }
 
-template<class DataTypes>
-void PointCollisionModel<DataTypes>::resize(sofa::Size size)
-{
-    this->core::CollisionModel::resize(size);
-}
-
 template<class DataTypes>
 void PointCollisionModel<DataTypes>::init()
 {
@@ -74,7 +68,7 @@ void PointCollisionModel<DataTypes>::init()
 
 
 template<class DataTypes>
-bool PointCollisionModel<DataTypes>::canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
+bool PointCollisionModel<DataTypes>::doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
 {
 
     if (!this->bSelfCollision.getValue()) return true; // we need to perform this verification process only for the selfcollision case.
@@ -112,13 +106,14 @@ bool PointCollisionModel<DataTypes>::canCollideWithElement(sofa::Index index, Co
 }
 
 template<class DataTypes>
-void PointCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
+void PointCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     const auto npoints = mstate->getSize();
     bool updated = false;
     if (npoints != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(npoints);
         updated = true;
     }
@@ -143,13 +138,14 @@ void PointCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
 }
 
 template<class DataTypes>
-void PointCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag , int maxDepth)
+void PointCollisionModel<DataTypes>::doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     const auto npoints = mstate->getSize();
     bool updated = false;
     if (npoints != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(npoints);
         updated = true;
     }
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.cpp
index 08ec23ec121..d6267f4af4f 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.cpp
@@ -44,9 +44,9 @@ RayCollisionModel::RayCollisionModel(SReal length)
     this->contactResponse.setValue("RayContact"); // use RayContact response class
 }
 
-void RayCollisionModel::resize(sofa::Size size)
+void RayCollisionModel::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
 
     if (length.size() < size)
     {
@@ -110,7 +110,7 @@ void RayCollisionModel::draw(const core::visual::VisualParams* vparams, sofa::In
 
 }
 
-void RayCollisionModel::computeBoundingTree(int maxDepth)
+void RayCollisionModel::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.h
index 5e492069de7..a48b3e23119 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.h
@@ -63,13 +63,14 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API RayCollisionModel : public core::Col
     friend class Ray;
 protected:
     RayCollisionModel(SReal defaultLength=1);
-public:
-    void init() override;
 
     // -- CollisionModel interface
-    void resize(sofa::Size size) override;
+    void doResize(sofa::Size size) override;
+
+    void doComputeBoundingTree(int maxDepth) override;
 
-    void computeBoundingTree(int maxDepth) override;
+public:
+    void init() override;
 
     void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.h
index 6ba48175cde..9a810379d7b 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.h
@@ -104,13 +104,14 @@ class SphereCollisionModel : public core::CollisionModel
 public:
     void init() override;
 
+
     // -- CollisionModel interface
 
-    void resize(sofa::Size size) override;
+    void doResize(sofa::Size size) override;
 
-    void computeBoundingTree(int maxDepth=0) override;
+    void doComputeBoundingTree(int maxDepth=0) override;
 
-    void computeContinuousBoundingTree(SReal dt,  ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia,  int maxDepth=0) override;
+    void doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia,  int maxDepth=0) override;
 
     void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.inl
index f1c9370aba8..76db9d25781 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.inl
@@ -54,9 +54,9 @@ SphereCollisionModel<DataTypes>::SphereCollisionModel(core::behavior::Mechanical
 
 
 template<class DataTypes>
-void SphereCollisionModel<DataTypes>::resize(sofa::Size size)
+void SphereCollisionModel<DataTypes>::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
 
     helper::WriteAccessor< Data<VecReal> > r = d_radius;
 
@@ -156,7 +156,7 @@ void SphereCollisionModel<DataTypes>::drawCollisionModel(const core::visual::Vis
 }
 
 template <class DataTypes>
-void SphereCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
+void SphereCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth)
 {
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
@@ -166,6 +166,7 @@ void SphereCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     bool updated = false;
     if (npoints != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(npoints);
         updated = true;
         cubeModel->resize(0);
@@ -194,7 +195,7 @@ void SphereCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
 
 
 template <class DataTypes>
-void SphereCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag  continuousIntersectionFlag, int maxDepth)
+void SphereCollisionModel<DataTypes>::doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag  continuousIntersectionFlag, int maxDepth)
 {
     using sofa::type::Vec3 ;
 
@@ -206,6 +207,7 @@ void SphereCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, Co
     bool updated = false;
     if (npoints != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(npoints);
         updated = true;
         cubeModel->resize(0);
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.cpp
index ca88ef0f133..e9327cedef8 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.cpp
@@ -50,9 +50,9 @@ TetrahedronCollisionModel::TetrahedronCollisionModel()
     enum_type = TETRAHEDRON_TYPE;
 }
 
-void TetrahedronCollisionModel::resize(sofa::Size size)
+void TetrahedronCollisionModel::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
     elems.resize(size);
     if (getPrevious() != nullptr) getPrevious()->resize(0); // force recomputation of bounding tree
 }
@@ -193,7 +193,7 @@ void TetrahedronCollisionModel::drawCollisionModel(const core::visual::VisualPar
     }
 }
 
-void TetrahedronCollisionModel::computeBoundingTree(int maxDepth)
+void TetrahedronCollisionModel::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     if (!mstate || !m_topology) return;
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.h
index 5c93d0fb484..efed38917c7 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronCollisionModel.h
@@ -111,13 +111,14 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TetrahedronCollisionModel : public c
 public:
     void init() override;
 
+
     // -- CollisionModel interface
 
-    void resize(sofa::Size size) override;
+    void doResize(sofa::Size size) override;
 
-    void computeBoundingTree(int maxDepth=0) override;
+    void doComputeBoundingTree(int maxDepth=0) override;
 
-    //virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);
+    //virtual void doComputeContinuousBoundingTree(double dt, int maxDepth=0);
 
     void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.h
index 712c6db49f6..358332e082f 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.h
@@ -170,20 +170,26 @@ class TriangleCollisionModel : public core::CollisionModel
     virtual void updateNormals();
     void drawCollisionModel(const core::visual::VisualParams* vparams) override;
 
-public:
-    void init() override;
-
     // -- CollisionModel interface
 
-    void resize(sofa::Size size) override;
+    void doResize(sofa::Size size) override;
 
-    void computeBoundingTree(int maxDepth=0) override;
+    void doComputeBoundingTree(int maxDepth=0) override;
 
-    void computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
+    void doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
 
-    void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
-    bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
+    bool doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
+
+    sofa::core::topology::BaseMeshTopology* doGetCollisionTopology() override
+    {
+        return l_topology.get();
+    }
+    
+public:
+    void init() override;
+
+    void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
     core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return m_mstate; }
     const core::behavior::MechanicalState<DataTypes>* getMechanicalState() const { return m_mstate; }
@@ -212,10 +218,6 @@ class TriangleCollisionModel : public core::CollisionModel
 
     void computeBBox(const core::ExecParams* params, bool onlyVisible=false) override;
 
-    sofa::core::topology::BaseMeshTopology* getCollisionTopology() override
-    {
-        return l_topology.get();
-    }
 };
 
 template<class DataTypes>
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.inl
index f2bc2b681ef..fbe193b777d 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.inl
@@ -50,9 +50,9 @@ TriangleCollisionModel<DataTypes>::TriangleCollisionModel()
 }
 
 template<class DataTypes>
-void TriangleCollisionModel<DataTypes>::resize(sofa::Size size)
+void TriangleCollisionModel<DataTypes>::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
     m_normals.resize(size);
 }
 
@@ -194,7 +194,7 @@ void TriangleCollisionModel<DataTypes>::updateFromTopology()
 
 
 template<class DataTypes>
-bool TriangleCollisionModel<DataTypes>::canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
+bool TriangleCollisionModel<DataTypes>::doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
 {
     if (!this->bSelfCollision.getValue()) return true; // we need to perform this verification process only for the selfcollision case.
     if (this->getContext() != model2->getContext()) return true;
@@ -214,7 +214,7 @@ bool TriangleCollisionModel<DataTypes>::canCollideWithElement(sofa::Index index,
 }
 
 template<class DataTypes>
-void TriangleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
+void TriangleCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
 
@@ -276,7 +276,7 @@ void TriangleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
 }
 
 template<class DataTypes>
-void TriangleCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
+void TriangleCollisionModel<DataTypes>::doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
 
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
index 31912c20506..75d9eddef96 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
@@ -101,7 +101,7 @@ void TriangleModelInRegularGrid::init()
     }
 }
 
-void TriangleModelInRegularGrid::computeBoundingTree ( int )
+void TriangleModelInRegularGrid::doComputeBoundingTree ( int )
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     updateFromTopology();
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.h
index 74319ab7d37..cb106163f28 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.h
@@ -35,15 +35,17 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TriangleModelInRegularGrid : public
     SOFA_CLASS(TriangleModelInRegularGrid, TriangleCollisionModel<sofa::defaulttype::Vec3Types>);
 
     void init() override;
-    void computeBoundingTree ( int maxDepth=0 ) override;
 
     sofa::core::topology::BaseMeshTopology* _topology;
     sofa::core::topology::BaseMeshTopology* _higher_topo;
     core::behavior::MechanicalState<defaulttype::Vec3Types>* _higher_mstate;
+    
 
 protected:
     TriangleModelInRegularGrid();
     ~TriangleModelInRegularGrid();
+
+    void doComputeBoundingTree ( int maxDepth=0 ) override;
 };
 
 }  // namespace sofa::component::collision::geometry
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.cpp
index 62abb5bdc39..00432e41875 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.cpp
@@ -71,7 +71,7 @@ void TriangleOctreeCollisionModel::drawCollisionModel (const core::visual::Visua
     }
 }
 
-void TriangleOctreeCollisionModel::computeBoundingTree(int maxDepth)
+void TriangleOctreeModel::doComputeBoundingTree(int maxDepth)
 {
     const type::vector<topology::Triangle>& tri = *m_triangles;
     if(octreeRoot)
@@ -129,9 +129,10 @@ void TriangleOctreeCollisionModel::computeBoundingTree(int maxDepth)
     }
 }
 
-void TriangleOctreeCollisionModel::computeContinuousBoundingTree(SReal/* dt*/, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
+
+void TriangleOctreeModel::doComputeContinuousBoundingTree(SReal/* dt*/, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
 {
-    computeBoundingTree(maxDepth);
+    doComputeBoundingTree(maxDepth);
 }
 
 void TriangleOctreeCollisionModel::buildOctree()
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.h
index 1a36dfb96c9..00a171292ea 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.h
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.h
@@ -40,13 +40,15 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TriangleOctreeCollisionModel : publi
 protected:
     TriangleOctreeCollisionModel();
     void drawCollisionModel(const core::visual::VisualParams* vparams) override;
+
+
+    void doComputeBoundingTree(int maxDepth=0) override;
+    void doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
 public:
     Data<bool> d_drawOctree;  ///< draw the octree
 
     /// the normals for each point
     type::vector<type::Vec3> pNorms;
-    void computeBoundingTree(int maxDepth=0) override;
-    void computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) override;
     /// init the octree creation
     void buildOctree ();
 };
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h
index be1b273b7ea..6b3fd5eba1f 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h
@@ -111,6 +111,9 @@ public :
 
     virtual ~AffineMovementProjectiveConstraint();
 
+    // Implement projectMatrix for assembled solver of compliant
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
+
 public:
     //Add or clear constraints
     void clearConstraints();
@@ -135,9 +138,6 @@ public :
     /// Compute the theoretical final positions
     void getFinalPositions (VecCoord& finalPos, DataVecCoord& xData);
 
-    // Implement projectMatrix for assembled solver of compliant
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
     /// Draw the constrained points (= border mesh points)
      void draw(const core::visual::VisualParams* vparams) override;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl
index e72a9e1f38d..937e13cfa0e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl
@@ -198,7 +198,7 @@ void AffineMovementProjectiveConstraint<DataTypes>::projectPosition(const core::
 }
 
 template <class DataTypes>
-void AffineMovementProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ )
+void AffineMovementProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ )
 {
     // clears the rows and columns associated with constrained particles
     const unsigned blockSize = DataTypes::deriv_total_size;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h
index 427a9d276ba..78d979bb03d 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h
@@ -74,6 +74,17 @@ class AttachProjectiveConstraint : public core::behavior::PairInteractionProject
     AttachProjectiveConstraint(core::behavior::MechanicalState<DataTypes> *mm1, core::behavior::MechanicalState<DataTypes> *mm2);
     ~AttachProjectiveConstraint() override;
 
+    /// Inherited from Constraint
+    void doProjectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId) override;
+
+    /// Project the global Mechanical Matrix to constrained space using offset parameter
+    void doApplyConstraint(const core::MechanicalParams *mparams,
+                         const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    /// Project the global Mechanical Vector to constrained space using offset parameter
+    void doApplyConstraint(const core::MechanicalParams *mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
 public:
 
     /// Inherited from Base
@@ -81,20 +92,10 @@ class AttachProjectiveConstraint : public core::behavior::PairInteractionProject
     void reinit() override;
     void draw(const core::visual::VisualParams* vparams) override;
 
-    /// Inherited from Constraint
-    void projectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId) override;
     void projectResponse(const core::MechanicalParams *mparams, DataVecDeriv& dx1, DataVecDeriv& dx2) override;
     void projectVelocity(const core::MechanicalParams *mparams, DataVecDeriv& v1, DataVecDeriv& v2) override;
     void projectPosition(const core::MechanicalParams *mparams, DataVecCoord& x1, DataVecCoord& x2) override;
 
-    /// Project the global Mechanical Matrix to constrained space using offset parameter
-    void applyConstraint(const core::MechanicalParams *mparams,
-                         const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    /// Project the global Mechanical Vector to constrained space using offset parameter
-    void applyConstraint(const core::MechanicalParams *mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
     virtual void reinitIfChanged();
 
     template<class T>
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl
index aff77b5954d..17e2727f998 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl
@@ -285,7 +285,7 @@ template <>
 void AttachProjectiveConstraint<sofa::defaulttype::Rigid3Types>::calcRestRotations();
 
 template<class DataTypes>
-void AttachProjectiveConstraint<DataTypes>::projectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId)
+void AttachProjectiveConstraint<DataTypes>::doProjectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId)
 {
     SOFA_UNUSED(mparams);
     SOFA_UNUSED(cId);
@@ -452,7 +452,7 @@ void AttachProjectiveConstraint<DataTypes>::projectResponse(const core::Mechanic
 
 // Matrix Integration interface
 template <class DataTypes>
-void AttachProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams * mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void AttachProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams * mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if (f_twoWay.getValue())
@@ -504,7 +504,7 @@ void AttachProjectiveConstraint<DataTypes>::applyConstraint(const core::Mechanic
 
 
 template <class DataTypes>
-void AttachProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams * mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void AttachProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams * mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if (f_twoWay.getValue())
@@ -546,7 +546,7 @@ void AttachProjectiveConstraint<DataTypes>::applyConstraint(const core::Mechanic
 }
 
 template <class DataTypes>
-void AttachProjectiveConstraint<DataTypes>::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
+void AttachProjectiveConstraint<DataTypes>::doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     if (f_twoWay.getValue())
         return;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h
index 32fa61b897e..17afcf3fd50 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h
@@ -93,6 +93,11 @@ class DirectionProjectiveConstraint : public core::behavior::ProjectiveConstrain
 
     type::vector<CPos> m_origin;
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet).
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
 
 public:
     void clearConstraints();
@@ -108,13 +113,6 @@ class DirectionProjectiveConstraint : public core::behavior::ProjectiveConstrain
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet).
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-
     void draw(const core::visual::VisualParams* vparams) override;
 
 protected :
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl
index eede78445e6..732f74a4d7d 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl
@@ -171,7 +171,7 @@ void  DirectionProjectiveConstraint<DataTypes>::reinit()
 }
 
 template <class DataTypes>
-void DirectionProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void DirectionProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state
     BaseSparseMatrix* E = dynamic_cast<BaseSparseMatrix*>(M);
@@ -222,13 +222,13 @@ void DirectionProjectiveConstraint<DataTypes>::projectPosition(const core::Mecha
 }
 
 template <class DataTypes>
-void DirectionProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void DirectionProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     msg_error() << "applyConstraint is not implemented";
 }
 
 template <class DataTypes>
-void DirectionProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void DirectionProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     dmsg_error() << "DirectionProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented";
 }
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h
index 79770550c4d..d635101807f 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h
@@ -84,20 +84,8 @@ class FixedPlaneProjectiveConstraint : public ProjectiveConstraintSet<DataTypes>
     void projectResponse(const MechanicalParams* mparams, DataVecDeriv& resData) override;
     void projectVelocity(const MechanicalParams* mparams, DataVecDeriv& vData) override;
     void projectPosition(const MechanicalParams* mparams, DataVecCoord& xData) override;
-
-    /// Implement projectMatrix for assembled solver of compliant
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset) override;
     void projectJacobianMatrix(const MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    /// Implement applyConstraint for direct solvers
-    void applyConstraint(const MechanicalParams* mparams,
-                                 const MultiMatrixAccessor* matrix) override;
-
-    void applyConstraint(const MechanicalParams* mparams, BaseVector* vect,
-                                 const MultiMatrixAccessor* matrix) override;
-
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
     void setDirection (Coord dir);
     void selectVerticesAlongPlane();
     void setDminAndDmax(const Real _dmin,const Real _dmax);
@@ -124,6 +112,18 @@ class FixedPlaneProjectiveConstraint : public ProjectiveConstraintSet<DataTypes>
     using ProjectiveConstraintSet<DataTypes>::getContext;
 
     bool isPointInPlane(const Coord& p) const ;
+
+    /// Implement applyConstraint for direct solvers
+    void doApplyConstraint(const MechanicalParams* mparams,
+                                 const MultiMatrixAccessor* matrix) override;
+
+    void doApplyConstraint(const MechanicalParams* mparams, BaseVector* vect,
+                                 const MultiMatrixAccessor* matrix) override;
+
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
+    /// Implement projectMatrix for assembled solver of compliant
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset) override;
 };
 
 #if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPLANEPROJECTIVECONSTRAINT_CPP)
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl
index b6b151f6dd4..248ef2147d2 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl
@@ -56,7 +56,7 @@ FixedPlaneProjectiveConstraint<DataTypes>::~FixedPlaneProjectiveConstraint()
 
 /// Matrix Integration interface
 template <class DataTypes>
-void FixedPlaneProjectiveConstraint<DataTypes>::applyConstraint(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix)
+void FixedPlaneProjectiveConstraint<DataTypes>::doApplyConstraint(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if(const MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(mstate.get()))
@@ -81,7 +81,7 @@ void FixedPlaneProjectiveConstraint<DataTypes>::applyConstraint(const Mechanical
 }
 
 template <class DataTypes>
-void FixedPlaneProjectiveConstraint<DataTypes>::applyConstraint(const MechanicalParams* mparams,
+void FixedPlaneProjectiveConstraint<DataTypes>::doApplyConstraint(const MechanicalParams* mparams,
                                                       BaseVector* vect,
                                                       const MultiMatrixAccessor* matrix)
 {
@@ -106,7 +106,7 @@ void FixedPlaneProjectiveConstraint<DataTypes>::applyConstraint(const Mechanical
 }
 
 template <class DataTypes>
-void FixedPlaneProjectiveConstraint<DataTypes>::applyConstraint(
+void FixedPlaneProjectiveConstraint<DataTypes>::doApplyConstraint(
     sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     static constexpr unsigned int N = Deriv::size();
@@ -194,7 +194,7 @@ void FixedPlaneProjectiveConstraint<DataTypes>::projectPosition(const Mechanical
 }
 
 template <class DataTypes>
-void FixedPlaneProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ )
+void FixedPlaneProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ )
 {
     /// clears the rows and columns associated with constrained particles
     const unsigned blockSize = DataTypes::deriv_total_size;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
index 5e72b7d5217..b46dc409845 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
@@ -75,6 +75,11 @@ class FixedProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
 
     virtual ~FixedProjectiveConstraint();
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
 public:
     SetIndex d_indices;
     Data<bool> d_fixAll; ///< filter all the DOF to implement a fixed object
@@ -88,6 +93,10 @@ class FixedProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
     std::unique_ptr<FixedProjectiveConstraintInternalData<DataTypes> > data { nullptr };
     friend class FixedProjectiveConstraintInternalData<DataTypes>;
 
+    /** Project the given matrix (Experimental API).
+      See doc in base parent class
+      */
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
 
 public:
     void clearConstraints();
@@ -104,16 +113,6 @@ class FixedProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
 
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    /** Project the given matrix (Experimental API).
-      See doc in base parent class
-      */
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
     void computeBBox(const core::ExecParams* params, bool onlyVisible) override;
     void draw(const core::visual::VisualParams* vparams) override;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
index 2c80a45edac..d3e1d5660f4 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
@@ -157,7 +157,7 @@ void  FixedProjectiveConstraint<DataTypes>::checkIndices()
 }
 
 template <class DataTypes>
-void FixedProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void FixedProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     static const unsigned blockSize = DataTypes::deriv_total_size;
 
@@ -266,7 +266,7 @@ void FixedProjectiveConstraint<DataTypes>::projectPosition(const core::Mechanica
 
 // Matrix Integration interface
 template <class DataTypes>
-void FixedProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void FixedProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get()))
@@ -304,7 +304,7 @@ void FixedProjectiveConstraint<DataTypes>::applyConstraint(const core::Mechanica
 }
 
 template <class DataTypes>
-void FixedProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void FixedProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     const int o = matrix->getGlobalOffset(this->mstate.get());
@@ -334,7 +334,7 @@ void FixedProjectiveConstraint<DataTypes>::applyConstraint(const core::Mechanica
 }
 
 template <class DataTypes>
-void FixedProjectiveConstraint<DataTypes>::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
+void FixedProjectiveConstraint<DataTypes>::doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     static constexpr unsigned int N = Deriv::size();
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h
index 61363e5aa80..0ddeb412727 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h
@@ -93,6 +93,12 @@ class LineProjectiveConstraint : public core::behavior::ProjectiveConstraintSet<
     std::unique_ptr<LineProjectiveConstraintInternalData<DataTypes>> data { nullptr };
     friend class LineProjectiveConstraintInternalData<DataTypes>;
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet).
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
+
 public:
     void clearConstraints();
     void addConstraint(Index index);
@@ -107,12 +113,6 @@ class LineProjectiveConstraint : public core::behavior::ProjectiveConstraintSet<
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet).
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
 
     void draw(const core::visual::VisualParams* vparams) override;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl
index de53dbb9571..bd5931102e4 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl
@@ -168,7 +168,7 @@ void  LineProjectiveConstraint<DataTypes>::updateJacobian()
 }
 
 template <class DataTypes>
-void LineProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void LineProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state
     BaseSparseMatrix* E = dynamic_cast<BaseSparseMatrix*>(M);
@@ -228,13 +228,13 @@ void LineProjectiveConstraint<DataTypes>::projectPosition(const core::Mechanical
 
 // Matrix Integration interface
 template <class DataTypes>
-void LineProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void LineProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     msg_error() << "applyConstraint is not implemented ";
 }
 
 template <class DataTypes>
-void LineProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void LineProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     msg_error() << "LineProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented ";
 }
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h
index 6c61748846c..6bb8a5571d7 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h
@@ -104,6 +104,12 @@ public :
     LinearMovementProjectiveConstraint();
     ~LinearMovementProjectiveConstraint() override;
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
+
 public:
     ///methods to add/remove some indices, keyTimes, keyMovement
     void clearIndices();
@@ -127,12 +133,6 @@ public :
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
     void draw(const core::visual::VisualParams* vparams) override;
 
 protected:
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl
index db39905ef92..706e1e3bbc8 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl
@@ -331,7 +331,7 @@ void LinearMovementProjectiveConstraint<DataTypes>::findKeyTimes()
 
 
 template <class DataTypes>
-void LinearMovementProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void LinearMovementProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     static const unsigned blockSize = DataTypes::deriv_total_size;
 
@@ -346,7 +346,7 @@ void LinearMovementProjectiveConstraint<DataTypes>::projectMatrix( sofa::lineara
 
 // Matrix Integration interface
 template <class DataTypes>
-void LinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void LinearMovementProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get()))
@@ -367,7 +367,7 @@ void LinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const core::
 }
 
 template <class DataTypes>
-void LinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void LinearMovementProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     const int o = matrix->getGlobalOffset(this->mstate.get());
@@ -386,7 +386,7 @@ void LinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const core::
 }
 
 template <class TDataTypes>
-void LinearMovementProjectiveConstraint<TDataTypes>::applyConstraint(
+void LinearMovementProjectiveConstraint<TDataTypes>::doApplyConstraint(
     sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     constexpr unsigned int N = Deriv::size();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
index c75c97db7f1..daa114d559b 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
@@ -90,6 +90,14 @@ public :
     LinearVelocityProjectiveConstraint();
 
     virtual ~LinearVelocityProjectiveConstraint();
+
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
+
 public:
     ///methods to add/remove some indices, keyTimes, keyVelocity
     void clearIndices();
@@ -112,13 +120,6 @@ public :
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
     void draw(const core::visual::VisualParams* vparams) override;
 
 private:
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl
index c1cdacc363a..ae9406296d6 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl
@@ -335,7 +335,7 @@ void LinearVelocityProjectiveConstraint<TDataTypes>::projectJacobianMatrix(const
 }
 
 template <class DataTypes>
-void LinearVelocityProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void LinearVelocityProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
 
@@ -360,7 +360,7 @@ void LinearVelocityProjectiveConstraint<DataTypes>::applyConstraint(const core::
 }
 
 template <class DataTypes>
-void LinearVelocityProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void LinearVelocityProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if(isConstraintActive())
@@ -389,7 +389,7 @@ void LinearVelocityProjectiveConstraint<DataTypes>::applyConstraint(const core::
 }
 
 template <class DataTypes>
-void LinearVelocityProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void LinearVelocityProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     static const unsigned blockSize = DataTypes::deriv_total_size;
 
@@ -407,7 +407,7 @@ void LinearVelocityProjectiveConstraint<DataTypes>::projectMatrix( sofa::lineara
 }
 
 template <class DataTypes>
-void LinearVelocityProjectiveConstraint<DataTypes>::applyConstraint(
+void LinearVelocityProjectiveConstraint<DataTypes>::doApplyConstraint(
     sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     static constexpr unsigned int N = Deriv::size();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h
index 89bc6dab2f3..872abbe20d4 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h
@@ -71,6 +71,12 @@ class PartialFixedProjectiveConstraint : public FixedProjectiveConstraint<DataTy
     PartialFixedProjectiveConstraint();
     virtual ~PartialFixedProjectiveConstraint();
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
+
 public:
 
     // -- Constraint interface
@@ -80,13 +86,6 @@ class PartialFixedProjectiveConstraint : public FixedProjectiveConstraint<DataTy
     void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
 protected:
     template <class DataDeriv>
     void projectResponseT(DataDeriv& dx,
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl
index 32ddb3d3fab..cb724b40117 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl
@@ -166,7 +166,7 @@ void PartialFixedProjectiveConstraint<DataTypes>::projectJacobianMatrix(const co
 }
 
 template <class DataTypes>
-void PartialFixedProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void PartialFixedProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     const int o = matrix->getGlobalOffset(this->mstate.get());
@@ -208,7 +208,7 @@ void PartialFixedProjectiveConstraint<DataTypes>::applyConstraint(const core::Me
 }
 
 template <class DataTypes>
-void PartialFixedProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void PartialFixedProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get()))
@@ -266,7 +266,7 @@ void PartialFixedProjectiveConstraint<DataTypes>::applyConstraint(const core::Me
 }
 
 template <class DataTypes>
-void PartialFixedProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void PartialFixedProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     static const unsigned blockSize = DataTypes::deriv_total_size;
 
@@ -303,7 +303,7 @@ void PartialFixedProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalg
 }
 
 template <class DataTypes>
-void PartialFixedProjectiveConstraint<DataTypes>::applyConstraint(
+void PartialFixedProjectiveConstraint<DataTypes>::doApplyConstraint(
     sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     static constexpr unsigned int N = Deriv::size();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h
index 19a1bf4b172..14178295438 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h
@@ -115,6 +115,10 @@ public :
     PartialLinearMovementProjectiveConstraint();
     ~PartialLinearMovementProjectiveConstraint() override;
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
 public:
     ///methods to add/remove some indices, keyTimes, keyMovement
     void clearIndices();
@@ -138,10 +142,6 @@ public :
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
     void draw(const core::visual::VisualParams*) override;
 
 protected:
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl
index 340c6a1543d..834d2a586be 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl
@@ -411,7 +411,7 @@ void PartialLinearMovementProjectiveConstraint<DataTypes>::findKeyTimes()
 
 // Matrix Integration interface
 template <class DataTypes>
-void PartialLinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void PartialLinearMovementProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     const SetIndexArray & indices = d_indices.getValue();
@@ -436,7 +436,7 @@ void PartialLinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const
 }
 
 template <class DataTypes>
-void PartialLinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void PartialLinearMovementProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     const int o = matrix->getGlobalOffset(this->mstate.get());
@@ -459,7 +459,7 @@ void PartialLinearMovementProjectiveConstraint<DataTypes>::applyConstraint(const
 
 
 template <class DataTypes>
-void PartialLinearMovementProjectiveConstraint<DataTypes>::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
+void PartialLinearMovementProjectiveConstraint<DataTypes>::doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     static constexpr unsigned int N = Deriv::size();
     const SetIndexArray& indices = d_indices.getValue();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h
index cb6bc086ec3..92342900e89 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h
@@ -107,6 +107,9 @@ public :
 
     virtual ~PatchTestMovementProjectiveConstraint();
 
+    // Implement projectMatrix for assembled solver of compliant
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
+
 public:
     //Add or clear constraints
     void clearConstraints();
@@ -122,8 +125,6 @@ public :
     void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override;
     /// Apply the computed movements to the border mesh points between beginConstraintTime and endConstraintTime
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
-    // Implement projectMatrix for assembled solver of compliant
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
 
     void projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /* cData */) override
     {
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl
index d3443c96a0b..dbecd87fb77 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl
@@ -291,7 +291,7 @@ void PatchTestMovementProjectiveConstraint<DataTypes>::projectPosition(const cor
 }
 
 template <class DataTypes>
-void PatchTestMovementProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void PatchTestMovementProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     // clears the rows and columns associated with constrained particles
     const unsigned blockSize = DataTypes::deriv_total_size;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h
index e997808db20..fb868e9e684 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h
@@ -92,6 +92,13 @@ class PlaneProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
     std::unique_ptr<PlaneProjectiveConstraintInternalData<DataTypes>> data { nullptr };
     friend class PlaneProjectiveConstraintInternalData<DataTypes>;
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    /** Project the given matrix (Experimental API).
+      Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix.
+      */
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
 
 public:
     void clearConstraints();
@@ -107,15 +114,6 @@ class PlaneProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    /** Project the given matrix (Experimental API).
-      Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix.
-      */
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-
     void draw(const core::visual::VisualParams* vparams) override;
 
 protected :
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl
index e5ae59a1f2e..c9f3c0d3e4c 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl
@@ -171,7 +171,7 @@ void  PlaneProjectiveConstraint<DataTypes>::reinit()
 }
 
 template <class DataTypes>
-void PlaneProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void PlaneProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state
     BaseSparseMatrix* E = dynamic_cast<BaseSparseMatrix*>(M);
@@ -223,13 +223,13 @@ void PlaneProjectiveConstraint<DataTypes>::projectPosition(const core::Mechanica
 }
 
 template <class DataTypes>
-void PlaneProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void PlaneProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     msg_error() << "applyConstraint is not implemented ";
 }
 
 template <class DataTypes>
-void PlaneProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void PlaneProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     msg_error() << "PlaneProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented ";
 }
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h
index 458d0ac9391..a7d4a729a4b 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h
@@ -85,6 +85,14 @@ class PointProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
     std::unique_ptr<PointProjectiveConstraintInternalData<DataTypes>> data;
     friend class PointProjectiveConstraintInternalData<DataTypes>;
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
+
+    /** Project the given matrix (Experimental API).
+      Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix.
+      */
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
 
 public:
     void clearConstraints();
@@ -100,16 +108,6 @@ class PointProjectiveConstraint : public core::behavior::ProjectiveConstraintSet
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;
-
-    /** Project the given matrix (Experimental API).
-      Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix.
-      */
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override;
-
-
     void draw(const core::visual::VisualParams* vparams) override;
 
     bool fixAllDOFs() const { return d_fixAll.getValue(); }
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl
index 1dd7663405c..ab0759c994e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl
@@ -129,7 +129,7 @@ void  PointProjectiveConstraint<DataTypes>::reinit()
 }
 
 template <class DataTypes>
-void PointProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void PointProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     const unsigned blockSize = DataTypes::deriv_total_size;
 
@@ -225,7 +225,7 @@ void PointProjectiveConstraint<DataTypes>::projectPosition(const core::Mechanica
 }
 
 template <class DataTypes>
-void PointProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void PointProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get()))
@@ -246,7 +246,7 @@ void PointProjectiveConstraint<DataTypes>::applyConstraint(const core::Mechanica
 }
 
 template <class DataTypes>
-void PointProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void PointProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     SOFA_UNUSED(mparams);
     const int o = matrix->getGlobalOffset(this->mstate.get());
@@ -265,7 +265,7 @@ void PointProjectiveConstraint<DataTypes>::applyConstraint(const core::Mechanica
 }
 
 template <class DataTypes>
-void PointProjectiveConstraint<DataTypes>::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
+void PointProjectiveConstraint<DataTypes>::doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix)
 {
     static constexpr unsigned int N = Deriv::size();
     const SetIndexArray& indices = d_indices.getValue();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h
index 96785a2b76f..5604cf53dab 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h
@@ -63,6 +63,11 @@ class SkeletalMotionProjectiveConstraint : public core::behavior::ProjectiveCons
 
     virtual ~SkeletalMotionProjectiveConstraint();
 
+    void doApplyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+    void doApplyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    void doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) override;
+
 public:
 
     void init() override;
@@ -78,12 +83,6 @@ class SkeletalMotionProjectiveConstraint : public core::behavior::ProjectiveCons
     void projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) override;
     void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override;
 
-    using core::behavior::ProjectiveConstraintSet<TDataTypes>::applyConstraint;
-    void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-
-    void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) override;
-
     void draw(const core::visual::VisualParams* vparams) override;
 
     template<class MyCoord>
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl
index 038d56f3435..67a1f260c6d 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl
@@ -289,7 +289,7 @@ void SkeletalMotionProjectiveConstraint<DataTypes>::addChannel(unsigned int join
 
 // Matrix Integration interface
 template <class DataTypes>
-void SkeletalMotionProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void SkeletalMotionProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     if( !d_active.getValue() ) return;
 
@@ -308,7 +308,7 @@ void SkeletalMotionProjectiveConstraint<DataTypes>::applyConstraint(const core::
 }
 
 template <class DataTypes>
-void SkeletalMotionProjectiveConstraint<DataTypes>::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
+void SkeletalMotionProjectiveConstraint<DataTypes>::doApplyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/)
 {
     if( !d_active.getValue() ) return;
 
@@ -323,7 +323,7 @@ void SkeletalMotionProjectiveConstraint<DataTypes>::applyConstraint(const core::
 }
 
 template <class DataTypes>
-void SkeletalMotionProjectiveConstraint<DataTypes>::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
+void SkeletalMotionProjectiveConstraint<DataTypes>::doProjectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset )
 {
     const unsigned blockSize = DataTypes::deriv_total_size;
     const unsigned size = this->mstate->getSize();
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h
index b9ad9aff559..1d254fad272 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h
@@ -90,7 +90,7 @@ class SOFA_COMPONENT_IO_MESH_API BlenderExporter: public sofa::simulation::BaseS
 
     void doInit() override;
     void doReInit() override;
-    bool write() override;
+    bool doWrite() override;
 
     void reset() override;
 
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.inl b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.inl
index 2fbdecc6330..b52fd55078e 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.inl
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.inl
@@ -75,7 +75,7 @@ void BlenderExporter<T>::doReInit()
 }
 
 template<class T>
-bool BlenderExporter<T>::write()
+bool BlenderExporter<T>::doWrite()
 {
     if(!this->isComponentStateValid())
         return false;
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.cpp
index cba3451fc06..0be1298fca5 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.cpp
@@ -84,7 +84,7 @@ void MeshExporter::doReInit()
     d_componentState.setValue(ComponentState::Valid) ;
 }
 
-bool MeshExporter::write()
+bool MeshExporter::doWrite()
 {
     if(d_componentState.getValue() != ComponentState::Valid)
         return false;
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.h
index f7f3f280d73..c90a407c2be 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.h
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshExporter.h
@@ -79,7 +79,7 @@ class SOFA_COMPONENT_IO_MESH_API MeshExporter : public BaseSimulationExporter
     void doInit() override ;
     void doReInit() override ;
 
-    bool write() override ;
+    bool doWrite() override ;
 
     bool writeMesh();
     bool writeMeshVTKXML();
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp
index 0ebbf79bab1..4b944df69f2 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp
@@ -96,7 +96,7 @@ void STLExporter::doReInit()
     d_componentState.setValue(ComponentState::Valid) ;
 }
 
-bool STLExporter::write()
+bool STLExporter::doWrite()
 {
     if(d_componentState.getValue() != ComponentState::Valid)
         return false ;
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.h
index dfc573a1535..2f190e3754d 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.h
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.h
@@ -66,7 +66,7 @@ class SOFA_COMPONENT_IO_MESH_API STLExporter : public BaseSimulationExporter
     void doReInit() override ;
     void handleEvent(Event *) override ;
 
-    bool write() override ;
+    bool doWrite() override ;
 
     bool writeSTL(bool autonumbering=true);
     bool writeSTLBinary(bool autonumbering=true);
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp
index 1b3b92ca982..b2cbe368db9 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp
@@ -350,7 +350,7 @@ std::string VTKExporter::segmentString(std::string str, unsigned int n)
 }
 
 
-bool VTKExporter::write()
+bool VTKExporter::doWrite()
 { 
     if (!this->isComponentStateValid()) 
         return false;
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h
index 58425e30e6c..7339c4f1d81 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h
@@ -47,7 +47,7 @@ class SOFA_COMPONENT_IO_MESH_API VTKExporter : public sofa::simulation::BaseSimu
     std::unique_ptr<std::ofstream> m_outfile;
 
     void fetchDataFields(const type::vector<std::string>& strData, type::vector<std::string>& objects, type::vector<std::string>& fields, type::vector<std::string>& names);
-    bool write() override;
+    bool doWrite() override;
     bool writeVTKSimple();
     bool writeVTKXML();
     void writeParallelFile();
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.cpp
index 7713ac40d6a..dcb04c0e21c 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.cpp
@@ -37,7 +37,7 @@ VisualModelOBJExporter::~VisualModelOBJExporter()
 }
 
 
-bool VisualModelOBJExporter::write()
+bool VisualModelOBJExporter::doWrite()
 {
     return writeOBJ() ;
 }
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.h
index 19b16d9890d..0b96b5cfedf 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.h
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VisualModelOBJExporter.h
@@ -39,7 +39,7 @@ class SOFA_COMPONENT_IO_MESH_API VisualModelOBJExporter : public BaseSimulationE
 public:
     SOFA_CLASS(VisualModelOBJExporter, BaseSimulationExporter);
 
-    bool write() override;
+    bool doWrite() override;
     bool writeOBJ();
 
 protected:
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h
index bf5cd2251dc..70a6edefcdf 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h
@@ -145,7 +145,7 @@ class HexahedronFEMForceField :
     const Transformation& getElementRotation(const sofa::Index elemidx);
 
     void getNodeRotation(Transformation& R, sofa::Index nodeIdx) ;
-    void getRotations(linearalgebra::BaseMatrix * rotations,int offset = 0) override ;
+    void doGetRotations(linearalgebra::BaseMatrix * rotations,int offset = 0) override ;
 
     using Inherit1::addKToMatrix;
     void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset) override;
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
index e08b2675fd2..00dab030075 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
@@ -973,7 +973,7 @@ void HexahedronFEMForceField<DataTypes>::getNodeRotation(Transformation& R, unsi
 }
 
 template<class DataTypes>
-void HexahedronFEMForceField<DataTypes>::getRotations(linearalgebra::BaseMatrix * rotations,int offset)
+void HexahedronFEMForceField<DataTypes>::doGetRotations(linearalgebra::BaseMatrix * rotations,int offset)
 {
     auto nbdof = this->mstate->getSize();
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h
index 8f9b3992c4b..7726b16372f 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h
@@ -182,7 +182,7 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField<DataTy
     void getRotations(VecReal& vecR) ;
     
     // BaseRotationFinder API
-    void getRotations(linearalgebra::BaseMatrix * rotations,int offset = 0) override;
+    void doGetRotations(linearalgebra::BaseMatrix * rotations,int offset = 0) override;
     // RotationFinder<T> API
     type::vector< Mat33 > m_rotations;
     const type::vector<Mat33>& getRotations() override;
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl
index 266ca6f8612..48b9c6b1e89 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl
@@ -2042,7 +2042,7 @@ void TetrahedronFEMForceField<DataTypes>::getRotations(VecReal& vecR)
 }
 
 template<class DataTypes>
-void TetrahedronFEMForceField<DataTypes>::getRotations(linearalgebra::BaseMatrix * rotations,int offset)
+void TetrahedronFEMForceField<DataTypes>::doGetRotations(linearalgebra::BaseMatrix * rotations,int offset)
 {
     const std::size_t nbdof = this->mstate->getSize();
 
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BaseMaterial.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BaseMaterial.h
index 1bb71b35590..05bb4969585 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BaseMaterial.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BaseMaterial.h
@@ -45,23 +45,58 @@ class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API BaseMaterial : public v
         this->core::objectmodel::BaseComponent::init();
     }
 
-
     //virtual VecN computeStress (VecN & strain,int idElement,int id_QP){return stress in the i-th quadrature point}
     //So here needed the shapefunctionvalue *  ,  quadratureformular*  (verifie if shapfunctionvalue compute with the local method)
     // The same principe for computing the strain given the displacement
 
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doComputeStress" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual void computeStress (type::Vec3 & stress, type::Vec3 & strain, unsigned int & elementIndex) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doComputeStress(stress, strain, elementIndex);
+    }
+
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doComputeDStress" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual void computeDStress (type::Vec3 & dstress, type::Vec3 & dstrain) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doComputeDStress(dstress, dstrain);
+    }
 
-    virtual void computeStress (type::Vec3 & ,type::Vec3 &,unsigned int &) {}
-    virtual void computeDStress (type::Vec3 & ,type::Vec3 &) {}
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doComputeStress" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual void computeStress (unsigned int elementIndex) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doComputeStress(elementIndex);
+    };
 
-    virtual void computeStress (unsigned int /*iElement*/)=0;//to be pure virtual
-	
+protected:
+    virtual void doComputeStress(type::Vec3 & stress, type::Vec3 & strain, unsigned int & idElement) = 0;
+    virtual void doComputeDStress(type::Vec3 & dstress, type::Vec3 & dstrain) = 0;
+    virtual void doComputeStress(unsigned int elementIndex) = 0;
 
 private:
 	BaseMaterial(const BaseMaterial& n) ;
 	BaseMaterial& operator=(const BaseMaterial& n) ;
 	
-	
 };
 
 } // namespace sofa::component::solidmechanics::fem::hyperelastic::material
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp
index e6c5abb96bb..234e3a3eeca 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.cpp
@@ -49,7 +49,7 @@ PlasticMaterial::PlasticMaterial()
 	_sigma.push_back(Stress);
 }
 
-void PlasticMaterial::computeStress(Vec3& Stress, Vec3& Strain, unsigned int& elementIndex)
+void PlasticMaterial::doComputeStress(Vec3& Stress, Vec3& Strain, unsigned int& elementIndex)
 {
 	// Computes the Von Mises strain
 	const SReal vonMisesStrain = computeVonMisesStrain(Strain);
@@ -78,7 +78,7 @@ void PlasticMaterial::computeStress(Vec3& Stress, Vec3& Strain, unsigned int& el
 	_previousVonMisesStrain.push_back(vonMisesStrain);
 }
 
-void PlasticMaterial::computeDStress(Vec3& dStress, Vec3& dStrain)
+void PlasticMaterial::doComputeDStress(Vec3& dStress, Vec3& dStrain)
 {
 	dStress[0] = dStrain[0] + _poissonRatio.getValue() * dStrain[1];
 	dStress[1] = _poissonRatio.getValue() * dStrain[0] + dStrain[1];
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.h
index 6158095ea3d..04dc3886abb 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/PlasticMaterial.h
@@ -59,13 +59,14 @@ class PlasticMaterial : public BaseMaterial
     VecDouble _previousVonMisesStrain;
 
     PlasticMaterial();
-    void computeStress (Vec3& stress, Vec3& strain, unsigned int& elementIndex) override;
-    void computeDStress (Vec3& dstress, Vec3& dstrain) override;
 
     SReal computeVonMisesStrain(Vec3 &strain);
     void computeStressOnSection(Vec3& Stress, Vec3 Strain, int section);	// computes the stress on a given section of the piecewise function
 
-    void computeStress (unsigned int /*iElement*/) override {}
+protected:
+    void doComputeStress (Vec3& stress, Vec3& strain, unsigned int& elementIndex) override;
+    void doComputeDStress (Vec3& dstress, Vec3& dstrain) override;
+    void doComputeStress (unsigned int /*elementIndex*/) override {}
 
 };
 
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
index b142ca06cda..ea6554f9c11 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
@@ -366,7 +366,7 @@ type::Vec2 BaseCamera::worldToScreenCoordinates(const type::Vec3& pos)
     return screenCoord + type::Vec2(viewport[0], viewport[1]);
 }
 
-void BaseCamera::getModelViewMatrix(double mat[16])
+void BaseCamera::doGetModelViewMatrix(double mat[16])
 {
     const sofa::type::Transform<SReal> world_H_cam(d_position.getValue(), this->getOrientation());
     Mat3 rot = world_H_cam.inversed().getRotationMatrix();
@@ -395,7 +395,7 @@ void BaseCamera::getOpenGLModelViewMatrix(double mat[16])
     world_H_cam.inversed().writeOpenGlMatrix(mat);
 }
 
-void BaseCamera::getProjectionMatrix(double mat[16])
+void BaseCamera::doGetProjectionMatrix(double mat[16])
 {
     const double width = double(d_widthViewport.getValue());
     const double height = double(d_heightViewport.getValue());
@@ -537,7 +537,8 @@ void BaseCamera::rotateCameraAroundPoint(Quat& rotation, const type::Vec3& point
     updateOutputData();
 }
 
-void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point, Quat orientationCam, type::Vec3 positionCam)
+
+void BaseCamera::doRotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point, Quat orientationCam, type::Vec3 positionCam)
 {
     type::Vec3 tempAxis;
     SReal tempAngle;
@@ -566,7 +567,7 @@ void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point,
 }
 
 
-void BaseCamera::rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam)
+void BaseCamera::doRotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam)
 {
     auto positionCam = sofa::helper::getReadAccessor(d_position);
     rotateWorldAroundPoint(rotation, point, orientationCam, positionCam);
@@ -941,7 +942,7 @@ void BaseCamera::draw(const sofa::core::visual::VisualParams* /*params*/)
 {
 }
 
-void BaseCamera::drawCamera(const core::visual::VisualParams* vparams)
+void BaseCamera::doDrawCamera(const core::visual::VisualParams* vparams)
 {
     const auto dt = (vparams->drawTool());
     dt->setPolygonMode(0, true);
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h
index 0b56c9506d4..f85a36dfc74 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h
+++ b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h
@@ -102,8 +102,34 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseCompo
     void moveCamera(const type::Vec3 &p, const Quat &q);
 
     void rotateCameraAroundPoint( Quat& rotation, const type::Vec3& point);
-    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam);
-    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam, type::Vec3 positionCam);
+
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doRotateWorldAroundPoint" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam) final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doRotateWorldAroundPoint(rotation, point, orientationCam);
+    }
+    
+    
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doRotateWorldAroundPoint" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam, type::Vec3 positionCam) final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doRotateWorldAroundPoint(rotation, point, orientationCam, positionCam);
+    }
+    
 
     type::Vec3 screenToViewportPoint(const type::Vec3& p) const;
     type::Vec3 screenToWorldPoint(const type::Vec3& p);
@@ -191,8 +217,32 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseCompo
     //be according to the gravity.
     void setDefaultView(const type::Vec3& gravity = type::Vec3(0, -9.81, 0));
 
-    virtual void getModelViewMatrix(double mat[16]);
-    virtual void getProjectionMatrix(double mat[16]);
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doGetModelViewMatrix" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void getModelViewMatrix(double mat[16]) final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doGetModelViewMatrix(mat);
+    }
+
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doGetProjectionMatrix" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void getProjectionMatrix(double mat[16]) final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doGetProjectionMatrix(mat);
+    }
+
     void getOpenGLModelViewMatrix(double mat[16]);
     void getOpenGLProjectionMatrix(double mat[16]);
 
@@ -200,8 +250,31 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseCompo
     type::Vec3 getLookAtFromOrientation(const type::Vec3 &pos, const double &distance,const Quat & orientation);
     type::Vec3 getPositionFromOrientation(const type::Vec3 &lookAt, const double &distance, const Quat& orientation);
 
-    virtual void manageEvent(core::objectmodel::Event* event) = 0 ;
-    virtual void internalUpdate() {}
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doManageEvent" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void manageEvent(core::objectmodel::Event* event) final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doManageEvent(event);
+    }
+
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doInternalUpdate" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void internalUpdate() final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doInternalUpdate();
+    }
 
     void handleEvent(sofa::core::objectmodel::Event* event) override;
     void computeZ();
@@ -254,13 +327,38 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseCompo
 
     void draw(const core::visual::VisualParams*) override ;
     void computeClippingPlane(const core::visual::VisualParams* vp, double& zNear, double& zFar);
-    virtual void drawCamera(const core::visual::VisualParams*);
+
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doDrawCamera" internally,
+     * which is the method to override from now on.
+     * 
+     **/
+    virtual void drawCamera(const core::visual::VisualParams* vparams) final {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        this->doDrawCamera(vparams);
+    }
+
 protected:
     void updateOutputData();
 
+    virtual void doRotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam);
+    virtual void doRotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam, type::Vec3 positionCam);
+
+    virtual void doManageEvent(core::objectmodel::Event* event) = 0;
+
+    virtual void doGetModelViewMatrix(double mat[16]);
+    virtual void doGetProjectionMatrix(double mat[16]);
+
+    virtual void doInternalUpdate() {}
+
+    virtual void doDrawCamera(const core::visual::VisualParams*);
+
     type::Vec3 getSceneCenter() const;
     SReal getSceneRadius() const;
-
+    
     bool b_setDefaultParameters;
 
     //need to keep "internal" lookAt and distance for updating Data
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/Camera.h b/Sofa/Component/Visual/src/sofa/component/visual/Camera.h
index 0a0607903c7..58269e0baa2 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/Camera.h
+++ b/Sofa/Component/Visual/src/sofa/component/visual/Camera.h
@@ -37,7 +37,7 @@ class SOFA_COMPONENT_VISUAL_API Camera : public BaseCamera
     ~Camera() override;
 
 public:
-    void manageEvent(core::objectmodel::Event* e) override { SOFA_UNUSED(e); }
+    void doManageEvent(core::objectmodel::Event* e) override { SOFA_UNUSED(e); }
 
 private:
 
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.cpp b/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.cpp
index 9579ea80b7a..faea3e32416 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.cpp
@@ -48,10 +48,6 @@ InteractiveCamera::~InteractiveCamera()
 {
 }
 
-void InteractiveCamera::internalUpdate()
-{
-}
-
 void InteractiveCamera::moveCamera(int x, int y)
 {
     Quat newQuat;
@@ -147,7 +143,7 @@ void InteractiveCamera::moveCamera(int x, int y)
 }
 
 
-void InteractiveCamera::manageEvent(core::objectmodel::Event* e)
+void InteractiveCamera::doManageEvent(core::objectmodel::Event* e)
 {
 
 
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h b/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h
index c4f9cca685f..dd82b554e74 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h
+++ b/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h
@@ -59,10 +59,9 @@ class SOFA_COMPONENT_VISUAL_API InteractiveCamera : public BaseCamera
     sofa::type::Quatd m_startingCameraOrientation;
     sofa::type::Vec3 m_startingCameraPosition;
 
-    void internalUpdate() override;
 protected:
     void moveCamera(int x, int y);
-    void manageEvent(core::objectmodel::Event* e) override;
+    void doManageEvent(core::objectmodel::Event* e) override;
     void processMouseEvent(core::objectmodel::MouseEvent* me);
     void processKeyPressedEvent(core::objectmodel::KeypressedEvent* kpe);
     void processKeyReleasedEvent(core::objectmodel::KeyreleasedEvent* kre);
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.cpp b/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.cpp
index 6089325d4f0..cd6fc039edc 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.cpp
@@ -391,7 +391,7 @@ void RecordedCamera::initializeViewUp()
     }
 }
 
-void RecordedCamera::manageEvent(core::objectmodel::Event* e)
+void RecordedCamera::doManageEvent(core::objectmodel::Event* e)
 {
     if(d_activated.getValue())
     {
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h b/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h
index e69b028c133..823d66ba4ad 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h
+++ b/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h
@@ -65,7 +65,7 @@ class SOFA_COMPONENT_VISUAL_API RecordedCamera : public BaseCamera
 
     // Kepp functions for mouse interaction (TODO: removed them and allow interactive and recorded camera in same scene)
     void moveCamera_mouse(int x, int y);
-    void manageEvent(core::objectmodel::Event* e) override;
+    void doManageEvent(core::objectmodel::Event* e) override;
     void processMouseEvent(core::objectmodel::MouseEvent* me);
 
     void configureRotation();
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp
index f8348acb19d..ab223fc899f 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp
@@ -70,13 +70,14 @@ void VisualStyle::bwdInit()
     applyBackupFlags(sofa::core::visual::VisualParams::defaultInstance());
 }
 
-void VisualStyle::updateVisualFlags(VisualParams* vparams)
+  
+void VisualStyle::doUpdateVisualFlags(VisualParams* vparams)
 {
     backupFlags = vparams->displayFlags();
     vparams->displayFlags() = sofa::core::visual::merge_displayFlags(backupFlags, d_displayFlags.getValue());
 }
 
-void VisualStyle::applyBackupFlags(VisualParams* vparams)
+void VisualStyle::doApplyBackupFlags(VisualParams* vparams)
 {
     vparams->displayFlags() = backupFlags;
 }
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h
index fa16fd4bbdc..4aa9c54152f 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h
+++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h
@@ -66,10 +66,10 @@ class SOFA_COMPONENT_VISUAL_API VisualStyle : public sofa::core::visual::BaseVis
 protected:
     VisualStyle();
 public:
+    void doUpdateVisualFlags(VisualParams* ) override;
+    void doApplyBackupFlags(VisualParams* ) override;
     void init() override;
     void bwdInit() override;
-    void updateVisualFlags(VisualParams* ) override;
-    void applyBackupFlags(VisualParams* ) override;
 
     bool insertInNode(sofa::core::objectmodel::BaseNode* node) override;
     bool removeInNode(sofa::core::objectmodel::BaseNode* node) override;
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.cpp b/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.cpp
index 02c9c71c3b5..f668e98d891 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.cpp
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.cpp
@@ -80,7 +80,7 @@ bool BaseMouseInteractor::removeInteractionPerformer( InteractionPerformer *i)
     }
 }
 
-void BaseMouseInteractor::updatePosition(SReal )
+void BaseMouseInteractor::doUpdatePosition(SReal )
 {
     for (const auto perf : performers)
     {
diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.h b/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.h
index 0e389f9f050..0396e977f93 100644
--- a/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.h
+++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.h
@@ -66,7 +66,7 @@ class SOFA_GUI_COMPONENT_API BaseMouseInteractor : public core::BehaviorModel
     void addInteractionPerformer(InteractionPerformer *i);
     bool removeInteractionPerformer( InteractionPerformer *i);
     //Called at each time step: launch all the performers
-    void updatePosition( SReal dt) override;
+    void doUpdatePosition( SReal dt) override;
     //Propagate an event in case to all the performers
     void handleEvent(core::objectmodel::Event *e) override;
 
diff --git a/Sofa/framework/Core/src/sofa/core/BehaviorModel.h b/Sofa/framework/Core/src/sofa/core/BehaviorModel.h
index 5586394d854..042d3e725ff 100644
--- a/Sofa/framework/Core/src/sofa/core/BehaviorModel.h
+++ b/Sofa/framework/Core/src/sofa/core/BehaviorModel.h
@@ -48,17 +48,46 @@ class SOFA_CORE_API BehaviorModel : public virtual sofa::core::objectmodel::Base
     /// Destructor
     ~BehaviorModel() override {}
 	
+    /// Computation of a new simulation step.
+    virtual void doUpdatePosition(SReal /*dt*/) = 0;
+
+    virtual bool doAddBBox(SReal* /*minBBox*/, SReal* /*maxBBox*/)
+    {
+        return false;
+    }
+
 private:
     BehaviorModel(const BehaviorModel& n) = delete;
     BehaviorModel& operator=(const BehaviorModel& n) = delete;
 	
 public:
-    /// Computation of a new simulation step.
-    virtual void updatePosition(SReal dt) = 0;
 
-    virtual bool addBBox(SReal* /*minBBox*/, SReal* /*maxBBox*/)
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doUpdatePosition" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual void updatePosition(SReal dt) final
     {
-        return false;
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doUpdatePosition(dt);
+    }
+
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doAddBBox" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual bool addBBox(SReal* minBBox, SReal* maxBBox) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        return this->doAddBBox(minBBox, maxBBox);
     }
 
     bool insertInNode( objectmodel::BaseNode* node ) override;
diff --git a/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp b/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
index 0bf883450e9..da281b5217f 100644
--- a/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
+++ b/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
@@ -145,7 +145,7 @@ void CollisionModel::setPrevious(CollisionModel::SPtr val)
         val->next.set(this);
 }
 
-void CollisionModel::computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
+void CollisionModel::doComputeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
 {
     SOFA_UNUSED(dt);
     SOFA_UNUSED(continuousIntersectionFlag);
diff --git a/Sofa/framework/Core/src/sofa/core/CollisionModel.h b/Sofa/framework/Core/src/sofa/core/CollisionModel.h
index 1fcce798dc4..f2d1aac0aba 100644
--- a/Sofa/framework/Core/src/sofa/core/CollisionModel.h
+++ b/Sofa/framework/Core/src/sofa/core/CollisionModel.h
@@ -113,6 +113,33 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseComponent
     /// Destructor
     ~CollisionModel() override {}
 
+    /// Set the number of elements.
+    virtual void doResize(Size s)
+    {
+        size = s;
+    }
+
+    /// Create or update the bounding volume hierarchy.
+    virtual void doComputeBoundingTree(int maxDepth=0) = 0;
+
+    /// \brief Create or update the bounding volume hierarchy, accounting for motions
+    /// within the given timestep.
+    ///
+    /// Default to computeBoundingTree().
+    virtual void doComputeContinuousBoundingTree(SReal /*dt*/, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0);
+
+    /// \brief Test if two elements can collide with each other.
+    ///
+    /// This method should be implemented by models supporting
+    /// self-collisions to prune tests between adjacent elements.
+    ///
+    /// Default to true. Note that this method assumes that canCollideWith(model2)
+    /// was already used to test if the collision models can collide.
+    virtual bool doCanCollideWithElement(Index /*index*/, CollisionModel* /*model2*/, Index /*index2*/) { return true; }
+
+    /// BaseMeshTopology associated to the collision model. TODO: epernod remove virtual pure method by l_topology.get as soons as new link will be available
+    virtual sofa::core::topology::BaseMeshTopology* doGetCollisionTopology() { return nullptr; }
+
 public:
     void bwdInit() override;
 
@@ -152,10 +179,19 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseComponent
         d_numberOfContacts.setValue(i);
     }
 
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doResize" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
     /// Set the number of elements.
-    virtual void resize(Size s)
+    virtual void resize(Size s) final
     {
-        size = s;
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doResize(s); 
     }
 
     /// Return an iterator to the first element.
@@ -213,14 +249,38 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseComponent
     /// \brief Set true if this CollisionModel is attached to a simulation.
     virtual void setSimulated(bool val=true) { bSimulated.setValue(val); }
 
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
     /// Create or update the bounding volume hierarchy.
-    virtual void computeBoundingTree(int maxDepth=0) = 0;
+    virtual void computeBoundingTree(int maxDepth=0) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doComputeBoundingTree(maxDepth);
+    }
 
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
     /// \brief Create or update the bounding volume hierarchy, accounting for motions
     /// within the given timestep.
     ///
     /// Default to computeBoundingTree().
-    virtual void computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0);
+
+
+    virtual void computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag = ContinuousIntersectionTypeFlag::Inertia, int maxDepth=0) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doComputeContinuousBoundingTree(dt, continuousIntersectionFlag, maxDepth);
+    }
 
     /// \brief Return the list (as a pair of iterators) of <i>internal children</i> of
     /// an element.
@@ -271,6 +331,14 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseComponent
     /// If both models are included in a common "group", they won't collide
     virtual bool canCollideWith(CollisionModel* model) ;
 
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
     /// \brief Test if two elements can collide with each other.
     ///
     /// This method should be implemented by models supporting
@@ -278,7 +346,10 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseComponent
     ///
     /// Default to true. Note that this method assumes that canCollideWith(model2)
     /// was already used to test if the collision models can collide.
-    virtual bool canCollideWithElement(Index /*index*/, CollisionModel* /*model2*/, Index /*index2*/) { return true; }
+    virtual bool canCollideWithElement(Index index, CollisionModel* model2, Index index2) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        return this->doCanCollideWithElement(index, model2, index2);
+    }
 
     /// Render an collision element.
     virtual void draw(const core::visual::VisualParams* /*vparams*/, Index /*index*/) {}
@@ -365,8 +436,19 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseComponent
     void setGroups(const std::set<int>& ids) { group.setValue(ids); }
     /// @}
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doGetCollisionTopology" internally,
+     * which is the method to override from now on.
+     *
+     **/
     /// BaseMeshTopology associated to the collision model. TODO: epernod remove virtual pure method by l_topology.get as soons as new link will be available
-    virtual sofa::core::topology::BaseMeshTopology* getCollisionTopology() { return nullptr; }
+    virtual sofa::core::topology::BaseMeshTopology* getCollisionTopology() final {
+        // TODO (SPRINT SED 2025): Component state mechamism
+        return this->doGetCollisionTopology();
+    }
 
     /// Get a color that can be used to display this CollisionModel
     const float* getColor4f();
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h
index a10e4d51525..cca805a8753 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseAnimationLoop.h
@@ -59,6 +59,8 @@ class SOFA_CORE_API BaseAnimationLoop : public virtual objectmodel::BaseComponen
     /// Save the initial state for later uses in reset()
     void storeResetState() override;
 
+    virtual void doStep(const core::ExecParams* params, SReal dt) = 0 ;
+
 
 private:
     BaseAnimationLoop(const BaseAnimationLoop& n) = delete ;
@@ -67,11 +69,22 @@ class SOFA_CORE_API BaseAnimationLoop : public virtual objectmodel::BaseComponen
 public:
     void init() override;
 
-    /// Main computation method.
-    ///
-    /// Specify and execute all computations for computing a timestep, such
-    /// as one or more collisions and integrations stages.
-    virtual void step(const core::ExecParams* params, SReal dt) = 0;
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doStep" internally,
+     * which is the method to override from now on.
+     *
+     * Main computation method.
+     *
+     * Specify and execute all computations for computing a timestep, such
+     * as one or more collisions and integrations stages.
+     **/  
+    virtual void step(const core::ExecParams* params, SReal dt) final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        doStep(params, dt);
+    };
 
     /// Returns starting time of the simulation
     SReal getResetTime() const;
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h
index fc1d62235e9..3114fe3e384 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h
@@ -45,7 +45,19 @@ class SOFA_CORE_API BaseConstraintSet : public virtual objectmodel::BaseComponen
     BaseConstraintSet& operator=(const BaseConstraintSet& n) = delete;
 
 public:
-    virtual void resetConstraint() {}
+    /**
+     * !!! WARNING since v26.06 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     *
+     **/
+    virtual void resetConstraint() final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doResetConstraint();
+    }
 
     /// Set the id of the constraint (this id is build in the getConstraintViolation function)
     ///
@@ -55,39 +67,93 @@ class SOFA_CORE_API BaseConstraintSet : public virtual objectmodel::BaseComponen
         d_constraintIndex.setValue(cId);
     }
 
+    /**
+    * !!! WARNING since v26.06 !!!
+    *
+    * The template method pattern has been applied to this part of the API.
+    * This method calls the newly introduced method "doFunctionName" internally,
+    * which is the method to override from now on.
+    *
+    **/
     /// Process geometrical data.
     ///
     /// This function is called by the CollisionVisitor, it can be used to process a collision detection specific for the constraint
-    virtual void processGeometricalData() {}
+    virtual void processGeometricalData() final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doProcessGeometricalData();
+    }
 
+    /**
+     * !!! WARNING since v26.06 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     *
+     **/
     /// Construct the Jacobian Matrix
     ///
     /// \param cId is the result constraint sparse matrix Id
     /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    virtual void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) = 0;
+    virtual void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doBuildConstraintMatrix(cParams, cId, cIndex);
+    }
 
+    /**
+     * !!! WARNING since v26.06 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     *
+     **/
     /// Construct the Constraint violations vector
     ///
     /// \param v is the result vector that contains the whole constraints violations
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
+    virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) final
     {
-        getConstraintViolation(cParams, v, d_constraintIndex.getValue());
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doGetConstraintViolation(cParams, v);
     }
 
+
+    /**
+     * !!! WARNING since v26.06 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doFunctionName" internally,
+     * which is the method to override from now on.
+     *
+     **/
     /// Construct the Constraint violations vector
     ///
     /// \param v is the result vector that contains the whole constraints violations
     /// \param cIndex is the index of the next constraint equation
     /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    virtual void getConstraintViolation(const ConstraintParams* /*cParams*/, linearalgebra::BaseVector * /*v*/, unsigned int /*cIndex*/) {
-        dmsg_error() << "getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v, const unsigned int cIndex) is not implemented while it should";
+    virtual void getConstraintViolation(const ConstraintParams* /*cParams*/, linearalgebra::BaseVector * /*v*/, unsigned int /*cIndex*/) final
+    {
+
     }
 
 protected:
-
+    virtual void doResetConstraint() {}
+    virtual void doProcessGeometricalData() {}
+    virtual void doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) = 0;
+    virtual void doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
+    {
+        getConstraintViolation(cParams, v, d_constraintIndex.getValue());
+    }
+    virtual void doGetConstraintViolation(const ConstraintParams* /*cParams*/, linearalgebra::BaseVector * /*v*/, unsigned int /*cIndex*/)
+    {
+        dmsg_error() << "getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v, const unsigned int cIndex) is not implemented while it should";
+    }
     Data< int > group; ///< ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle.
+
 public:
     Data< sofa::Index > d_constraintIndex; ///< Constraint index (first index in the right hand term resolution vector)
 
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h
index a0a3b9c3552..ddd1e7b3907 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h
@@ -50,7 +50,8 @@ class SOFA_CORE_API BaseInteractionProjectiveConstraintSet : public BaseProjecti
     virtual BaseMechanicalState* getMechModel2() { return l_mechanicalStates[1]; }
 
 
-    virtual type::vector< core::BaseState* > getModels() override
+protected:
+    virtual type::vector< core::BaseState* > doGetModels() override
     {
         return {getMechModel1(), getMechModel2() };
     }
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp b/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp
index 8ae2d4f9f37..a623638d438 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.cpp
@@ -27,7 +27,7 @@
 
 namespace sofa::core::behavior
 {
-void BaseProjectiveConstraintSet::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* zeroDirichletCondition)
+void BaseProjectiveConstraintSet::doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* zeroDirichletCondition)
 {
     static std::set<BaseProjectiveConstraintSet*> hasEmittedWarning;
     if (hasEmittedWarning.insert(this).second)
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.h
index 3303bee4f0f..1312b9e9fb2 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseProjectiveConstraintSet.h
@@ -75,6 +75,20 @@ class SOFA_CORE_API BaseProjectiveConstraintSet : public virtual StateAccessor
 
     ~BaseProjectiveConstraintSet() override {}
 	
+    virtual type::vector< core::BaseState* > doGetModels() = 0;
+    virtual void doProjectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) = 0;
+    virtual void doProjectResponse(const MechanicalParams* /*mparams*/, double **) { };
+    virtual void doProjectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) = 0;
+    virtual void doProjectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) = 0;
+    virtual void doProjectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) = 0;
+
+    virtual void doApplyConstraint(const MechanicalParams* /*mparams*/, const behavior::MultiMatrixAccessor* /*matrix*/) {}
+    virtual void doApplyConstraint(const MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const behavior::MultiMatrixAccessor* /*matrix*/) {}
+    virtual void doProjectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) 
+    { 
+      msg_error() << "projectMatrix not implemented, projection will not be handled appropriately";
+    }
+    virtual void doApplyConstraint(sofa::core::behavior::ZeroDirichletCondition* /*matrix*/);
 public:
     /// Get the ID of the group containing this constraint.
     /// This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle.
@@ -85,27 +99,82 @@ class SOFA_CORE_API BaseProjectiveConstraintSet : public virtual StateAccessor
     void setGroup(int g) { group.setValue(g); }
 
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doGetModels" internally,
+     * which is the method to override from now on.
+     * 
+     **/
     /// Return the lists of models this constraint applies to. 
-    virtual type::vector< core::BaseState* > getModels() = 0;
+    virtual type::vector< core::BaseState* > getModels() final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      return this->doGetModels();
+    }
 
     /// @name Vector operations
     /// @{
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doProjectResponse"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project dx to constrained space (dx models an acceleration).
     /// \param dxId output vector
-    virtual void projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) = 0;
+    virtual void projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doProjectResponse(mparams, dxId);
+    }
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doProjectJacobianMatrix"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project the L matrix of the Lagrange Multiplier equation system.
     /// \param cId output vector
-    virtual void projectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) = 0;
+    virtual void projectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doProjectJacobianMatrix(mparams, cId);
+    }
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doProjectVelocity"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project v to constrained space (v models a velocity).
     /// \param vId output vector
-    virtual void projectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) = 0;
+    virtual void projectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doProjectVelocity(mparams, vId);
+    }
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doProjectPosition"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project x to constrained space (x models a position).
     /// \param xId output vector
-    virtual void projectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) = 0;
+    virtual void projectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doProjectPosition(mparams, xId);
+    }
 
     /// @}
 
@@ -113,28 +182,86 @@ class SOFA_CORE_API BaseProjectiveConstraintSet : public virtual StateAccessor
     /// @name Matrix operations
     /// @{
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doProjectResponse"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project the compliance Matrix to constrained space.
-    virtual void projectResponse(const MechanicalParams* /*mparams*/, double **) {}
+    virtual void projectResponse(const MechanicalParams* mparams, double ** W) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doProjectResponse(mparams, W);
+    }
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doApplyConstraint"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project the global Mechanical Matrix to constrained space using offset parameter
-    virtual void applyConstraint(const MechanicalParams* /*mparams*/, const behavior::MultiMatrixAccessor* /*matrix*/) {}
+    virtual void applyConstraint(const MechanicalParams* mparams, const behavior::MultiMatrixAccessor* matrix) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doApplyConstraint(mparams, matrix);
+    }
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doApplyConstraint"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project the global Mechanical Vector to constrained space using offset parameter
-    virtual void applyConstraint(const MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const behavior::MultiMatrixAccessor* /*matrix*/) {}
-
-    /** Project the given matrix (Experimental API).
-      Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method. Contrary to applyConstraint(), the diagonal blocks of the result are not reset to the identity.
-      Typically, M is the (generalized) mass matrix of the whole system, offset is the starting index of the local state in this global matrix, and P is the identity matrix with a block on the diagonal replaced by the projection matrix.
-      If M is the matrix of the local state, then offset should be 0.
-      */
-    virtual void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) 
+    virtual void applyConstraint(const MechanicalParams* mparams, linearalgebra::BaseVector* vector, const behavior::MultiMatrixAccessor* matrix) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doApplyConstraint(mparams, vector, matrix);
+    }
+
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doApplyConstraint"
+     * internally, which is the method to override from now on.
+     * 
+     **/
+    /**
+     * Project the given matrix (Experimental API). Replace M with PMP, where P
+     * is the projection matrix corresponding to the projectResponse method.
+     * Contrary to applyConstraint(), the diagonal blocks of the result are not
+     * reset to the identity. Typically, M is the (generalized) mass matrix of
+     * the whole system, offset is the starting index of the local state in this
+     * global matrix, and P is the identity matrix with a block on the diagonal
+     * replaced by the projection matrix. If M is the matrix of the local state,
+     * then offset should be 0.
+     */
+    virtual void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) final
     { 
-        msg_error() << "projectMatrix not implemented, projection will not be handled appropriately";
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doProjectMatrix(M, offset);
     }
 
+    /**
+     * !!! WARNING since v25.12 !!!
+     * 
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doApplyConstraint"
+     * internally, which is the method to override from now on.
+     * 
+     **/
     /// Project the global matrix to constrained space by using the ZeroDirichletCondition interface
     /// It allows to define what rows and columns to discard for the projection.
-    virtual void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* /*matrix*/);
+    virtual void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) final {
+      //TODO (SPRINT SED 2025): Component state mechanism
+      this->doApplyConstraint(matrix);
+    }
 
     /// @}
 
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseRotationFinder.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseRotationFinder.h
index ecdc5f89372..3b5757cdd1f 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/BaseRotationFinder.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseRotationFinder.h
@@ -32,7 +32,22 @@ class BaseRotationFinder : public virtual sofa::core::objectmodel::BaseComponent
 public:
     SOFA_ABSTRACT_CLASS(BaseRotationFinder, sofa::core::objectmodel::BaseComponent);
 
-    virtual void getRotations(linearalgebra::BaseMatrix * m, int offset = 0) = 0;
+    /**
+     * !!! WARNING since v25.12 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doGetRotations" internally,
+     * which is the method to override from now on.
+     *
+     **/
+    virtual void getRotations(linearalgebra::BaseMatrix * m, int offset = 0) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        doGetRotations(m,offset);
+    }
+
+protected:
+    virtual void doGetRotations(linearalgebra::BaseMatrix * m, int offset = 0) = 0;
 };
 
 } // namespace sofa::core::behavior
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h
index 8baf7bcba8b..9409b54d82c 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h
@@ -62,17 +62,27 @@ class LagrangianConstraint : public BaseLagrangianConstraint, public virtual Sin
     ~LagrangianConstraint() override;
 
     virtual void init() override;
+
+    /// Construct the Constraint violations vector of each constraint
+    ///
+    /// \param v is the result vector that contains the whole constraints violations
+    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
+    void doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
+
+    /// Construct the Jacobian Matrix
+    ///
+    /// \param cId is the result constraint sparse matrix Id
+    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
+    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
+    void doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
+
+
 public:
     Data<Real> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
     virtual bool isActive() const; ///< if false, the constraint does nothing
 
     using BaseConstraintSet::getConstraintViolation;
 
-    /// Construct the Constraint violations vector of each constraint
-    ///
-    /// \param v is the result vector that contains the whole constraints violations
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
 
     /// Construct the Constraint violations vector of each constraint
     ///
@@ -85,13 +95,6 @@ class LagrangianConstraint : public BaseLagrangianConstraint, public virtual Sin
     virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) = 0;
 
 
-    /// Construct the Jacobian Matrix
-    ///
-    /// \param cId is the result constraint sparse matrix Id
-    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
-
     /// Construct the Jacobian Matrix
     ///
     /// \param c is the result constraint sparse matrix
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl
index 1a2f56a814b..08ba93ba588 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl
+++ b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl
@@ -55,7 +55,7 @@ void LagrangianConstraint<DataTypes>::init()
 }
 
 template<class DataTypes>
-void LagrangianConstraint<DataTypes>::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
+void LagrangianConstraint<DataTypes>::doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
 {
     if (cParams)
     {
@@ -65,7 +65,7 @@ void LagrangianConstraint<DataTypes>::getConstraintViolation(const ConstraintPar
 
 
 template<class DataTypes>
-void LagrangianConstraint<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
+void LagrangianConstraint<DataTypes>::doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
 {
     if (cParams)
     {
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h
index 51b2322c62e..8c9589e52dc 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.h
@@ -73,17 +73,24 @@ class MixedInteractionConstraint : public BaseInteractionConstraint, public Pair
 
     virtual type::vector<std::string> getMixedInteractionIdentifiers(){ return {}; }
 
+    /// Construct the Constraint violations vector of each constraint
+    ///
+    /// \param v is the result vector that contains the whole constraints violations
+    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
+    void doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
+
+    /// Construct the Jacobian Matrix
+    ///
+    /// \param cId is the result constraint sparse matrix Id
+    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
+    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
+    void doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
 
 public:
     Data<SReal> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
     virtual bool isActive() const; ///< if false, the constraint does nothing
 
     using BaseConstraintSet::getConstraintViolation;
-    /// Construct the Constraint violations vector of each constraint
-    ///
-    /// \param v is the result vector that contains the whole constraints violations
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
 
     /// Construct the Constraint violations vector of each constraint
     ///
@@ -96,13 +103,6 @@ class MixedInteractionConstraint : public BaseInteractionConstraint, public Pair
     virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord1 &x1, const DataVecCoord2 &x2
             , const DataVecDeriv1 &v1, const DataVecDeriv2 &v2) = 0;
 
-    /// Construct the Jacobian Matrix
-    ///
-    /// \param cId is the result constraint sparse matrix Id
-    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
-
     /// Construct the Jacobian Matrix
     ///
     /// \param c1 and c2 are the results constraint sparse matrix
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl
index a881ef7031a..9544b8aec59 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl
+++ b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl
@@ -47,7 +47,7 @@ bool MixedInteractionConstraint<DataTypes1, DataTypes2>::isActive() const
 }
 
 template<class DataTypes1, class DataTypes2>
-void MixedInteractionConstraint<DataTypes1, DataTypes2>::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
+void MixedInteractionConstraint<DataTypes1, DataTypes2>::doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
 {
     if (cParams)
     {
@@ -57,7 +57,7 @@ void MixedInteractionConstraint<DataTypes1, DataTypes2>::getConstraintViolation(
 }
 
 template<class DataTypes1, class DataTypes2>
-void MixedInteractionConstraint<DataTypes1, DataTypes2>::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
+void MixedInteractionConstraint<DataTypes1, DataTypes2>::doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
 {
     if (cParams)
     {
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h
index 1f494cb85aa..184748c4885 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.h
@@ -62,11 +62,6 @@ class PairInteractionConstraint : public BaseInteractionConstraint, public PairS
     virtual bool isActive() const; ///< if false, the constraint does nothing
 
     using BaseConstraintSet::getConstraintViolation;
-    /// Construct the Constraint violations vector of each constraint
-    ///
-    /// \param v is the result vector that contains the whole constraints violations
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
 
     /// Construct the Constraint violations vector of each constraint
     ///
@@ -79,13 +74,6 @@ class PairInteractionConstraint : public BaseInteractionConstraint, public PairS
     virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2
             , const DataVecDeriv &v1, const DataVecDeriv &v2) = 0;
 
-    /// Construct the Jacobian Matrix
-    ///
-    /// \param cId is the result constraint sparse matrix Id
-    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
-
     /// Construct the Jacobian Matrix
     ///
     /// \param c1 and c2 are the results constraint sparse matrix
@@ -157,14 +145,28 @@ class PairInteractionConstraint : public BaseInteractionConstraint, public PairS
 
 protected:
 
-     virtual type::vector<std::string> getInteractionIdentifiers() override final
-     {
-            type::vector<std::string> ids = getPairInteractionIdentifiers();
-            ids.push_back("Pair");
-            return ids;
-     }
+    /// Construct the Constraint violations vector of each constraint
+    ///
+    /// \param v is the result vector that contains the whole constraints violations
+    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
+    void doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
+
+    /// Construct the Jacobian Matrix
+    ///
+    /// \param cId is the result constraint sparse matrix Id
+    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
+    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
+    void doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
+
+
+    virtual type::vector<std::string> getInteractionIdentifiers() override final
+    {
+        type::vector<std::string> ids = getPairInteractionIdentifiers();
+        ids.push_back("Pair");
+        return ids;
+    }
 
-     virtual type::vector<std::string> getPairInteractionIdentifiers(){ return {}; }
+    virtual type::vector<std::string> getPairInteractionIdentifiers(){ return {}; }
 
     void storeLambda(const ConstraintParams* cParams, Data<VecDeriv>& res1, Data<VecDeriv>& res2, const Data<MatrixDeriv>& j1, const Data<MatrixDeriv>& j2,
                                const sofa::linearalgebra::BaseVector* lambda);
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl
index 7023b553922..f5e4bae8f4b 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl
+++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl
@@ -50,7 +50,7 @@ bool PairInteractionConstraint<DataTypes>::isActive() const
 
 
 template<class DataTypes>
-void PairInteractionConstraint<DataTypes>::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
+void PairInteractionConstraint<DataTypes>::doGetConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
 {
     if (cParams)
     {
@@ -60,7 +60,7 @@ void PairInteractionConstraint<DataTypes>::getConstraintViolation(const Constrai
 
 
 template<class DataTypes>
-void PairInteractionConstraint<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
+void PairInteractionConstraint<DataTypes>::doBuildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
 {
     if (cParams)
     {
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.h
index 3547b05f9da..db64fba2c9d 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.h
@@ -55,13 +55,6 @@ class PairInteractionProjectiveConstraintSet : public BaseInteractionProjectiveC
     explicit PairInteractionProjectiveConstraintSet(MechanicalState<DataTypes> *mm1 = nullptr, MechanicalState<DataTypes> *mm2 = nullptr);
 
     ~PairInteractionProjectiveConstraintSet() override;
-public:
-    Data<SReal> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
-    virtual bool isActive() const; ///< if false, the constraint does nothing
-
-    // to get rid of warnings
-    using BaseInteractionProjectiveConstraintSet::projectPosition;
-    using BaseInteractionProjectiveConstraintSet::projectResponse;
 
     /// @name Vector operations
     /// @{
@@ -71,28 +64,52 @@ class PairInteractionProjectiveConstraintSet : public BaseInteractionProjectiveC
     /// This method retrieves the dx vector from the MechanicalState and call
     /// the internal projectResponse(VecDeriv&,VecDeriv&) method implemented by
     /// the component.
-    void projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) override;
+    void doProjectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) override;
 
     /// Project the L matrix of the Lagrange Multiplier equation system.
     ///
     /// This method retrieves the lines of the Jacobian Matrix from the MechanicalState and call
     /// the internal projectResponse(MatrixDeriv&) method implemented by
     /// the component.
-    void projectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) override;
+    void doProjectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) override;
 
     /// Project v to constrained space (v models a velocity).
     ///
     /// This method retrieves the v vector from the MechanicalState and call
     /// the internal projectVelocity(VecDeriv&,VecDeriv&) method implemented by
     /// the component.
-    void projectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) override;
+    void doProjectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) override;
 
     /// Project x to constrained space (x models a position).
     ///
     /// This method retrieves the x vector from the MechanicalState and call
     /// the internal projectPosition(VecCoord&,VecCoord&) method implemented by
     /// the component.
-    void projectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) override;
+    void doProjectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) override;
+
+    /// @}
+
+    /// Project the global Mechanical Matrix to constrained space using offset parameter
+    void doApplyConstraint(const MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
+    {
+    }
+
+    /// Project the global Mechanical Vector to constrained space using offset parameter
+    void doApplyConstraint(const MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
+    {
+    }
+
+public:
+    Data<SReal> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
+    virtual bool isActive() const; ///< if false, the constraint does nothing
+
+    // to get rid of warnings
+    using BaseInteractionProjectiveConstraintSet::projectPosition;
+    using BaseInteractionProjectiveConstraintSet::projectResponse;
+    using BaseInteractionProjectiveConstraintSet::projectVelocity;
+
+    /// @name Vector operations
+    /// @{
 
     /// Project dx to constrained space (dx models an acceleration).
     virtual void projectResponse(const MechanicalParams* /*mparams*/, DataVecDeriv& dx1, DataVecDeriv& dx2) = 0;
@@ -105,18 +122,6 @@ class PairInteractionProjectiveConstraintSet : public BaseInteractionProjectiveC
 
     /// @}
 
-    /// Project the global Mechanical Matrix to constrained space using offset parameter
-    void applyConstraint(const MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
-    {
-
-    }
-
-    /// Project the global Mechanical Vector to constrained space using offset parameter
-    void applyConstraint(const MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
-    {
-
-    }
-
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.inl b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.inl
index 6ff41998817..ca457be8ae7 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.inl
+++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionProjectiveConstraintSet.inl
@@ -51,7 +51,7 @@ bool PairInteractionProjectiveConstraintSet<DataTypes>::isActive() const
 }
 
 template<class DataTypes>
-void PairInteractionProjectiveConstraintSet<DataTypes>::projectJacobianMatrix(const MechanicalParams* /*mparams*/, MultiMatrixDerivId /*cId*/)
+void PairInteractionProjectiveConstraintSet<DataTypes>::doProjectJacobianMatrix(const MechanicalParams* /*mparams*/, MultiMatrixDerivId /*cId*/)
 {
     msg_error()<< "NOT IMPLEMENTED YET";
 }
@@ -59,7 +59,7 @@ void PairInteractionProjectiveConstraintSet<DataTypes>::projectJacobianMatrix(co
 
 
 template<class DataTypes>
-void PairInteractionProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId)
+void PairInteractionProjectiveConstraintSet<DataTypes>::doProjectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId)
 {
     if( !isActive() ) return;
     if (this->mstate1 && this->mstate2)
@@ -69,7 +69,7 @@ void PairInteractionProjectiveConstraintSet<DataTypes>::projectResponse(const Me
 }
 
 template<class DataTypes>
-void PairInteractionProjectiveConstraintSet<DataTypes>::projectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId)
+void PairInteractionProjectiveConstraintSet<DataTypes>::doProjectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId)
 {
     if( !isActive() ) return;
     if (this->mstate1 && this->mstate2)
@@ -79,7 +79,7 @@ void PairInteractionProjectiveConstraintSet<DataTypes>::projectVelocity(const Me
 }
 
 template<class DataTypes>
-void PairInteractionProjectiveConstraintSet<DataTypes>::projectPosition(const MechanicalParams* mparams, MultiVecCoordId xId)
+void PairInteractionProjectiveConstraintSet<DataTypes>::doProjectPosition(const MechanicalParams* mparams, MultiVecCoordId xId)
 {
     if( !isActive() ) return;
     if (this->mstate1 && this->mstate2)
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.h
index 65092cdcaa1..c6d66c7fcba 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.h
@@ -57,17 +57,8 @@ class ProjectiveConstraintSet : public BaseProjectiveConstraintSet, public virtu
     ProjectiveConstraintSet(MechanicalState<DataTypes> *mm = nullptr);
 
     ~ProjectiveConstraintSet() override;
-public:
-
-    // to get rid of warnings
-    using BaseProjectiveConstraintSet::projectResponse;
-
-
 
-    Data<Real> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
-    virtual bool isActive() const; ///< if false, the constraint does nothing
-
-    virtual type::vector< core::BaseState* > getModels() override
+    virtual type::vector< core::BaseState* > doGetModels() override
     {
         return { this->getMState() };
     }
@@ -80,30 +71,58 @@ class ProjectiveConstraintSet : public BaseProjectiveConstraintSet, public virtu
     /// This method retrieves the dxId vector from the MechanicalState and call
     /// the internal projectResponse(VecDeriv&) method implemented by
     /// the component.
-    void projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) override;
+    void doProjectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) override;
 
     /// Project the L matrix of the Lagrange Multiplier equation system.
     ///
     /// This method retrieves the lines of the Jacobian Matrix from the MechanicalState and call
     /// the internal projectResponse(MatrixDeriv&) method implemented by
     /// the component.
-    void projectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) override;
+    void doProjectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId) override;
 
     /// Project v to constrained space (v models a velocity).
     ///
     /// This method retrieves the vId vector from the MechanicalState and call
     /// the internal projectVelocity(VecDeriv&) method implemented by
     /// the component.
-    void projectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) override;
+    void doProjectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId) override;
 
     /// Project x to constrained space (x models a position).
     ///
     /// This method retrieves the xId vector from the MechanicalState and call
     /// the internal projectPosition(VecCoord&) method implemented by
     /// the component.
-    void projectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) override;
+    void doProjectPosition(const MechanicalParams* mparams, MultiVecCoordId xId) override;
+
+    /// @}
+
+    /// Project the global Mechanical Matrix to constrained space using offset parameter
+    void doApplyConstraint(const MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
+    {
+        msg_error() << "applyConstraint(mparams, matrix) not implemented.";
+    }
 
 
+    /// Project the global Mechanical Vector to constrained space using offset parameter
+    void doApplyConstraint(const MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
+    {
+        msg_error() << "applyConstraint(mparams, vector, matrix) not implemented.";
+    }
+
+public:
+
+    // to get rid of warnings
+    using BaseProjectiveConstraintSet::projectResponse;
+    using BaseProjectiveConstraintSet::projectJacobianMatrix;
+    using BaseProjectiveConstraintSet::projectVelocity;
+    using BaseProjectiveConstraintSet::projectPosition;
+
+
+    Data<Real> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
+    virtual bool isActive() const; ///< if false, the constraint does nothing
+
+    /// @name Vector operations
+    /// @{
 
     /// Project dx to constrained space (dx models an acceleration).
     ///
@@ -130,19 +149,6 @@ class ProjectiveConstraintSet : public BaseProjectiveConstraintSet, public virtu
     /// @}
 
 
-    /// Project the global Mechanical Matrix to constrained space using offset parameter
-    void applyConstraint(const MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
-    {
-        msg_error() << "applyConstraint(mparams, matrix) not implemented.";
-    }
-
-
-    /// Project the global Mechanical Vector to constrained space using offset parameter
-    void applyConstraint(const MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) override
-    {
-        msg_error() << "applyConstraint(mparams, vector, matrix) not implemented.";
-    }
-
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.inl b/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.inl
index a40477528aa..762eb496893 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.inl
+++ b/Sofa/framework/Core/src/sofa/core/behavior/ProjectiveConstraintSet.inl
@@ -48,7 +48,7 @@ bool ProjectiveConstraintSet<DataTypes>::isActive() const
 }
 
 template<class DataTypes>
-void ProjectiveConstraintSet<DataTypes>::projectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId)
+void ProjectiveConstraintSet<DataTypes>::doProjectJacobianMatrix(const MechanicalParams* mparams, MultiMatrixDerivId cId)
 {
     if (!isActive())
         return;
@@ -62,7 +62,7 @@ void ProjectiveConstraintSet<DataTypes>::projectJacobianMatrix(const MechanicalP
 
 
 template<class DataTypes>
-void ProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId)
+void ProjectiveConstraintSet<DataTypes>::doProjectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId)
 {
     if (!isActive())
         return;
@@ -74,7 +74,7 @@ void ProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams*
 }
 
 template<class DataTypes>
-void ProjectiveConstraintSet<DataTypes>::projectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId)
+void ProjectiveConstraintSet<DataTypes>::doProjectVelocity(const MechanicalParams* mparams, MultiVecDerivId vId)
 {
     if (!isActive())
         return;
@@ -88,7 +88,7 @@ void ProjectiveConstraintSet<DataTypes>::projectVelocity(const MechanicalParams*
 }
 
 template<class DataTypes>
-void ProjectiveConstraintSet<DataTypes>::projectPosition(const MechanicalParams* mparams, MultiVecCoordId xId)
+void ProjectiveConstraintSet<DataTypes>::doProjectPosition(const MechanicalParams* mparams, MultiVecCoordId xId)
 {
     if (!isActive())
         return;
diff --git a/Sofa/framework/Core/src/sofa/core/behavior/RotationFinder.h b/Sofa/framework/Core/src/sofa/core/behavior/RotationFinder.h
index 7adde6580c2..36e894fdf9a 100644
--- a/Sofa/framework/Core/src/sofa/core/behavior/RotationFinder.h
+++ b/Sofa/framework/Core/src/sofa/core/behavior/RotationFinder.h
@@ -42,7 +42,7 @@ class RotationFinder : public BaseRotationFinder
     typedef typename Coord::value_type Real;
     typedef type::Mat< 3, 3, Real > Mat3x3;
 
-    using BaseRotationFinder::getRotations;
+    using BaseRotationFinder::doGetRotations;
     virtual const type::vector< Mat3x3 >& getRotations() = 0;
 };
 
diff --git a/Sofa/framework/Core/src/sofa/core/collision/Pipeline.cpp b/Sofa/framework/Core/src/sofa/core/collision/Pipeline.cpp
index ad0a1790cd0..34f4b395743 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/Pipeline.cpp
+++ b/Sofa/framework/Core/src/sofa/core/collision/Pipeline.cpp
@@ -65,5 +65,40 @@ bool Pipeline::removeInNode( objectmodel::BaseNode* node )
     Inherit1::removeInNode(node);
     return true;
 }
+
+/// Entry point for collision reset, called by the simulation loop. It removes collision response from last step
+void Pipeline::computeCollisionReset()
+{
+    //TODO (SPRINT SED 2025): Component state mechamism
+    if(!this->isComponentStateValid())
+        return;
+
+    doComputeCollisionReset();
+}
+
+/// Entry point for collision detection, called by the simulation loop. Note that this step must not modify the simulation graph
+void Pipeline::computeCollisionDetection()
+{
+    //TODO (SPRINT SED 2025): Component state mechamism
+    if(!this->isComponentStateValid())
+        return;
+
+    // The collision models parameter is not used by this pipeline
+    // since each sub-pipeline manages its own set of models
+    static std::vector<CollisionModel*> collisionModels{};
+
+    doComputeCollisionDetection(collisionModels);
+}
+
+/// Entry point for collision response, called by the simulation loop. It adds the collision response in the simulation graph
+void Pipeline::computeCollisionResponse()
+{
+    //TODO (SPRINT SED 2025): Component state mechamism
+    if(!this->isComponentStateValid())
+        return;
+
+    doComputeCollisionResponse();
+}
+
 } // namespace sofa
 
diff --git a/Sofa/framework/Core/src/sofa/core/collision/Pipeline.h b/Sofa/framework/Core/src/sofa/core/collision/Pipeline.h
index db8e4c89dec..7913686f6ec 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/Pipeline.h
+++ b/Sofa/framework/Core/src/sofa/core/collision/Pipeline.h
@@ -68,11 +68,7 @@ class SOFA_CORE_API Pipeline : public virtual sofa::core::objectmodel::BaseCompo
     ContactManager* contactManager;
     CollisionGroupManager* groupManager;
 
-public:
-//    typedef NarrowPhaseDetection::DetectionOutputMap DetectionOutputMap;
-protected:
     Pipeline();
-
     ~Pipeline() override;
 	
 private:
@@ -84,13 +80,15 @@ class SOFA_CORE_API Pipeline : public virtual sofa::core::objectmodel::BaseCompo
 public:
     void reset() override = 0;
 
-    /// Remove collision response from last step
-    virtual void computeCollisionReset()=0;
-    /// Detect new collisions. Note that this step must not modify the simulation graph
-    virtual void computeCollisionDetection()=0;
-    /// Add collision response in the simulation graph
-    virtual void computeCollisionResponse()=0;
+    /// @brief Entry point for collision reset, called by the simulation loop. It removes collision response from last step
+    virtual void computeCollisionReset() final;
 
+    /// @brief Entry point for collision detection, called by the simulation loop. Note that this step must not modify the simulation graph
+    virtual void computeCollisionDetection() final;
+
+    /// @brief Entry point for collision response, called by the simulation loop. It adds the collision response in the simulation graph
+    virtual void computeCollisionResponse() final;
+    
     void computeCollisions()
     {
         computeCollisionReset();
@@ -108,18 +106,19 @@ class SOFA_CORE_API Pipeline : public virtual sofa::core::objectmodel::BaseCompo
 
     /// get the set of response available with the current collision pipeline
     virtual std::set< std::string > getResponseList() const=0;
-protected:
-    /// Remove collision response from last step
-    virtual void doCollisionReset() = 0;
-    /// Detect new collisions. Note that this step must not modify the simulation graph
-    virtual void doCollisionDetection(const sofa::type::vector<core::CollisionModel*>& collisionModels) = 0;
-    /// Add collision response in the simulation graph
-    virtual void doCollisionResponse() = 0;
-
-public:
 
     bool insertInNode( objectmodel::BaseNode* node ) override;
     bool removeInNode( objectmodel::BaseNode* node ) override;
+
+protected:
+    /// @brief Delegates collision reset 
+    virtual void doComputeCollisionReset() = 0;
+
+    /// @brief Delegates collision detection
+    virtual void doComputeCollisionDetection(const sofa::type::vector<sofa::core::CollisionModel*>& collisionModels) = 0;
+
+    /// @brief Delegates response creation
+    virtual void doComputeCollisionResponse() = 0;
 };
 
 } // namespace collision
diff --git a/Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h b/Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h
index a96702893ef..971f1647959 100644
--- a/Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h
+++ b/Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h
@@ -41,9 +41,35 @@ class SOFA_CORE_API BaseVisualStyle : public sofa::core::objectmodel::BaseCompon
     BaseVisualStyle() { }
     ~BaseVisualStyle() override { }
 
+    virtual void doUpdateVisualFlags(VisualParams* ) { };
+    virtual void doApplyBackupFlags(VisualParams* ) { };
+
 public:
-    virtual void updateVisualFlags(VisualParams* ) { };
-    virtual void applyBackupFlags(VisualParams* ) { };
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doUpdateVisualFlags" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual void updateVisualFlags(VisualParams* vparams) final { 
+        //TODO (SPRINT SED 2025): Component state mechamism
+        return this->doUpdateVisualFlags(vparams); 
+    };
+
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doApplyBackupFlags" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual void applyBackupFlags(VisualParams* vparams) final { 
+        //TODO (SPRINT SED 2025): Component state mechamism
+        return this->doApplyBackupFlags(vparams); 
+    };
 
 };
 
diff --git a/Sofa/framework/Core/test/collision/NarrowPhaseDetection_test.cpp b/Sofa/framework/Core/test/collision/NarrowPhaseDetection_test.cpp
index 4e7693d6065..d7e817c9269 100644
--- a/Sofa/framework/Core/test/collision/NarrowPhaseDetection_test.cpp
+++ b/Sofa/framework/Core/test/collision/NarrowPhaseDetection_test.cpp
@@ -82,7 +82,7 @@ namespace sofa::core
 class DummyCollisionModel : public CollisionModel
 {
 public:
-    void computeBoundingTree(int /*maxDepth*/) override {}
+    void doComputeBoundingTree(int /*maxDepth*/) override {}
 };
 } //namespace sofa::collision
 
diff --git a/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.cpp b/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.cpp
index 7e3cdca0178..fa064b24280 100644
--- a/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.cpp
+++ b/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.cpp
@@ -54,7 +54,7 @@ void MyBehaviorModel::reinit()
 {
 }
 
-void MyBehaviorModel::updatePosition(double /*dt*/)
+void MyBehaviorModel::doUpdatePosition(double /*dt*/)
 {
 }
 
diff --git a/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.h b/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.h
index 696047ef80b..fcfbb914eae 100644
--- a/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.h
+++ b/Sofa/framework/Helper/test/system/TestPluginA/ComponentC.h
@@ -52,7 +52,7 @@ class MyBehaviorModel : public sofa::core::BehaviorModel
 public:
     virtual void init();
     virtual void reinit();
-    virtual void updatePosition(double dt);
+    void doUpdatePosition(double dt) override;
 
 protected:
     Data<unsigned> customUnsignedData; ///< Example of unsigned data with custom widget
diff --git a/Sofa/framework/Simulation/Core/CMakeLists.txt b/Sofa/framework/Simulation/Core/CMakeLists.txt
index e16319d1d4e..c1d4465199f 100644
--- a/Sofa/framework/Simulation/Core/CMakeLists.txt
+++ b/Sofa/framework/Simulation/Core/CMakeLists.txt
@@ -35,7 +35,6 @@ set(HEADER_FILES
     ${SRC_ROOT}/Node.inl
     ${SRC_ROOT}/ParallelSparseMatrixProduct.h
     ${SRC_ROOT}/PauseEvent.h
-    ${SRC_ROOT}/PipelineImpl.h
     ${SRC_ROOT}/PositionEvent.h
     ${SRC_ROOT}/PrintVisitor.h
     ${SRC_ROOT}/PropagateEventVisitor.h
@@ -176,7 +175,6 @@ set(SOURCE_FILES
     ${SRC_ROOT}/MutationListener.cpp
     ${SRC_ROOT}/Node.cpp
     ${SRC_ROOT}/PauseEvent.cpp
-    ${SRC_ROOT}/PipelineImpl.cpp
     ${SRC_ROOT}/PositionEvent.cpp
     ${SRC_ROOT}/PrintVisitor.cpp
     ${SRC_ROOT}/PropagateEventVisitor.cpp
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h
index 2db2245d9f5..140aa23b83b 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.h
@@ -64,13 +64,26 @@ class SOFA_SIMULATION_CORE_API BaseSimulationExporter : public virtual sofa::cor
 
     virtual void doInit() {}
     virtual void doReInit() {}
-    virtual bool write() = 0;
+
+    /**
+     * !!! WARNING since v25.12 !!! 
+     * 
+     * The template method pattern has been applied to this part of the API. 
+     * This method calls the newly introduced method "doWrite" internally,
+     * which is the method to override from now on.
+     * 
+     **/  
+    virtual bool write() final {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        return this->doWrite(); 
+    }
 
 
 protected:
     BaseSimulationExporter() ;
     ~BaseSimulationExporter() override { }
 
+    virtual bool doWrite() = 0;
     const std::string getOrCreateTargetPath(const std::string& filename, bool autonumbering);
     void updateFromDataField();
     unsigned int m_stepCounter {0};
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
index 605062dedf9..36c8ea2fbb3 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
@@ -296,7 +296,7 @@ void DefaultAnimationLoop::animate(const core::ExecParams* params, SReal dt) con
     endIntegration(params, dt);
 }
 
-void DefaultAnimationLoop::step(const core::ExecParams* params, SReal dt)
+void DefaultAnimationLoop::doStep(const core::ExecParams* params, SReal dt)
 {
     if (this->d_componentState.getValue() != sofa::core::objectmodel::ComponentState::Valid)
     {
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
index f6f88c1db47..b200ad78f6d 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
@@ -61,12 +61,12 @@ class SOFA_SIMULATION_CORE_API DefaultAnimationLoop : public sofa::core::behavio
     /// Set the simulation node this animation loop is controlling
     virtual void setNode(simulation::Node*);
 
-    /// perform one animation step
-    void step(const sofa::core::ExecParams* params, SReal dt) override;
-
 protected :
     simulation::Node* m_node { nullptr };
 
+    /// perform one animation step
+    void doStep(const sofa::core::ExecParams* params, SReal dt) override;
+
     void behaviorUpdatePosition(const sofa::core::ExecParams* params, SReal dt) const;
     void updateInternalData(const sofa::core::ExecParams* params) const;
     void beginIntegration(const sofa::core::ExecParams* params, SReal dt) const;
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/PipelineImpl.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/PipelineImpl.cpp
deleted file mode 100644
index eaa29c4737e..00000000000
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/PipelineImpl.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-/******************************************************************************
-*                 SOFA, Simulation Open-Framework Architecture                *
-*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
-*                                                                             *
-* This program is free software; you can redistribute it and/or modify it     *
-* under the terms of the GNU Lesser General Public License as published by    *
-* the Free Software Foundation; either version 2.1 of the License, or (at     *
-* your option) any later version.                                             *
-*                                                                             *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details.                                                           *
-*                                                                             *
-* You should have received a copy of the GNU Lesser General Public License    *
-* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt)          *
-*                                                                             *
-* Contact information: contact@sofa-framework.org                             *
-******************************************************************************/
-#include <sofa/simulation/PipelineImpl.h>
-
-#include <sofa/core/ObjectFactory.h>
-#include <sofa/core/collision/BroadPhaseDetection.h>
-#include <sofa/core/collision/NarrowPhaseDetection.h>
-#include <sofa/core/collision/CollisionGroupManager.h>
-#include <sofa/core/collision/ContactManager.h>
-
-#include <sofa/simulation/Node.h>
-
-#include <sofa/helper/AdvancedTimer.h>
-#include <sofa/helper/ScopedAdvancedTimer.h>
-
-
-namespace sofa
-{
-
-namespace simulation
-{
-
-
-using namespace sofa::core;
-using namespace sofa::core::objectmodel;
-using namespace sofa::core::behavior;
-using namespace sofa::core::collision;
-
-PipelineImpl::PipelineImpl()
-{
-}
-
-PipelineImpl::~PipelineImpl()
-{
-}
-
-void PipelineImpl::init()
-{
-    simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
-    if(root == nullptr) return;
-
-    intersectionMethods.clear();
-    root->getTreeObjects<Intersection>(&intersectionMethods);
-    intersectionMethod = (intersectionMethods.empty() ? nullptr : intersectionMethods[0]);
-
-    broadPhaseDetections.clear();
-    root->getTreeObjects<BroadPhaseDetection>(&broadPhaseDetections);
-    broadPhaseDetection = (broadPhaseDetections.empty() ? nullptr : broadPhaseDetections[0]);
-
-    narrowPhaseDetections.clear();
-    root->getTreeObjects<NarrowPhaseDetection>(&narrowPhaseDetections);
-    narrowPhaseDetection = (narrowPhaseDetections.empty() ? nullptr : narrowPhaseDetections[0]);
-
-    contactManagers.clear();
-    root->getTreeObjects<ContactManager>(&contactManagers);
-    contactManager = (contactManagers.empty() ? nullptr : contactManagers[0]);
-
-    groupManagers.clear();
-    root->getTreeObjects<CollisionGroupManager>(&groupManagers);
-    groupManager = (groupManagers.empty() ? nullptr : groupManagers[0]);
-
-    if (intersectionMethod==nullptr)
-    {
-        msg_warning(this) <<"no intersection component defined. Switching to the DiscreteIntersection component. " << msgendl
-                            "To remove this warning, you can add an intersection component to your scene. " << msgendl
-                            "More details on the collision pipeline can be found at "
-                            "[sofadoc::Collision](https://www.sofa-framework.org/community/doc/simulation-principles/multi-model-representation/collision/).";
-        sofa::core::objectmodel::BaseObjectDescription discreteIntersectionDesc("Default Intersection","DiscreteIntersection");
-        const sofa::core::objectmodel::BaseComponent::SPtr obj = sofa::core::ObjectFactory::CreateObject(getContext(), &discreteIntersectionDesc);
-        intersectionMethod = dynamic_cast<Intersection*>(obj.get());
-    }
-}
-
-void PipelineImpl::reset()
-{
-    computeCollisionReset();
-}
-
-void PipelineImpl::computeCollisionReset()
-{
-    const simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
-    if(root == nullptr) return;
-    if (broadPhaseDetection!=nullptr && broadPhaseDetection->getIntersectionMethod()!=intersectionMethod)
-        broadPhaseDetection->setIntersectionMethod(intersectionMethod);
-    if (narrowPhaseDetection!=nullptr && narrowPhaseDetection->getIntersectionMethod()!=intersectionMethod)
-        narrowPhaseDetection->setIntersectionMethod(intersectionMethod);
-    if (contactManager!=nullptr && contactManager->getIntersectionMethod()!=intersectionMethod)
-        contactManager->setIntersectionMethod(intersectionMethod);
-
-    doCollisionReset();
-}
-
-void PipelineImpl::computeCollisionDetection()
-{
-    simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
-    if(root == nullptr) return;
-    std::vector<CollisionModel*> collisionModels;
-    root->getTreeObjects<CollisionModel>(&collisionModels);
-    doCollisionDetection(collisionModels);
-}
-
-void PipelineImpl::computeCollisionResponse()
-{
-    const simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
-    if(root == nullptr) return;
-
-    doCollisionResponse();
-}
-
-} // namespace simulation
-
-} // namespace sofa
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/PipelineImpl.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/PipelineImpl.h
deleted file mode 100644
index 5d220d9e23c..00000000000
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/PipelineImpl.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/******************************************************************************
-*                 SOFA, Simulation Open-Framework Architecture                *
-*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
-*                                                                             *
-* This program is free software; you can redistribute it and/or modify it     *
-* under the terms of the GNU Lesser General Public License as published by    *
-* the Free Software Foundation; either version 2.1 of the License, or (at     *
-* your option) any later version.                                             *
-*                                                                             *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details.                                                           *
-*                                                                             *
-* You should have received a copy of the GNU Lesser General Public License    *
-* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt)          *
-*                                                                             *
-* Contact information: contact@sofa-framework.org                             *
-******************************************************************************/
-#ifndef SOFA_SIMULATION_PIPELINEIMPL_H
-#define SOFA_SIMULATION_PIPELINEIMPL_H
-
-#include <sofa/core/collision/Pipeline.h>
-#include <sofa/simulation/config.h>
-
-
-namespace sofa::simulation
-{
-
-class SOFA_SIMULATION_CORE_API PipelineImpl : public sofa::core::collision::Pipeline
-{
-
-protected:
-    PipelineImpl();
-
-    ~PipelineImpl() override;
-public:
-    void init() override;
-
-    void reset() override;
-
-    /// Remove collision response from last step
-    void computeCollisionReset() override;
-    /// Detect new collisions. Note that this step must not modify the simulation graph
-    void computeCollisionDetection() override;
-    /// Add collision response in the simulation graph
-    void computeCollisionResponse() override;
-};
-
-
-} // namespace sofa::simulation
-
-
-#endif
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCapsuleModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCapsuleModel.h
index 9e45c64e564..45616469610 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCapsuleModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCapsuleModel.h
@@ -55,10 +55,6 @@ class TBulletCapsuleModel : public collisionobbcapsule::geometry::CapsuleCollisi
     virtual void initBullet();
     virtual void updateBullet();
 
-    inline virtual void computeBoundingTree(int/* maxDepth*/){
-        _bt_cshape->recalculateLocalAabb();
-    }
-
     inline virtual ~TBulletCapsuleModel();
 
     virtual void init();
@@ -79,6 +75,10 @@ class TBulletCapsuleModel : public collisionobbcapsule::geometry::CapsuleCollisi
     void cleanGarbage();
 
     static void makeBtQuat(const Coord & dir,btQuaternion & quat);
+
+    inline virtual void doComputeBoundingTree(int/* maxDepth*/) override {
+        _bt_cshape->recalculateLocalAabb();
+    }
 };
 
 typedef TBulletCapsuleModel<defaulttype::Vec3Types> BulletCapsuleModel;
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h
index 32e014742e0..d1265931e5d 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.h
@@ -82,25 +82,10 @@ class TBulletConvexHullModel : public sofa::core::CollisionModel ,public BulletC
 
     virtual void reinit();
 
-    // -- CollisionModel interface
-
-    virtual void resize(int size);
-
     //void draw(const core::visual::VisualParams*,int index);
 
     void draw(const core::visual::VisualParams* vparams);    
 
-    inline virtual void computeBoundingTree(int/* maxDepth*/){
-        _bt_cshape.recalculateLocalAabb();
-    }
-
-    virtual bool canCollideWithElement(int index, CollisionModel* model2, int index2){
-        if(this == model2)
-            return false;
-
-        return CollisionModel::canCollideWithElement(index,model2,index2);
-    }
-
     core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return _mstate; }
     const core::behavior::MechanicalState<DataTypes>* getMechanicalState() const { return _mstate; }
 
@@ -148,6 +133,21 @@ class TBulletConvexHullModel : public sofa::core::CollisionModel ,public BulletC
     void draw_without_decomposition(const core::visual::VisualParams* vparams);
     void draw_decomposition(const core::visual::VisualParams* vparams);
 
+    // -- CollisionModel interface
+
+    // virtual void doResize(int size) override;
+
+    inline virtual void doComputeBoundingTree(int/* maxDepth*/) override {
+        _bt_cshape.recalculateLocalAabb();
+    }
+
+    virtual bool doCanCollideWithElement(int index, CollisionModel* model2, int index2) override {
+        if(this == model2)
+            return false;
+
+        return CollisionModel::doCanCollideWithElement(index,model2,index2);
+    }
+
     Coord _bary;
     btTransform _bt_trans;
     core::behavior::MechanicalState<DataTypes>* _mstate;
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
index cae6ed3906b..3cd321cb564 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
@@ -30,13 +30,6 @@ TBulletConvexHullModel<DataTypes>::TBulletConvexHullModel()
 }
 
 
-template <class DataTypes>
-void TBulletConvexHullModel<DataTypes>::resize(int size)
-{
-    this->core::CollisionModel::resize(size);
-}
-
-
 template <class DataTypes>
 void TBulletConvexHullModel<DataTypes>::init(){
     this->CollisionModel::init();
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h
index 9d21fd9804f..988b44ea814 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletCylinderModel.h
@@ -48,9 +48,7 @@ class TBulletCylinderModel : public sofa::component::collision::geometry::Cylind
     virtual void initBullet();
     virtual void updateBullet();
 
-    inline virtual void computeBoundingTree(int/* maxDepth*/){
-        _bt_cshape->recalculateLocalAabb();
-    }
+
 
     inline virtual ~TBulletCylinderModel();
 
@@ -70,6 +68,10 @@ class TBulletCylinderModel : public sofa::component::collision::geometry::Cylind
     btCompoundShape * _bt_cshape;//or maybe something else ?
 
     void cleanGarbage();
+
+    inline virtual void doComputeBoundingTree(int/* maxDepth*/) override {
+        _bt_cshape->recalculateLocalAabb();
+    }
 };
 
 typedef TBulletCylinderModel<defaulttype::RigidTypes> BulletCylinderModel;
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletOBBModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletOBBModel.h
index 0a10de66ec6..0f03652075c 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletOBBModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletOBBModel.h
@@ -48,9 +48,7 @@ class TBulletOBBModel : public collisionobbcapsule::geometry::OBBCollisionModel<
     virtual void initBullet();
     virtual void updateBullet();
 
-    inline virtual void computeBoundingTree(int/* maxDepth*/){
-        _bt_cshape->recalculateLocalAabb();
-    }
+
 
     inline virtual ~TBulletOBBModel();
 
@@ -69,6 +67,10 @@ class TBulletOBBModel : public collisionobbcapsule::geometry::OBBCollisionModel<
     std::stack<btCollisionShape*> _garbage;
     btCompoundShape * _bt_cshape;
 
+    inline virtual void doComputeBoundingTree(int/* maxDepth*/) override {
+        _bt_cshape->recalculateLocalAabb();
+    }
+
     void cleanGarbage();
 };
 
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletSphereModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletSphereModel.h
index a06fb6a839d..fd4397d2b19 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletSphereModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletSphereModel.h
@@ -39,10 +39,6 @@ class TBulletSphereModel : public sofa::component::collision::geometry::SphereCo
     virtual void initBullet();
     virtual void updateBullet();
 
-    inline virtual void computeBoundingTree(int/* maxDepth*/){
-        _bt_cshape->recalculateLocalAabb();
-    }
-
     inline virtual ~TBulletSphereModel();
 
     virtual void init();
@@ -60,6 +56,10 @@ class TBulletSphereModel : public sofa::component::collision::geometry::SphereCo
     std::stack<btCollisionShape*> _garbage;
     btCompoundShape * _bt_cshape;
 
+    inline virtual void doComputeBoundingTree(int/* maxDepth*/) override {
+        _bt_cshape->recalculateLocalAabb();
+    }
+
     void cleanGarbage();
 };
 
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.h b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.h
index 5c7d2c80806..9fe28fa492f 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.h
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.h
@@ -38,14 +38,33 @@ class TBulletTriangleModel : public sofa::component::collision::geometry::Triang
     virtual void initBullet();
     virtual void updateBullet();
 
-    inline virtual void computeBoundingTree(int/* maxDepth*/){
+    inline virtual ~TBulletTriangleModel(){
+        delete _bt_mesh;
+        delete _bt_gmesh;
+    }
+
+    virtual void init();
+
+    virtual void reinit();
+
+    void handleEvent(sofa::core::objectmodel::Event * ev);
+
+ 	inline virtual void setMargin(SReal m){ *margin.beginEdit() = m; margin.endEdit(); }
+
+    bool goodSofaBulletLink()const;
+
+protected:
+    template <class MyReal,class ToRead,class ToFill>
+    void myFillFunc(const ToRead & pos,int numverts,ToFill vertexbase,int vertexStride);
+
+    inline virtual void doComputeBoundingTree(int/* maxDepth*/) override {
         //_bt_collision_object
         _bt_gmesh->updateBound();
         //_bt_gmesh->refitTree();
         //_bt_gmesh->postUpdate();
     }
 
-//    inline virtual void computeBoundingTree(int/* maxDepth*/){
+//    inline virtual void doComputeBoundingTree(int/* maxDepth*/){
 //        //_bt_collision_object
 //        //_bt_gmesh->updateBound();
 //        const Vector3 & min = this->mstate->f_bbox.getValue().minBBox();
@@ -61,27 +80,7 @@ class TBulletTriangleModel : public sofa::component::collision::geometry::Triang
 //        //_bt_gmesh->postUpdate();
 //    }
 
-    //virtual void computeBoundingTree(int maxDepth=0);
-
-    inline virtual ~TBulletTriangleModel(){
-        delete _bt_mesh;
-        delete _bt_gmesh;
-    }
-
-    virtual void init();
-
-    virtual void reinit();
-
-    void handleEvent(sofa::core::objectmodel::Event * ev);
-
- 	inline virtual void setMargin(SReal m){ *margin.beginEdit() = m; margin.endEdit(); }
-
-    bool goodSofaBulletLink()const;
-
-protected:
-    template <class MyReal,class ToRead,class ToFill>
-    void myFillFunc(const ToRead & pos,int numverts,ToFill vertexbase,int vertexStride);
-
+    //virtual void doComputeBoundingTree(int maxDepth=0);
 
     btTriangleMesh * _bt_mesh;
     btGImpactMeshShape * _bt_gmesh;
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h
index 41d2553e9d7..d7ce2b7f109 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h
@@ -111,13 +111,6 @@ class CapsuleCollisionModel : public core::CollisionModel
 public:
     void init() override;
 
-    // -- CollisionModel interface
-
-    void resize(sofa::Size size) override;
-
-    void computeBoundingTree(int maxDepth=0) override;
-
-    //virtual void computeContinuousBoundingTree(SReal dt, int maxDepth=0);
 
     void draw(const core::visual::VisualParams* vparams, Index index) override;
 
@@ -168,11 +161,6 @@ class CapsuleCollisionModel : public core::CollisionModel
         return sofa::core::objectmodel::BaseComponent::canCreate(obj, context, arg);
     }
 
-    sofa::core::topology::BaseMeshTopology* getCollisionTopology() override
-    {
-        return l_topology.get();
-    }
-
     /**
       *Returns true if capsules at indexes i1 and i2 share the same vertex.
       */
@@ -185,6 +173,20 @@ class CapsuleCollisionModel : public core::CollisionModel
 
 protected:
     core::behavior::MechanicalState<DataTypes>* _mstate;
+
+    // -- CollisionModel interface
+
+    void doResize(sofa::Size size) override;
+
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+    //virtual void doComputeContinuousBoundingTree(SReal dt, int maxDepth=0);
+
+    sofa::core::topology::BaseMeshTopology* doGetCollisionTopology() override
+    {
+        return l_topology.get();
+    }
+    
 };
 
 template<class DataTypes>
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl
index 3d018ecb681..14f5dccd91e 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl
@@ -52,9 +52,9 @@ CapsuleCollisionModel<TDataTypes>::~CapsuleCollisionModel()
 {}
 
 template<class DataTypes>
-void CapsuleCollisionModel<DataTypes>::resize(sofa::Size size)
+void CapsuleCollisionModel<DataTypes>::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
     _capsule_points.resize(size);
 
     VecReal & capsule_radii = *_capsule_radii.beginEdit();
@@ -117,7 +117,7 @@ Size CapsuleCollisionModel<DataTypes>::nbCap()const
 }
 
 template <class DataTypes>
-void CapsuleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
+void CapsuleCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth)
 {
     using namespace sofa::type;
     using namespace sofa::defaulttype;
@@ -126,6 +126,7 @@ void CapsuleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     bool updated = false;
     if (ncap != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(ncap);
         updated = true;
         cubeModel->resize(0);
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h
index 1432c07738f..23c405d53f4 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h
@@ -151,14 +151,6 @@ class OBBCollisionModel : public core::CollisionModel
 public:
     void init() override;
 
-    // -- CollisionModel interface
-
-    void resize(sofa::Size size) override;
-
-    void computeBoundingTree(int maxDepth=0) override;
-
-    //virtual void computeContinuousBoundingTree(SReal dt, int maxDepth=0);
-
     void draw(const sofa::core::visual::VisualParams* vparams, sofa::Index index) override;
 
     sofa::core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return _mstate; }
@@ -255,6 +247,14 @@ class OBBCollisionModel : public core::CollisionModel
 
 protected:
     sofa::core::behavior::MechanicalState<DataTypes>* _mstate;
+
+    // -- CollisionModel interface
+
+    void doResize(sofa::Size size) override;
+
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+    //virtual void doComputeContinuousBoundingTree(SReal dt, int maxDepth=0);
 };
 
 template<class DataTypes>
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl
index d2d9fcc1b39..c7df5c34c97 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl
@@ -65,8 +65,8 @@ void OBBCollisionModel<DataTypes>::init()
 
 
 template<class DataTypes>
-void OBBCollisionModel<DataTypes>::resize(sofa::Size size){
-    this->core::CollisionModel::resize(size);
+void OBBCollisionModel<DataTypes>::doResize(sofa::Size size){
+    this->core::CollisionModel::doResize(size);
 
     VecCoord & vext = *(ext.beginEdit());
 
@@ -85,12 +85,13 @@ void OBBCollisionModel<DataTypes>::resize(sofa::Size size){
 
 
 template<class DataTypes>
-void OBBCollisionModel<DataTypes>::computeBoundingTree(int maxDepth){
+void OBBCollisionModel<DataTypes>::doComputeBoundingTree(int maxDepth){
     sofa::component::collision::geometry::CubeCollisionModel* cubeModel = createPrevious<sofa::component::collision::geometry::CubeCollisionModel>();
     const auto npoints = _mstate->getSize();
     bool updated = false;
     if (npoints != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(npoints);
         updated = true;
         cubeModel->resize(0);
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h
index 46bfdd8e0c1..0625bc63107 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h
@@ -118,14 +118,6 @@ class CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > : publi
 public:
     void init() override;
 
-    // -- CollisionModel interface
-
-    void resize(sofa::Size size) override;
-
-    void computeBoundingTree(int maxDepth=0) override;
-
-    //virtual void computeContinuousBoundingTree(SReal dt, int maxDepth=0);
-
     void draw(const core::visual::VisualParams* vparams, sofa::Index index) override;
 
     core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return _mstate; }
@@ -169,6 +161,14 @@ class CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > : publi
     Data<VecReal > & writeRadii();
 protected:
     core::behavior::MechanicalState<DataTypes>* _mstate;
+
+    // -- CollisionModel interface
+
+    void doResize(sofa::Size size) override;
+
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+    //virtual void doComputeContinuousBoundingTree(SReal dt, int maxDepth=0);
 };
 
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl
index 50e2101e7bc..43c127ea8cc 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl
@@ -50,9 +50,9 @@ CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::CapsuleColli
 }
 
 template<class MyReal>
-void CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::resize(sofa::Size size)
+void CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::doResize(sofa::Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
 
     VecReal & capsule_radii = *d_capsule_radii.beginEdit();
     VecReal & capsule_heights = *d_capsule_heights.beginEdit();
@@ -103,7 +103,7 @@ Size CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::nbCap()
 }
 
 template <class MyReal>
-void CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::computeBoundingTree(int maxDepth)
+void CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::doComputeBoundingTree(int maxDepth)
 {
     sofa::component::collision::geometry::CubeCollisionModel* cubeModel = createPrevious<sofa::component::collision::geometry::CubeCollisionModel>();
     const auto ncap = _mstate->getSize();
@@ -111,6 +111,7 @@ void CapsuleCollisionModel<sofa::defaulttype::StdRigidTypes<3,MyReal> >::compute
     bool updated = false;
     if (ncap != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(ncap);
         updated = true;
         cubeModel->resize(0);
diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp
index b12e4c33210..acd7edcdf63 100644
--- a/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp
+++ b/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp
@@ -75,7 +75,7 @@ void AnimationLoopParallelScheduler::cleanup()
     this->stopTaskSchduler();
 }
 
-void AnimationLoopParallelScheduler::step(const sofa::core::ExecParams* params, SReal dt)
+void AnimationLoopParallelScheduler::doStep(const sofa::core::ExecParams* params, SReal dt)
 {
     if (dt == 0)
         dt = this->gnode->getDt();
diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.h b/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.h
index 001224316ec..e3b35bd423e 100644
--- a/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.h
+++ b/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.h
@@ -53,6 +53,8 @@ class SOFA_MULTITHREADING_PLUGIN_API AnimationLoopParallelScheduler :
 
     ~AnimationLoopParallelScheduler() override;
 
+    void doStep(const sofa::core::ExecParams* params, SReal dt) override;
+
 public:
     void init() override;
 
@@ -64,8 +66,6 @@ class SOFA_MULTITHREADING_PLUGIN_API AnimationLoopParallelScheduler :
 
     void cleanup() override;
 
-    void step(const sofa::core::ExecParams* params, SReal dt) override;
-
 private :
 
     sofa::simulation::Node* gnode;
diff --git a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp
index 63471bb74ce..8a0ebb1ac52 100644
--- a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp
+++ b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp
@@ -42,9 +42,9 @@ CudaPointCollisionModel::CudaPointCollisionModel()
 {
 }
 
-void CudaPointCollisionModel::resize(Size size)
+void CudaPointCollisionModel::doResize(Size size)
 {
-    this->core::CollisionModel::resize(size);
+    this->core::CollisionModel::doResize(size);
 }
 
 void CudaPointCollisionModel::init()
@@ -105,7 +105,7 @@ void CudaPointCollisionModel::drawCollisionModel(const core::visual::VisualParam
 
 using sofa::component::collision::geometry::CubeCollisionModel;
 
-void CudaPointCollisionModel::computeBoundingTree(int maxDepth)
+void CudaPointCollisionModel::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
     const int npoints = mstate->getSize();
@@ -114,6 +114,7 @@ void CudaPointCollisionModel::computeBoundingTree(int maxDepth)
     bool updated = false;
     if (nelems != size)
     {
+        // TODO (SPRINT SED 2025 SUGGESTION): maybe we should use doResize (because of double state check)
         resize(nelems);
         updated = true;
     }
diff --git a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.h b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.h
index 5694402231a..d4a4f7f3b56 100644
--- a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.h
+++ b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/collision/geometry/CudaPointModel.h
@@ -68,14 +68,6 @@ class SOFACUDA_COMPONENT_API CudaPointCollisionModel : public core::CollisionMod
 
     virtual void init() override;
 
-    // -- CollisionModel interface
-
-    virtual void resize(Size size) override;
-
-    virtual void computeBoundingTree(int maxDepth=0) override;
-
-    //virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);
-
     void draw(const core::visual::VisualParams*,Index index) override;
 
     core::behavior::MechanicalState<InDataTypes>* getMechanicalState() { return mstate; }
@@ -84,6 +76,14 @@ class SOFACUDA_COMPONENT_API CudaPointCollisionModel : public core::CollisionMod
 
     void drawCollisionModel(const core::visual::VisualParams*) override;
     core::behavior::MechanicalState<InDataTypes>* mstate;
+
+    // -- CollisionModel interface
+
+    virtual void doResize(Size size) override;
+
+    virtual void doComputeBoundingTree(int maxDepth=0) override;
+
+    //virtual void doComputeContinuousBoundingTree(double dt, int maxDepth=0);
 };
 
 inline CudaPoint::CudaPoint(CudaPointCollisionModel* model, Index index)
diff --git a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
index 4703b6be20c..d59e89ba3b1 100644
--- a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
+++ b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
@@ -353,7 +353,7 @@ class HexahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord, TD
     template<> void HexahedronFEMForceField< T >::reinit(); \
     template<> void HexahedronFEMForceField< T >::addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v); \
     template<> void HexahedronFEMForceField< T >::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx); \
-    template<> void HexahedronFEMForceField< T >::getRotations(linearalgebra::BaseMatrix* rotations, int offset); \
+    template<> void HexahedronFEMForceField< T >::doGetRotations(linearalgebra::BaseMatrix* rotations, int offset); \
 
 CudaHexahedronFEMForceField_DeclMethods(gpu::cuda::CudaVec3fTypes);
 
diff --git a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.inl b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.inl
index c36d357b973..5fea0001e06 100644
--- a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.inl
+++ b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.inl
@@ -249,7 +249,7 @@ const HexahedronFEMForceField<gpu::cuda::CudaVec3fTypes>::Transformation& Hexahe
 }
 
 template<>
-void HexahedronFEMForceField<gpu::cuda::CudaVec3fTypes>::getRotations(linearalgebra::BaseMatrix * rotations,int offset)
+void HexahedronFEMForceField<gpu::cuda::CudaVec3fTypes>::doGetRotations(linearalgebra::BaseMatrix * rotations,int offset)
 {
     const auto nbdof = this->mstate->getSize();
 
diff --git a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h
index 2af9fdf1f33..aa969135275 100644
--- a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h
+++ b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h
@@ -276,7 +276,7 @@ class TetrahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord,TD
     template<> void TetrahedronFEMForceField< T >::reinit(); \
     template<> void TetrahedronFEMForceField< T >::addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v); \
     template<> void TetrahedronFEMForceField< T >::getRotations(VecReal& vecR); \
-    template<> void TetrahedronFEMForceField< T >::getRotations(linearalgebra::BaseMatrix * vecR,int offset); \
+    template<> void TetrahedronFEMForceField< T >::doGetRotations(linearalgebra::BaseMatrix * vecR,int offset); \
     template<> void TetrahedronFEMForceField< T >::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx); \
     template<> void TetrahedronFEMForceField< T >::addKToMatrix(sofa::linearalgebra::BaseMatrix* mat, SReal kFactor, unsigned int& offset); \
 
diff --git a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.inl b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.inl
index b84ec71db49..10b4ddd2ae9 100644
--- a/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.inl
+++ b/applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.inl
@@ -634,7 +634,7 @@ void TetrahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDe
 } \
     template<> inline void TetrahedronFEMForceField< T >::getRotations(VecReal & rotations) \
 { data.getRotations(this, rotations); } \
-    template<> inline void TetrahedronFEMForceField< T >::getRotations(linearalgebra::BaseMatrix * rotations,int offset) \
+    template<> inline void TetrahedronFEMForceField< T >::doGetRotations(linearalgebra::BaseMatrix * rotations,int offset) \
 { data.getRotations(this, rotations,offset); } \
     template<> inline void TetrahedronFEMForceField< T >::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx) \
 { \
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp
index 15b26d9b60e..bb6bc9e6c88 100644
--- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp
@@ -561,9 +561,9 @@ void CudaRigidDistanceGridCollisionModel::init()
     std::cout << "< CudaRigidDistanceGridCollisionModel::init()"<<std::endl;
 }
 
-void CudaRigidDistanceGridCollisionModel::resize(Size s)
+void CudaRigidDistanceGridCollisionModel::doResize(Size s)
 {
-    this->core::CollisionModel::resize(s);
+    this->core::CollisionModel::doResize(s);
     elems.resize(s);
 }
 
@@ -599,7 +599,7 @@ void CudaRigidDistanceGridCollisionModel::setNewState(Index index, double dt, Cu
 using sofa::component::collision::geometry::CubeCollisionModel;
 
 /// Create or update the bounding volume hierarchy.
-void CudaRigidDistanceGridCollisionModel::computeBoundingTree(int maxDepth)
+void CudaRigidDistanceGridCollisionModel::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = this->createPrevious<CubeCollisionModel>();
 
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h
index 8da7b24b5d6..89f43f66405 100644
--- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h
@@ -475,6 +475,11 @@ class CudaRigidDistanceGridCollisionModel : public core::CollisionModel
     void updateGrid();
 
     void drawCollisionModel(const core::visual::VisualParams*) override;
+    // -- CollisionModel interface
+    void doResize(Size size) override;
+
+    /// Create or update the bounding volume hierarchy.
+    void doComputeBoundingTree(int maxDepth=0) override;
 
 public:
     // Input data parameters
@@ -546,13 +551,6 @@ class CudaRigidDistanceGridCollisionModel : public core::CollisionModel
     /// Set new grid and transform, keeping the old state to estimate velocity
     void setNewState(double dt, CudaDistanceGrid* grid, const Matrix3& rotation, const Vec3& translation);
 
-    // -- CollisionModel interface
-
-    void resize(Size size) override;
-
-    /// Create or update the bounding volume hierarchy.
-    void computeBoundingTree(int maxDepth=0) override;
-
     void draw(const core::visual::VisualParams*, Index index) override;
 };
 
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp
index f10b376ac7c..c0e1932df0f 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp
@@ -137,9 +137,9 @@ void RigidDistanceGridCollisionModel::init()
     msg_info() << "Initialisation done.";
 }
 
-void RigidDistanceGridCollisionModel::resize(sofa::Size s)
+void RigidDistanceGridCollisionModel::doResize(sofa::Size s)
 {
-    this->core::CollisionModel::resize(s);
+    this->core::CollisionModel::doResize(s);
     elems.resize(s);
 }
 
@@ -199,7 +199,7 @@ void RigidDistanceGridCollisionModel::updateState()
 }
 
 /// Create or update the bounding volume hierarchy.
-void RigidDistanceGridCollisionModel::computeBoundingTree(int maxDepth)
+void RigidDistanceGridCollisionModel::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = this->createPrevious<CubeCollisionModel>();
 
@@ -549,13 +549,13 @@ void FFDDistanceGridCollisionModel::init()
     msg_info() << c <<" active cubes.";
 }
 
-void FFDDistanceGridCollisionModel::resize(sofa::Size s)
+void FFDDistanceGridCollisionModel::doResize(sofa::Size s)
 {
-    this->core::CollisionModel::resize(s);
+    this->core::CollisionModel::doResize(s);
     elems.resize(s);
 }
 
-bool FFDDistanceGridCollisionModel::canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
+bool FFDDistanceGridCollisionModel::doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2)
 {
     if (model2 != this) return true;
     if (!this->bSelfCollision.getValue()) return true;
@@ -566,7 +566,7 @@ bool FFDDistanceGridCollisionModel::canCollideWithElement(sofa::Index index, Col
 }
 
 /// Create or update the bounding volume hierarchy.
-void FFDDistanceGridCollisionModel::computeBoundingTree(int maxDepth)
+void FFDDistanceGridCollisionModel::doComputeBoundingTree(int maxDepth)
 {
     CubeCollisionModel* cubeModel = this->createPrevious<CubeCollisionModel>();
 
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h
index 675094f8922..ce08eba0135 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h
@@ -145,6 +145,11 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C
     ~RigidDistanceGridCollisionModel() override;
 
     void drawCollisionModel(const core::visual::VisualParams* vparams) override;
+    void doResize(sofa::Size size) override;
+
+    /// Create or update the bounding volume hierarchy.
+    void doComputeBoundingTree(int maxDepth=0) override;
+
 public:
     core::behavior::MechanicalState<InDataTypes>* getRigidModel() { return this->mstate ; }
     core::behavior::MechanicalState<InDataTypes>* getMechanicalState() { return this->mstate ; }
@@ -217,11 +222,6 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C
     /// Update transformation matrices from current rigid state
     void updateState();
 
-    void resize(sofa::Size size) override;
-
-    /// Create or update the bounding volume hierarchy.
-    void computeBoundingTree(int maxDepth=0) override;
-
     void draw(const core::visual::VisualParams*, sofa::Index index) override;
 
 };
@@ -450,13 +450,23 @@ class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::Col
     ~FFDDistanceGridCollisionModel() override;
 
     void drawCollisionModel(const core::visual::VisualParams* vparams) override;
+    /// CollisionModel interface
+    void doResize(sofa::Size size) override;
+
+    /// Create or update the bounding volume hierarchy.
+    void doComputeBoundingTree(int maxDepth=0) override;
+
+    bool doCanCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
+
+    core::topology::BaseMeshTopology* doGetCollisionTopology() override { return l_ffdMesh; }
+
 public:
     core::behavior::MechanicalState<DataTypes>* getDeformModel() { return this->mstate; }
     core::topology::BaseMeshTopology* getDeformGrid() { return l_ffdMesh; }
 
     /// alias used by ContactMapper
     core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return this->mstate; }
-    core::topology::BaseMeshTopology* getCollisionTopology() override { return l_ffdMesh; }
+
 
     void init() override;
 
@@ -470,14 +480,6 @@ class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::Col
         return elems[index];
     }
 
-    /// CollisionModel interface
-    void resize(sofa::Size size) override;
-
-    /// Create or update the bounding volume hierarchy.
-    void computeBoundingTree(int maxDepth=0) override;
-
-    bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
-
     void draw(const core::visual::VisualParams*, sofa::Index index) override;
 };
 
diff --git a/applications/plugins/SofaEulerianFluid/Fluid2D.cpp b/applications/plugins/SofaEulerianFluid/Fluid2D.cpp
index 08719220978..aba13fbc4d5 100644
--- a/applications/plugins/SofaEulerianFluid/Fluid2D.cpp
+++ b/applications/plugins/SofaEulerianFluid/Fluid2D.cpp
@@ -83,7 +83,7 @@ void Fluid2D::reset()
     init();
 }
 
-void Fluid2D::updatePosition(SReal dt)
+void Fluid2D::doUpdatePosition(SReal dt)
 {
     fnext->step(fluid, ftemp, (real)dt);
     Grid2D* p = fluid; fluid=fnext; fnext=p;
diff --git a/applications/plugins/SofaEulerianFluid/Fluid2D.h b/applications/plugins/SofaEulerianFluid/Fluid2D.h
index c3c13645f76..dd4ab9a758d 100644
--- a/applications/plugins/SofaEulerianFluid/Fluid2D.h
+++ b/applications/plugins/SofaEulerianFluid/Fluid2D.h
@@ -68,7 +68,7 @@ class SOFA_EULERIAN_FLUID_API Fluid2D : public sofa::core::BehaviorModel
 
     void reset() override;
 
-    void updatePosition(SReal dt) override;
+    void doUpdatePosition(SReal dt) override;
 
     void draw(const sofa::core::visual::VisualParams* vparams) override;
 
diff --git a/applications/plugins/SofaEulerianFluid/Fluid3D.cpp b/applications/plugins/SofaEulerianFluid/Fluid3D.cpp
index 0b06ed462cd..3e543dbdfa3 100644
--- a/applications/plugins/SofaEulerianFluid/Fluid3D.cpp
+++ b/applications/plugins/SofaEulerianFluid/Fluid3D.cpp
@@ -91,7 +91,7 @@ void Fluid3D::reset()
     init();
 }
 
-void Fluid3D::updatePosition(SReal dt)
+void Fluid3D::doUpdatePosition(SReal dt)
 {
     fnext->gravity = getContext()->getGravity()/f_cellwidth.getValue();
     fnext->step(fluid, ftemp, (real)dt);
diff --git a/applications/plugins/SofaEulerianFluid/Fluid3D.h b/applications/plugins/SofaEulerianFluid/Fluid3D.h
index 95f351b5ec1..ec059846495 100644
--- a/applications/plugins/SofaEulerianFluid/Fluid3D.h
+++ b/applications/plugins/SofaEulerianFluid/Fluid3D.h
@@ -72,7 +72,7 @@ class SOFA_EULERIAN_FLUID_API Fluid3D : public sofa::core::BehaviorModel
 
     void reset() override;
 
-    void updatePosition(SReal dt) override;
+    void doUpdatePosition(SReal dt) override;
 
     void draw(const sofa::core::visual::VisualParams* vparams) override;
 
diff --git a/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.cpp b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.cpp
index 161023261fc..f83c00e716a 100644
--- a/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.cpp
+++ b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.cpp
@@ -60,7 +60,7 @@ void ComplianceMatrixExporter::doInit()
     }
 }
 
-bool ComplianceMatrixExporter::write()
+bool ComplianceMatrixExporter::doWrite()
 {
     if (l_constraintSolver)
     {
diff --git a/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.h b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.h
index c66f6e032e8..2e9f6c75981 100644
--- a/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.h
+++ b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixExporter.h
@@ -39,7 +39,7 @@ class SOFA_SOFAMATRIX_API ComplianceMatrixExporter : public sofa::simulation::Ba
 public:
     SOFA_CLASS(ComplianceMatrixExporter, sofa::simulation::BaseSimulationExporter);
 
-    bool write() override;
+    bool doWrite() override;
     void doInit() override;
 
 protected:
diff --git a/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.cpp b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.cpp
index 6cb63aecfcc..e0655563eed 100644
--- a/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.cpp
+++ b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.cpp
@@ -78,7 +78,7 @@ void GlobalSystemMatrixExporter::doInit()
     }
 }
 
-bool GlobalSystemMatrixExporter::write()
+bool GlobalSystemMatrixExporter::doWrite()
 {
     if (l_linearSystem)
     {
diff --git a/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.h b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.h
index f695e0db89a..3518ac901d6 100644
--- a/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.h
+++ b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixExporter.h
@@ -39,7 +39,7 @@ class SOFA_SOFAMATRIX_API GlobalSystemMatrixExporter : public sofa::simulation::
 public:
     SOFA_CLASS(GlobalSystemMatrixExporter, sofa::simulation::BaseSimulationExporter);
 
-    bool write() override;
+    bool doWrite() override;
     void doInit() override;
 
 protected: