diff --git a/examples/ManifoldTriangleSurfaceCutting.scn b/examples/ManifoldTriangleSurfaceCutting.scn
index 44ee886..1fdad5c 100644
--- a/examples/ManifoldTriangleSurfaceCutting.scn
+++ b/examples/ManifoldTriangleSurfaceCutting.scn
@@ -5,7 +5,7 @@
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
         <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 [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
@@ -24,7 +24,7 @@
 	<DefaultPipeline verbose="0" />
 	<BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-	<DefaultContactManager response="PenalityContactForceField" />
+	<CollisionResponse response="PenalityContactForceField" />
 	<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
 	<Node name="SquareGravity">
 		<CGImplicit iterations="40" tolerance="1e-6" threshold="1e-10"/>
diff --git a/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn b/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
index 5134a92..1d490a4 100644
--- a/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
+++ b/examples/SimpleManifoldTesselatedTetraTopologicalMapping.scn
@@ -4,7 +4,7 @@
         <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.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
-        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
@@ -19,7 +19,7 @@
     <DefaultPipeline verbose="0" name="CollisionPipeline"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-    <DefaultContactManager response="PenalityContactForceField" name="collision response"/>
+    <CollisionResponse response="PenalityContactForceField" name="collision response"/>
     <Node name="TetraTopology1">
         <EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />        
 	<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
diff --git a/examples/SimpleTesselatedTetraTopologicalMapping.scn b/examples/SimpleTesselatedTetraTopologicalMapping.scn
index 8484423..ca835f5 100644
--- a/examples/SimpleTesselatedTetraTopologicalMapping.scn
+++ b/examples/SimpleTesselatedTetraTopologicalMapping.scn
@@ -2,7 +2,7 @@
     <Node name="RequiredPlugins">
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
         <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
-        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
@@ -17,7 +17,7 @@
     <DefaultPipeline verbose="0" name="CollisionPipeline"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-    <DefaultContactManager response="PenalityContactForceField" name="collision response"/>
+    <CollisionResponse response="PenalityContactForceField" name="collision response"/>
     <Node name="TetraTopology1">
         <EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
diff --git a/examples/Tri2edgeManiMapping.scn b/examples/Tri2edgeManiMapping.scn
index c49c7d1..7c9bd5c 100644
--- a/examples/Tri2edgeManiMapping.scn
+++ b/examples/Tri2edgeManiMapping.scn
@@ -4,7 +4,7 @@
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
         <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 [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
@@ -23,7 +23,7 @@
     <DefaultPipeline name="default141" verbose="0"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-    <DefaultContactManager name="default142" response="PenalityContactForceField"/>
+    <CollisionResponse name="default142" response="PenalityContactForceField"/>
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
     <Node name="SquareGravity" gravity="0 -9.81 0"  >
         <CGImplicitSolver name="default144" iterations="40" tolerance="1e-06" threshold="1e-10"/>
diff --git a/examples/Tri2edgeMapping.scn b/examples/Tri2edgeMapping.scn
index 275e2ef..a09823b 100644
--- a/examples/Tri2edgeMapping.scn
+++ b/examples/Tri2edgeMapping.scn
@@ -3,7 +3,7 @@
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
         <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 [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
@@ -22,7 +22,7 @@
     <DefaultPipeline name="default0" verbose="0"/>
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-    <DefaultContactManager name="default1" response="PenalityContactForceField"/>
+    <CollisionResponse name="default1" response="PenalityContactForceField"/>
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
     <Node name="SquareGravity" gravity="0 -9.81 0"  >
         <CGImplicitSolver name="default3" iterations="40" tolerance="1e-06" threshold="1e-10"/>
diff --git a/examples/mamailleMani.scn b/examples/mamailleMani.scn
index 407b725..ef4c634 100644
--- a/examples/mamailleMani.scn
+++ b/examples/mamailleMani.scn
@@ -5,7 +5,7 @@
         <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
         <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 [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
         <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
@@ -24,7 +24,7 @@
     <DefaultPipeline verbose="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-    <DefaultContactManager response="PenalityContactForceField" />
+    <CollisionResponse response="PenalityContactForceField" />
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
     <Node name="SquareGravity">
         <CGImplicit iterations="40" tolerance="1e-6" threshold="1e-10"/>