diff --git a/examples/ManifoldTriangleSurfaceCutting.scn b/examples/ManifoldTriangleSurfaceCutting.scn
index 1fdad5c..6ae92c8 100644
--- a/examples/ManifoldTriangleSurfaceCutting.scn
+++ b/examples/ManifoldTriangleSurfaceCutting.scn
@@ -2,7 +2,7 @@
 <Node name="root" dt="0.05" gravity="0 -9 1">
     <Node name="RequiredPlugins">
         <RequiredPlugin name="ManifoldTopologies"/> <!-- Needed to use components [ManifoldTriangleSetTopologyContainer, ManifoldTriangleSetTopologyModifier] -->  
-        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
@@ -21,7 +21,7 @@
         <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
     </Node>
     <VisualStyle displayFlags="showBehaviorModels hideCollisionModels hideMappings hideForceFields"/>
-	<DefaultPipeline verbose="0" />
+	<CollisionPipeline verbose="0" />
 	<BruteForceBroadPhase/>
     <BVHNarrowPhase/>
 	<CollisionResponse response="PenalityContactForceField" />
diff --git a/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn b/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
index 1d490a4..5cdd3fc 100644
--- a/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
+++ b/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
@@ -2,7 +2,7 @@
     <VisualStyle displayFlags="showBehaviorModels showCollisionModels hideMappings showForceFields"/>
     <Node name="RequiredPlugins">
         <RequiredPlugin name="ManifoldTopologies"/> <!-- Needed to use components [ManifoldTetrahedronSetTopologyContainer] -->  
-        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
@@ -16,7 +16,7 @@
         <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyModifier] -->  
         <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
     </Node>
-    <DefaultPipeline verbose="0" name="CollisionPipeline"/>
+    <CollisionPipeline verbose="0" name="CollisionPipeline"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" name="collision response"/>
diff --git a/examples/SimpleTesselatedTetraTopologicalMapping.scn b/examples/SimpleTesselatedTetraTopologicalMapping.scn
index ca835f5..6fc6f69 100644
--- a/examples/SimpleTesselatedTetraTopologicalMapping.scn
+++ b/examples/SimpleTesselatedTetraTopologicalMapping.scn
@@ -1,6 +1,6 @@
 <Node name="root" dt="0.05" showBehaviorModels="1" showCollisionModels="1" showMappings="0" showForceFields="1" showBoundingTree="0" gravity="0 0 0">
     <Node name="RequiredPlugins">
-        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
@@ -14,7 +14,7 @@
         <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier] -->  
         <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
     </Node>
-    <DefaultPipeline verbose="0" name="CollisionPipeline"/>
+    <CollisionPipeline verbose="0" name="CollisionPipeline"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" name="collision response"/>
diff --git a/examples/Tri2edgeManiMapping.scn b/examples/Tri2edgeManiMapping.scn
index 7c9bd5c..7f73045 100644
--- a/examples/Tri2edgeManiMapping.scn
+++ b/examples/Tri2edgeManiMapping.scn
@@ -1,7 +1,7 @@
 <Node 	name="root" gravity="0 -9 1" dt="0.05" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0"  >
     <Node name="RequiredPlugins">
         <RequiredPlugin name="ManifoldTopologies"/> <!-- Needed to use components [ManifoldEdgeSetGeometryAlgorithms, ManifoldEdgeSetTopologyContainer, ManifoldEdgeSetTopologyModifier, ManifoldTriangleSetTopologyContainer, ManifoldTriangleSetTopologyModifier] -->  
-        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
@@ -20,7 +20,7 @@
         <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
         <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
     </Node>
-    <DefaultPipeline name="default141" verbose="0"/>
+    <CollisionPipeline name="default141" verbose="0"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
     <CollisionResponse name="default142" response="PenalityContactForceField"/>
diff --git a/examples/Tri2edgeMapping.scn b/examples/Tri2edgeMapping.scn
index a09823b..65460b5 100644
--- a/examples/Tri2edgeMapping.scn
+++ b/examples/Tri2edgeMapping.scn
@@ -1,6 +1,6 @@
 <Node 	name="root" gravity="0 -9 1" dt="0.05" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0"  >
     <Node name="RequiredPlugins">
-        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
@@ -19,7 +19,7 @@
         <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
         <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
     </Node>
-    <DefaultPipeline name="default0" verbose="0"/>
+    <CollisionPipeline name="default0" verbose="0"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
     <CollisionResponse name="default1" response="PenalityContactForceField"/>
diff --git a/examples/mamailleMani.scn b/examples/mamailleMani.scn
index ef4c634..38f92ea 100644
--- a/examples/mamailleMani.scn
+++ b/examples/mamailleMani.scn
@@ -2,7 +2,7 @@
 <Node name="root" dt="0.05" gravity="0 0 0">
     <Node name="RequiredPlugins">
         <RequiredPlugin name="ManifoldTopologies"/> <!-- Needed to use components [ManifoldTriangleSetTopologyContainer, ManifoldTriangleSetTopologyModifier] -->  
-        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
@@ -21,7 +21,7 @@
         <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
     </Node>
     <VisualStyle displayFlags="showBehaviorModels hideCollisionModels hideMappings hideForceFields"/>
-    <DefaultPipeline verbose="0" />
+    <CollisionPipeline verbose="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
     <CollisionResponse response="PenalityContactForceField" />