diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.h
index 0ed5e57fbd9..e655dd2f9c0 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.h
@@ -79,15 +79,19 @@ class BarycentricPenalityContact : public core::collision::Contact
 public:
     void cleanup() override;
 
-    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() override { return std::make_pair(model1,model2); }
+    void draw(const core::visual::VisualParams* vparams) override;
 
-    void setDetectionOutputs(OutputVector* outputs) override;
+protected:
+    std::pair<core::CollisionModel*,core::CollisionModel*> doGetCollisionModels() override 
+    { 
+        return std::make_pair(model1,model2); 
+    }
 
-    void createResponse(core::objectmodel::BaseContext* group) override;
+    void doSetDetectionOutputs(OutputVector* outputs) override;
 
-    void removeResponse() override;
+    void doCreateResponse(core::objectmodel::BaseContext* group) override;
 
-    void draw(const core::visual::VisualParams* vparams) override;
+    void doRemoveResponse() override;
 
 };
 
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl
index 1652a782b3e..97b4258043e 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl
@@ -66,7 +66,7 @@ void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTy
 }
 
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
-void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::setDetectionOutputs(OutputVector* o)
+void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::doSetDetectionOutputs(OutputVector* o)
 {
     TOutputVector& outputs = *static_cast<TOutputVector*>(o);
     if (ff==nullptr)
@@ -188,7 +188,7 @@ void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTy
 }
 
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
-void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::createResponse(core::objectmodel::BaseContext* group)
+void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::doCreateResponse(core::objectmodel::BaseContext* group)
 {
     if (ff!=nullptr)
     {
@@ -207,7 +207,7 @@ void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTy
 }
 
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
-void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::removeResponse()
+void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::doRemoveResponse()
 {
     if (ff!=nullptr)
     {
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h
index 07da452b284..beadb24f438 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h
@@ -74,14 +74,6 @@ class BarycentricStickContact : public core::collision::Contact
 
     void cleanup() override;
 
-    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() override { return std::make_pair(model1,model2); }
-
-    void setDetectionOutputs(OutputVector* outputs) override;
-
-    void createResponse(core::objectmodel::BaseContext* group) override;
-
-    void removeResponse() override;
-
     /// Return true if this contact should be kept alive, even if objects are no longer in collision
     bool keepAlive() override { return d_keepAlive.getValue(); }
 
@@ -89,6 +81,18 @@ class BarycentricStickContact : public core::collision::Contact
     void setKeepAlive(bool val) override { d_keepAlive.setValue(val); }
 
     void draw(const core::visual::VisualParams* vparams) override;
+
+protected:
+    std::pair<core::CollisionModel*,core::CollisionModel*> doGetCollisionModels() override 
+    { 
+        return std::make_pair(model1,model2); 
+    }
+
+    void doSetDetectionOutputs(OutputVector* outputs) override;
+
+    void doCreateResponse(core::objectmodel::BaseContext* group) override;
+
+    void doRemoveResponse() override;
 };
 
 } // namespace sofa::component::collision::response::contact
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.inl
index 5a7aa8f3aec..1fd89e38a56 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.inl
@@ -57,7 +57,7 @@ void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes
 }
 
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
-void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::setDetectionOutputs(OutputVector* o)
+void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::doSetDetectionOutputs(OutputVector* o)
 {
     if (o==nullptr) return;
     TOutputVector& outputs = *static_cast<TOutputVector*>(o);
@@ -184,7 +184,7 @@ void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes
 }
 
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
-void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::createResponse(core::objectmodel::BaseContext* group)
+void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::doCreateResponse(core::objectmodel::BaseContext* group)
 {
     if (ff!=nullptr)
     {
@@ -203,7 +203,7 @@ void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes
 }
 
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
-void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::removeResponse()
+void BarycentricStickContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::doRemoveResponse()
 {
     if (ff!=nullptr)
     {
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h
index 514add26c00..9176169a426 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h
@@ -75,19 +75,26 @@ class BaseUnilateralContactResponse : public core::collision::Contact, public Co
     BaseUnilateralContactResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);
 
     ~BaseUnilateralContactResponse() override;
+
 public:
     void cleanup() override;
 
-    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() override { return std::make_pair(model1,model2); }
+    virtual ConstraintParameters getParameterFromDatas() const = 0;
 
-    void setDetectionOutputs(OutputVector* outputs) override;
+    virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) = 0;
 
-    void createResponse(core::objectmodel::BaseContext* group) override;
+protected:
+    std::pair<core::CollisionModel*,core::CollisionModel*> doGetCollisionModels() override 
+    { 
+        return std::make_pair(model1,model2); 
+    }
 
-    void removeResponse() override;
+    void doSetDetectionOutputs(OutputVector* outputs) override;
 
-    virtual ConstraintParameters getParameterFromDatas() const = 0;
-    virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) = 0;
+    void doCreateResponse(core::objectmodel::BaseContext* group) override;
+
+    void doRemoveResponse() override;
+    
 };
 
 } // namespace sofa::component::collision::response::contact
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl
index 57c1ef6eccb..8c13dc3821d 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl
@@ -85,7 +85,7 @@ void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, Constrain
 
 
 template <class TCollisionModel1, class TCollisionModel2, class ConstraintParameters, class ResponseDataTypes >
-void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, ConstraintParameters, ResponseDataTypes>::setDetectionOutputs(OutputVector* o)
+void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, ConstraintParameters, ResponseDataTypes>::doSetDetectionOutputs(OutputVector* o)
 {
     TOutputVector& outputs = *static_cast<TOutputVector*>(o);
     // We need to remove duplicate contacts
@@ -198,7 +198,7 @@ void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, Constrain
 }
 
 template <class TCollisionModel1, class TCollisionModel2, class ConstraintParameters, class ResponseDataTypes >
-void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, ConstraintParameters, ResponseDataTypes>::createResponse(core::objectmodel::BaseContext* group)
+void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, ConstraintParameters, ResponseDataTypes>::doCreateResponse(core::objectmodel::BaseContext* group)
 {
 
     activateMappers();
@@ -238,7 +238,7 @@ void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, Constrain
 }
 
 template <class TCollisionModel1, class TCollisionModel2, class ConstraintParameters, class ResponseDataTypes >
-void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, ConstraintParameters, ResponseDataTypes>::removeResponse()
+void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, ConstraintParameters, ResponseDataTypes>::doRemoveResponse()
 {
     if (m_constraint)
     {
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RayContact.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RayContact.h
index 293b324f83e..fb252642719 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RayContact.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RayContact.h
@@ -36,6 +36,11 @@ class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseRayContact : public core
 public:
     typedef collision::geometry::RayCollisionModel CollisionModel1;
 
+    const sofa::type::vector<core::collision::DetectionOutput*>& getDetectionOutputs() const 
+    { 
+        return collisions; 
+    }
+
 protected:
     CollisionModel1* model1;
     sofa::type::vector<core::collision::DetectionOutput*> collisions;
@@ -44,14 +49,12 @@ class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseRayContact : public core
     BaseRayContact(CollisionModel1* model1, core::collision::Intersection* instersectionMethod);
 
     ~BaseRayContact() override;
-public:
-    const sofa::type::vector<core::collision::DetectionOutput*>& getDetectionOutputs() const { return collisions; }
 
-    void createResponse(core::objectmodel::BaseContext* /*group*/) override
+    void doCreateResponse(core::objectmodel::BaseContext* /*group*/) override
     {
     }
 
-    void removeResponse() override
+    void doRemoveResponse() override
     {
     }
 
@@ -68,13 +71,15 @@ class RayContact : public BaseRayContact
 protected:
     CollisionModel2* model2;
     core::objectmodel::BaseContext* parent;
+
 public:
     RayContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
         : BaseRayContact(model1, intersectionMethod), model2(model2)
     {
     }
 
-    void setDetectionOutputs(core::collision::DetectionOutputVector* outputs) override
+protected:
+    void doSetDetectionOutputs(core::collision::DetectionOutputVector* outputs) override
     {
         OutputVector* o = static_cast<OutputVector*>(outputs);
         //collisions = outputs;
@@ -83,7 +88,11 @@ class RayContact : public BaseRayContact
             collisions[i] = &(*o)[i];
     }
 
-    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() override { return std::make_pair(model1,model2); }
+    std::pair<core::CollisionModel*,core::CollisionModel*> doGetCollisionModels() override 
+    { 
+        return std::make_pair(model1,model2); 
+    }
+    
 };
 
 } //namespace sofa::component::collision::response::contact
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h
index c61561238a0..eb0551d05c9 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h
@@ -81,13 +81,17 @@ class StickContactConstraint : public core::collision::Contact, public ContactId
 
     void cleanup() override;
 
-    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() override { return std::make_pair(model1,model2); }
+protected:
+    std::pair<core::CollisionModel*,core::CollisionModel*> doGetCollisionModels() override 
+    { 
+        return std::make_pair(model1,model2); 
+    }
 
-    void setDetectionOutputs(OutputVector* outputs) override;
+    void doSetDetectionOutputs(OutputVector* outputs) override;
 
-    void createResponse(core::objectmodel::BaseContext* group) override;
+    void doCreateResponse(core::objectmodel::BaseContext* group) override;
 
-    void removeResponse() override;
+    void doRemoveResponse() override;
 };
 
 
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl
index 4a4582f2df6..d03c3234026 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl
@@ -79,7 +79,7 @@ void StickContactConstraint<TCollisionModel1,TCollisionModel2>::cleanup()
 
 
 template < class TCollisionModel1, class TCollisionModel2 >
-void StickContactConstraint<TCollisionModel1,TCollisionModel2>::setDetectionOutputs(OutputVector* o)
+void StickContactConstraint<TCollisionModel1,TCollisionModel2>::doSetDetectionOutputs(OutputVector* o)
 {
     this->f_printLog.setValue(true);
     msg_info() << "setDetectionOutputs(" << (o == nullptr ? -1 : (int)static_cast<TOutputVector*>(o)->size()) << ")";
@@ -178,7 +178,7 @@ void StickContactConstraint<TCollisionModel1,TCollisionModel2>::activateMappers(
 }
 
 template < class TCollisionModel1, class TCollisionModel2 >
-void StickContactConstraint<TCollisionModel1,TCollisionModel2>::createResponse(core::objectmodel::BaseContext* group)
+void StickContactConstraint<TCollisionModel1,TCollisionModel2>::doCreateResponse(core::objectmodel::BaseContext* group)
 {
     msg_info() << "->createResponse(" << group->getName() << ")";
     if (!contacts.empty() || !keepAlive())
@@ -217,7 +217,7 @@ void StickContactConstraint<TCollisionModel1,TCollisionModel2>::createResponse(c
 }
 
 template < class TCollisionModel1, class TCollisionModel2 >
-void StickContactConstraint<TCollisionModel1,TCollisionModel2>::removeResponse()
+void StickContactConstraint<TCollisionModel1,TCollisionModel2>::doRemoveResponse()
 {
     msg_info() << "->removeResponse()";
     if (m_constraint)
diff --git a/Sofa/framework/Core/src/sofa/core/collision/Contact.h b/Sofa/framework/Core/src/sofa/core/collision/Contact.h
index 8e380b36a92..4d6513f2f27 100644
--- a/Sofa/framework/Core/src/sofa/core/collision/Contact.h
+++ b/Sofa/framework/Core/src/sofa/core/collision/Contact.h
@@ -59,15 +59,65 @@ class SOFA_CORE_API Contact : public virtual objectmodel::BaseObject
     Contact& operator=(const Contact& n) = delete;
 	
 public:
-    /// Get the pair of collision models which are in contact
-    virtual std::pair< core::CollisionModel*, core::CollisionModel* > getCollisionModels() = 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 "doGetCollisionModels" internally,
+     * which is the method to override from now on.
+     *
+     * Get the pair of collision models which are in contact 
+     * 
+     **/
+    virtual std::pair< core::CollisionModel*, core::CollisionModel* > getCollisionModels() final
+    {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        return this->doGetCollisionModels();
+    };
 
-    /// Set the generic description of a contact point
-    virtual void setDetectionOutputs(DetectionOutputVector* outputs) = 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 "doSetDetectionOuputs" internally,
+     * which is the method to override from now on.
+     *
+     * Set the generic description of a contact point
+     * 
+     **/
+    virtual void setDetectionOutputs(DetectionOutputVector* outputs) final 
+    {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doSetDetectionOutputs(outputs);
+    };
 
-    virtual void createResponse(objectmodel::BaseContext* group) = 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 "doCreateResponse" internally,
+     * which is the method to override from now on.
+     *
+     **/
+    virtual void createResponse(objectmodel::BaseContext* group) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doCreateResponse(group);
+    };
 
-    virtual void removeResponse() = 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 "doRemoveResponse" internally,
+     * which is the method to override from now on.
+     *
+     **/
+    virtual void removeResponse() final
+    {
+        //TODO (SPRINT SED 2025): Component state mechamism
+        this->doRemoveResponse();
+    };
 
     /// Return true if this contact should be kept alive, even if objects are no longer in collision
     virtual bool keepAlive() { return false; }
@@ -108,5 +158,17 @@ class SOFA_CORE_API Contact : public virtual objectmodel::BaseObject
         return sofa::core::objectmodel::New<RealContact>(model1, model2, inter);
     }
 
+protected:
+    /// Get the pair of collision models which are in contact
+    virtual std::pair< core::CollisionModel*, core::CollisionModel* > doGetCollisionModels() = 0;
+
+    /// Set the generic description of a contact point
+    virtual void doSetDetectionOutputs(DetectionOutputVector* outputs) = 0;
+
+    virtual void doCreateResponse(objectmodel::BaseContext* group) = 0;
+
+    virtual void doRemoveResponse() = 0;
+
+
 };
 } // namespace sofa::core::collision
diff --git a/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.h b/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.h
index 6eaf25d9bc3..e55a9dbbb32 100644
--- a/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.h
+++ b/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.h
@@ -133,20 +133,21 @@ class PersistentFrictionContact : public response::contact::FrictionContact<TCol
 
     void cleanup();
 
-    /// Set the generic description of a contact point
-    void setDetectionOutputs(OutputVector* outputs);
-
-    void createResponse(core::objectmodel::BaseContext* group);
-
-    virtual void removeResponse();
-
     void init();
 
+
 #ifdef DEBUG_INACTIVE_CONTACTS
     void draw(const core::visual::VisualParams* vparams);
 #endif
 
 protected:
+    
+    /// Set the generic description of a contact point
+    void doSetDetectionOutputs(OutputVector* outputs) override;
+
+    void doCreateResponse(core::objectmodel::BaseContext* group) override;
+
+    void doRemoveResponse() override;
 
     std::pair<bool,bool> findMappingOrUseMapper();
 
diff --git a/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.inl b/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.inl
index a9a219b805a..19e07fe5e60 100644
--- a/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.inl
+++ b/applications/plugins/PersistentContact/src/PersistentContact/PersistentFrictionContact.inl
@@ -307,7 +307,7 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::resetConstrai
 
 
 template < class TCollisionModel1, class TCollisionModel2 >
-void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::setDetectionOutputs(OutputVector* o)
+void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::doSetDetectionOutputs(OutputVector* o)
 {
     DetectionOutputVector filteredOutputs;
 
@@ -628,7 +628,7 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::activateConst
 
 
 template < class TCollisionModel1, class TCollisionModel2 >
-void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::createResponse(core::objectmodel::BaseContext* group)
+void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::doCreateResponse(core::objectmodel::BaseContext* group)
 {
     use_mapper_for_state1 = !findMappingOrUseMapper(mstate1, constraintModel1, map1);
     use_mapper_for_state2 = !findMappingOrUseMapper(mstate2, constraintModel2, map2);
@@ -713,7 +713,7 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::createRespons
 
 
 template < class TCollisionModel1, class TCollisionModel2 >
-void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::removeResponse()
+void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::doRemoveResponse()
 {
     if (this->m_constraint)
     {
diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
index de319b296d6..8a8b2de74b7 100644
--- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
@@ -49,7 +49,7 @@ namespace sofa::component::collision::response::contact
 using namespace sofa::gpu::cuda;
 
 template <>
-void BarycentricPenalityContact<CudaPointCollisionModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::setDetectionOutputs(OutputVector* o)
+void BarycentricPenalityContact<CudaPointCollisionModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::doSetDetectionOutputs(OutputVector* o)
 {
     GPUDetectionOutputVector& outputs = *dynamic_cast<GPUDetectionOutputVector*>(o);
     //const bool printLog = this->f_printLog.getValue();
@@ -101,7 +101,7 @@ void BarycentricPenalityContact<CudaPointCollisionModel,CudaRigidDistanceGridCol
 }
 
 template <>
-void BarycentricPenalityContact<CudaSphereCollisionModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::setDetectionOutputs(OutputVector* o)
+void BarycentricPenalityContact<CudaSphereCollisionModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::doSetDetectionOutputs(OutputVector* o)
 {
 
     GPUDetectionOutputVector& outputs = *dynamic_cast<GPUDetectionOutputVector*>(o);