diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
index 55c955f3e94..46bf969bf6f 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
@@ -42,7 +42,7 @@ bool BaseProximityIntersection::testIntersection(Cube& cube1, Cube& cube2, const
     const auto& maxVect1 = cube1.maxVect();
     const auto& maxVect2 = cube2.maxVect();
 
-    const auto alarmDist = currentIntersection->getAlarmDistance() + cube1.getProximity() + cube2.getProximity();
+    const auto alarmDist = currentIntersection->getAlarmDistance() + cube1.getContactDistance() + cube2.getContactDistance();
 
     for (int i = 0; i < 3; i++)
     {
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
index 5b1693a0316..25f179413bf 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
@@ -108,7 +108,7 @@ bool LocalMinDistance::testIntersection(Line& e1, Line& e2, const core::collisio
         return false;
     }
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const Line::Coord AB = e1.p2()-e1.p1();
     const Line::Coord CD = e2.p2()-e2.p1();
@@ -168,7 +168,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont
         return 0;
     }
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     // E1 => A-->B
     // E2 => C-->D
@@ -259,7 +259,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont
 
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
     detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
@@ -278,7 +278,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Point& e1, const core::col
     if(!e1.isActive(e2.getCollisionModel()))
         return false;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const Vec3 AB = e2.p2()-e2.p1();
     const Vec3 AC = e2.p3()-e2.p1();
@@ -345,7 +345,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector*
     if(!e1.isActive(e2.getCollisionModel()))
         return 0;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     static_assert(std::is_same_v<Triangle::Coord, Point::Coord>, "Data mismatch");
     using Real = Triangle::Coord::value_type;
@@ -411,7 +411,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector*
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
     detection->id = e1.getIndex();
@@ -430,7 +430,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Sphere& e1, const core::co
     if (!e1.isActive(e2.getCollisionModel()))
         return false;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     static_assert(std::is_same_v<Triangle::Coord, Sphere::Coord>, "Data mismatch");
     using Real = Triangle::Coord::value_type;
@@ -500,7 +500,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector
     if (!e1.isActive(e2.getCollisionModel()))
         return false;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     static_assert(std::is_same_v<Triangle::Coord, Sphere::Coord>, "Data mismatch");
     using Real = Triangle::Coord::value_type;
@@ -565,7 +565,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
     detection->id = e1.getIndex();
@@ -586,7 +586,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Point& e1, const core::collisi
     if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
         return false;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const Line::Coord AB = e2.p2()-e2.p1();
     const Line::Coord AP = e1.p()-e2.p1();
 
@@ -633,7 +633,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con
     if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
         return 0;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const Line::Coord AB = e2.p2()-e2.p1();
     const Line::Coord AP = e1.p()-e2.p1();
 
@@ -685,7 +685,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
     detection->id = e1.getIndex();
@@ -705,7 +705,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Sphere& e1, const core::collis
     static_assert(std::is_same_v<Line::Coord, Sphere::Coord>, "Data mismatch");
     using Real = Triangle::Coord::value_type;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
     const Line::Coord AB = e2.p2()-e2.p1();
     const Line::Coord AP = e1.p()-e2.p1();
 
@@ -748,7 +748,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co
     static_assert(std::is_same_v<Line::Coord, Sphere::Coord>, "Data mismatch");
     using Real = Triangle::Coord::value_type;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
     const Line::Coord AB = e2.p2()-e2.p1();
     const Line::Coord AP = e1.p()-e2.p1();
 
@@ -800,7 +800,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
     detection->id = e1.getIndex();
@@ -819,7 +819,7 @@ bool LocalMinDistance::testIntersection(Point& e1, Point& e2, const core::collis
     if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
         return false;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const Point::Coord PQ = e2.p()-e1.p();
 
@@ -851,7 +851,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co
     if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
         return 0;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const Point::Coord& P = e1.p();
     const Point::Coord& Q = e2.p();
@@ -890,7 +890,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
     detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
@@ -905,7 +905,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co
 
 bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     static_assert(std::is_same_v<Sphere::Coord, Point::Coord>, "Data mismatch");
     const auto PQ = e2.p()-e1.p();
@@ -935,7 +935,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::colli
 
 int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
     static_assert(std::is_same_v<Sphere::Coord, Point::Coord>, "Data mismatch");
 
     const Sphere::Coord& P = e1.p();
@@ -975,7 +975,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
     detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
@@ -990,7 +990,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c
 
 bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance();
 
     const Sphere::Coord PQ = e2.p()-e1.p();
     if (PQ.norm2() < alarmDist*alarmDist)
@@ -1018,7 +1018,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::coll
 
 int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance();
 
     const Sphere::Coord& P = e1.p();
     const Sphere::Coord& Q = e2.p();
@@ -1056,7 +1056,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector*
     }
 #endif
 
-    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity();
+    const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
     detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
@@ -1074,7 +1074,7 @@ bool LocalMinDistance::testIntersection(Ray &t1,Triangle &t2, const core::collis
 {
     type::Vec3 P,Q;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance();
 
     if (fabs(t2.n() * t1.direction()) < 0.000001)
         return false; // no intersection for edges parallel to the triangle
@@ -1098,7 +1098,7 @@ bool LocalMinDistance::testIntersection(Ray &t1,Triangle &t2, const core::collis
 
 int LocalMinDistance::computeIntersection(Ray &t1, Triangle &t2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance();
 
 
     if (fabs(t2.n() * t1.direction()) < 0.000001)
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp
index 47ba57e7b28..9d386a92b7e 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp
@@ -82,7 +82,7 @@ MeshMinProximityIntersection::MeshMinProximityIntersection(MinProximityIntersect
 
 bool MeshMinProximityIntersection::testIntersection(Line& e1, Line& e2, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     using Real = Line::Coord::value_type;
 
     const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
@@ -126,7 +126,7 @@ bool MeshMinProximityIntersection::testIntersection(Line& e1, Line& e2, const co
 
 int MeshMinProximityIntersection::computeIntersection(Line& e1, Line& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     using Real = Line::Coord::value_type;
 
     const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
@@ -186,7 +186,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e1, Line& e2, Output
     }
 #endif
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
     detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
@@ -214,7 +214,7 @@ bool MeshMinProximityIntersection::testIntersection(Triangle& e2, Point& e1, con
     static_assert(std::is_same_v<Triangle::Coord, Point::Coord>, "Data mismatch");
     using Real = Triangle::Coord::value_type;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
     const auto& positions_e2 = e2.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
@@ -270,7 +270,7 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O
     
     using Real = Triangle::Coord::value_type;
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
     const auto& positions_e2 = e2.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
@@ -328,7 +328,7 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O
     }
 #endif
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
     detection->id = e1.getIndex();
@@ -358,7 +358,7 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O
 
 bool MeshMinProximityIntersection::testIntersection(Line& e2, Point& e1, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     using Real = Line::Coord::value_type;
 
     const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
@@ -389,7 +389,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e2, Point& e1, Outpu
 {
     static_assert(std::is_same_v<Line::Coord, Point::Coord>, "Data mismatch");
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
     const auto& positions_e2 = e2.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue();
@@ -438,7 +438,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e2, Point& e1, Outpu
     }
 #endif
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
     detection->id = e1.getIndex();
@@ -462,7 +462,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e2, Point& e1, Outpu
 
 bool MeshMinProximityIntersection::testIntersection(Point& e1, Point& e2, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     const Point::Coord PQ = e2.p()-e1.p();
     return PQ.norm2() < alarmDist * alarmDist;
@@ -470,7 +470,7 @@ bool MeshMinProximityIntersection::testIntersection(Point& e1, Point& e2, const
 
 int MeshMinProximityIntersection::computeIntersection(Point& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     Vec3 P,Q,PQ;
     P = e1.p();
@@ -495,7 +495,7 @@ int MeshMinProximityIntersection::computeIntersection(Point& e1, Point& e2, Outp
     }
 #endif
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
 
     detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
     detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h
index b93b1d29bcb..d1320c3ff4d 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h
@@ -101,7 +101,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MeshMinProximityInters
 template <class T>
 bool MeshMinProximityIntersection::testIntersection(collision::geometry::Triangle& e2, collision::geometry::TSphere<T>& e1, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     const type::Vec3 x13 = e2.p1()-e2.p2();
     const type::Vec3 x23 = e2.p1()-e2.p3();
@@ -144,7 +144,7 @@ bool MeshMinProximityIntersection::testIntersection(collision::geometry::Triangl
 template <class T>
 int MeshMinProximityIntersection::computeIntersection(collision::geometry::Triangle& e2, collision::geometry::TSphere<T>& e1, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     const type::Vec3 x13 = e2.p1()-e2.p2();
     const type::Vec3 x23 = e2.p1()-e2.p3();
@@ -178,7 +178,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Trian
     if (QP.norm2() >= alarmDist*alarmDist)
         return 0;
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     contacts->resize(contacts->size()+1);
     sofa::core::collision::DetectionOutput *detection = &*(contacts->end()-1);
@@ -205,7 +205,7 @@ template <class T>
 bool MeshMinProximityIntersection::testIntersection(collision::geometry::Line& e2, collision::geometry::TSphere<T>& e1, const core::collision::Intersection* currentIntersection)
 {
     static_assert(std::is_same_v<collision::geometry::Line::Coord, typename collision::geometry::TSphere<T>::Coord>, "Data mismatch");
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     const geometry::Line::Coord x32 = e2.p1()-e2.p2();
     const auto x31 = e1.center()-e2.p2();
@@ -240,7 +240,7 @@ template <class T>
 int MeshMinProximityIntersection::computeIntersection(collision::geometry::Line& e2, collision::geometry::TSphere<T>& e1, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
     static_assert(std::is_same_v<collision::geometry::Line::Coord, typename collision::geometry::TSphere<T>::Coord>, "Data mismatch");
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     const geometry::Line::Coord x32 = e2.p1()-e2.p2();
     const auto x31 = e1.center()-e2.p2();
@@ -263,7 +263,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Line&
     if (QP.norm2() >= alarmDist*alarmDist)
         return 0;
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     contacts->resize(contacts->size()+1);
     sofa::core::collision::DetectionOutput *detection = &*(contacts->end()-1);
@@ -289,7 +289,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Line&
 template <class T>
 bool MeshMinProximityIntersection::testIntersection(collision::geometry::TSphere<T>& e1, collision::geometry::Point& e2, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     type::Vec3 P,Q,PQ;
     P = e1.center();
@@ -307,7 +307,7 @@ bool MeshMinProximityIntersection::testIntersection(collision::geometry::TSphere
 template <class T>
 int MeshMinProximityIntersection::computeIntersection(collision::geometry::TSphere<T>& e1, collision::geometry::Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     type::Vec3 P,Q,PQ;
     P = e1.center();
@@ -316,7 +316,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::TSphe
     if (PQ.norm2() >= alarmDist*alarmDist)
         return 0;
 
-    const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
+    const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
 
     contacts->resize(contacts->size()+1);
     sofa::core::collision::DetectionOutput *detection = &*(contacts->end()-1);
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp
index d97a2795b8c..6903e8022d8 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp
@@ -106,11 +106,11 @@ bool MeshNewProximityIntersection::testIntersection(Triangle& tri1, Triangle& tr
 
 int MeshNewProximityIntersection::computeIntersection(Point& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const int n = NewProximityIntersection::doIntersectionPointPoint(alarmDist*alarmDist, e1.p(), e2.p(), contacts, (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex());
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -124,11 +124,11 @@ int MeshNewProximityIntersection::computeIntersection(Point& e1, Point& e2, Outp
 
 int MeshNewProximityIntersection::computeIntersection(Line& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const int n = doIntersectionLinePoint(alarmDist*alarmDist, e1.p1(),e1.p2(), e2.p(), contacts, e2.getIndex());
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -141,13 +141,13 @@ int MeshNewProximityIntersection::computeIntersection(Line& e1, Point& e2, Outpu
 
 int MeshNewProximityIntersection::computeIntersection(Line& e1, Line& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const SReal dist2 = alarmDist*alarmDist;
     const Index id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
     const int n = doIntersectionLineLine(dist2, e1.p1(),e1.p2(), e2.p1(),e2.p2(), contacts, id);
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -159,12 +159,12 @@ int MeshNewProximityIntersection::computeIntersection(Line& e1, Line& e2, Output
 
 int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const SReal dist2 = alarmDist*alarmDist;
     const int n = doIntersectionTrianglePoint(dist2, e1.flags(),e1.p1(),e1.p2(),e1.p3(),e1.n(), e2.p(), contacts, e2.getIndex());
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -179,7 +179,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Line& e2, Ou
 {
     static_assert(std::is_same_v<Triangle::Coord, Line::Coord>, "Data mismatch");
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const SReal    dist2 = alarmDist*alarmDist;
     const Triangle::Coord& p1 = e1.p1();
     const Triangle::Coord& p2 = e1.p2();
@@ -223,7 +223,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Line& e2, Ou
 
     if (n>0)
     {
-        const SReal contactDist = currentMinProxIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+        const SReal contactDist = currentMinProxIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -257,7 +257,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Triangle& e2
          e1.p3Index()==e2.p1Index() || e1.p3Index()==e2.p2Index() || e1.p3Index()==e2.p3Index());
 
 
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
     const SReal dist2 = alarmDist*alarmDist;
     const auto& p1 = e1.p1();
     const auto& p2 = e1.p2();
@@ -344,7 +344,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Triangle& e2
 
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
         for (int i = 0; i < n; ++i)
         {
             (*contacts)[contacts->size()-n+i].elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl
index 72e573c690e..c8bb27df4ab 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl
@@ -333,7 +333,7 @@ template <class T>
 bool MeshNewProximityIntersection::testIntersection(collision::geometry::TSphere<T>& e1, collision::geometry::Point& e2, const core::collision::Intersection* currentIntersection)
 {
     OutputVector contacts;
-    const double alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e1.r();
+    const double alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e1.r();
 
     // By design, MeshNewProximityIntersection is supposed to work only with NewProximityIntersection
     const auto* currentNewProxIntersection = static_cast<const NewProximityIntersection*>(currentIntersection);
@@ -345,7 +345,7 @@ bool MeshNewProximityIntersection::testIntersection(collision::geometry::TSphere
 template<class T>
 int MeshNewProximityIntersection::computeIntersection(collision::geometry::TSphere<T>& e1, collision::geometry::Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e1.r();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e1.r();
 
     // By design, MeshNewProximityIntersection is supposed to work only with NewProximityIntersection
     const auto* currentNewProxIntersection = static_cast<const NewProximityIntersection*>(currentIntersection);
@@ -353,7 +353,7 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::TSphe
     const int n = currentNewProxIntersection->doIntersectionPointPoint(alarmDist*alarmDist, e1.center(), e2.p(), contacts, (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex());
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity() + e1.r();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance() + e1.r();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -376,11 +376,11 @@ bool MeshNewProximityIntersection::testIntersection(collision::geometry::Line& e
 template<class T>
 int MeshNewProximityIntersection::computeIntersection(collision::geometry::Line& e1, collision::geometry::TSphere<T>& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e2.r();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r();
     const int n = doIntersectionLinePoint(alarmDist*alarmDist, e1.p1(),e1.p2(), e2.center(), contacts, e2.getIndex());
     if (n>0)
     {
-        const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity() + e2.r();
+        const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r();
         for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection)
         {
             detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
@@ -405,7 +405,7 @@ template<class T>
 int MeshNewProximityIntersection::computeIntersection(collision::geometry::Triangle& e1, collision::geometry::TSphere<T>& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
     const int flags = e1.flags();
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e2.r();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r();
     const SReal dist2 = alarmDist*alarmDist;
 
     const type::Vec3 AB = e1.p2() - e1.p1();
@@ -505,7 +505,7 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::Trian
         detection->normal= type::Vec3(1,0,0);
     }
 
-    detection->value -= (currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity() + e2.r());
+    detection->value -= (currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r());
     detection->point[0]=p;
     detection->point[1]= e2.getContactPointByNormal(detection->normal);
 
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h
index b496be7302c..47985bd591a 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h
@@ -76,14 +76,14 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MinProximityIntersecti
     template<typename SphereType1, typename SphereType2>
     bool testIntersection(SphereType1& sph1, SphereType2& sph2, const core::collision::Intersection* currentIntersection)
     {
-        const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity();
+        const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance();
         return DiscreteIntersection::testIntersectionSphere(sph1, sph2, alarmDist);
     }
     template<typename SphereType1, typename SphereType2>
     int computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
     {
-        const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity();
-        const auto contactDist = currentIntersection->getContactDistance() + sph1.getProximity() + sph2.getProximity();
+        const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance();
+        const auto contactDist = currentIntersection->getContactDistance() + sph1.getContactDistance() + sph2.getContactDistance();
         return DiscreteIntersection::computeIntersectionSphere(sph1, sph2, contacts, alarmDist, contactDist);
     }
 
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl
index e1f5cc52604..455c07a28bc 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl
@@ -56,7 +56,7 @@ inline int NewProximityIntersection::doIntersectionPointPoint(SReal dist2,
 template<typename SphereType1, typename SphereType2>
 bool NewProximityIntersection::testIntersection(SphereType1& sph1, SphereType2& sph2, const core::collision::Intersection* currentIntersection)
 {
-    const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity();
+    const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance();
 
     OutputVector contacts;
     const double alarmDist2 = alarmDist + sph1.r() + sph2.r();
@@ -67,8 +67,8 @@ bool NewProximityIntersection::testIntersection(SphereType1& sph1, SphereType2&
 template<typename SphereType1, typename SphereType2>
 int NewProximityIntersection::computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity();
-    const auto contactDist = currentIntersection->getContactDistance() + sph1.getProximity() + sph2.getProximity();
+    const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance();
+    const auto contactDist = currentIntersection->getContactDistance() + sph1.getContactDistance() + sph2.getContactDistance();
 
     const double alarmDist2 = alarmDist + sph1.r() + sph2.r();
     const int n = doIntersectionPointPoint(alarmDist2 * alarmDist2, sph1.center(), sph2.center(), contacts, (sph1.getCollisionModel()->getSize() > sph2.getCollisionModel()->getSize()) ? sph1.getIndex() : sph2.getIndex());
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp
index 3abd123be32..0aa8fe39e64 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp
@@ -56,7 +56,7 @@ RayNewProximityIntersection::RayNewProximityIntersection(NewProximityIntersectio
 bool RayNewProximityIntersection::testIntersection(Ray &t1,Triangle &t2, const core::collision::Intersection* currentIntersection)
 {
     Vec3 P,Q,PQ;
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance();
 
     if (fabs(t2.n() * t1.direction()) < 0.000001)
         return false; // no intersection for edges parallel to the triangle
@@ -81,7 +81,7 @@ bool RayNewProximityIntersection::testIntersection(Ray &t1,Triangle &t2, const c
 
 int RayNewProximityIntersection::computeIntersection(Ray &t1, Triangle &t2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
 {
-    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity();
+    const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance();
 
     if (fabs(t2.n() * t1.direction()) < 0.000001)
         return false; // no intersection for edges parallel to the triangle
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl
index 401d1227c62..94a40920280 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl
@@ -470,7 +470,7 @@ void LineCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     cubeModel->resize(size);
     if (!empty())
     {
-        const SReal distance = this->proximity.getValue();
+        const SReal distance = this->d_contactDistance.getValue();
         const auto& positions = this->mstate->read(core::vec_id::read_access::position)->getValue();
         for (sofa::Size i=0; i<size; i++)
         {
@@ -508,7 +508,7 @@ void LineCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, int
     cubeModel->resize(size);
     if (!empty())
     {
-        const SReal distance = (SReal)this->proximity.getValue();
+        const SReal distance = (SReal)this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             TLine<DataTypes> t(this,i);
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl
index 0f71c6dd35b..b2806652f04 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl
@@ -131,7 +131,7 @@ void PointCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     if (!empty())
     {
         //VecCoord& x =mstate->read(core::vec_id::read_access::position)->getValue();
-        const SReal distance = this->proximity.getValue();
+        const SReal distance = this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             TPoint<DataTypes> p(this,i);
@@ -164,7 +164,7 @@ void PointCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, int
     {
         //VecCoord& x =mstate->read(core::vec_id::read_access::position)->getValue();
         //VecDeriv& v = mstate->read(core::vec_id::read_access::velocity)->getValue();
-        const SReal distance = (SReal)this->proximity.getValue();
+        const SReal distance = (SReal)this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             TPoint<DataTypes> p(this,i);
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl
index 93d02638672..2db945214af 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl
@@ -176,7 +176,7 @@ void SphereCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     cubeModel->resize(size);
     if (!empty())
     {
-        const typename TSphere<DataTypes>::Real distance = (typename TSphere<DataTypes>::Real)this->proximity.getValue();
+        const typename TSphere<DataTypes>::Real distance = (typename TSphere<DataTypes>::Real)this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             TSphere<DataTypes> p(this,i);
@@ -218,7 +218,7 @@ void SphereCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt, in
     cubeModel->resize(size);
     if (!empty())
     {
-        const typename TSphere<DataTypes>::Real distance = (typename TSphere<DataTypes>::Real)this->proximity.getValue();
+        const typename TSphere<DataTypes>::Real distance = (typename TSphere<DataTypes>::Real)this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             TSphere<DataTypes> p(this,i);
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl
index a9fc42c430c..4b8b3f9f905 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl
@@ -239,7 +239,7 @@ void TriangleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     cubeModel->resize(size);  // size = number of triangles
     if (!empty())
     {
-        const SReal distance = (SReal)this->proximity.getValue();
+        const SReal distance = (SReal)this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             Element t(this,i);
@@ -293,7 +293,7 @@ void TriangleCollisionModel<DataTypes>::computeContinuousBoundingTree(SReal dt,
     cubeModel->resize(size);
     if (!empty())
     {
-        const SReal distance = (SReal)this->proximity.getValue();
+        const SReal distance = (SReal)this->d_contactDistance.getValue();
         for (sofa::Size i=0; i<size; i++)
         {
             Element t(this,i);
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 9a451ece2a9..1652a782b3e 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
@@ -159,7 +159,7 @@ void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTy
     ff->clear(size);
     mapper1.resize(size);
     mapper2.resize(size);
-    const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
+    const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001;
     for (int i=0; i<insize; i++)
     {
         int index = oldIndex[i];
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 a1944236266..57c1ef6eccb 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
@@ -158,7 +158,7 @@ void BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, Constrain
         mapper2.resize(size);
     }
     int i = 0;
-    const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
+    const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001;
 
     mappedContacts.resize(contacts.size());
     for (std::vector<sofa::core::collision::DetectionOutput*>::const_iterator it = contacts.begin(); it!=contacts.end(); it++, i++)
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 4bae2c031a5..4a4582f2df6 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
@@ -140,7 +140,7 @@ void StickContactConstraint<TCollisionModel1,TCollisionModel2>::activateMappers(
     mapper2.resize(size);
 
     int i = 0;
-    const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
+    const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001;
 
     mappedContacts.resize(contacts.size());
     for (auto it = contacts.begin(); it!=contacts.end(); it++, i++)
diff --git a/Sofa/framework/Core/src/sofa/core/CollisionElement.h b/Sofa/framework/Core/src/sofa/core/CollisionElement.h
index bb9dcd3cfe8..d28734a0dd6 100644
--- a/Sofa/framework/Core/src/sofa/core/CollisionElement.h
+++ b/Sofa/framework/Core/src/sofa/core/CollisionElement.h
@@ -261,7 +261,7 @@ class TCollisionElementIterator : public BaseCollisionElementIterator
     }
 
     /// Distance to the actual (visual) surface
-    [[nodiscard]] SReal getProximity() const { return model->getProximity(); }
+    [[nodiscard]] SReal getContactDistance() const { return model->getContactDistance(); }
 
     /// Contact stiffness
     [[nodiscard]] SReal getContactStiffness() const { return model->getContactStiffness(index); }
diff --git a/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp b/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
index 0e005767c02..bbdd8ffde99 100644
--- a/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
+++ b/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
@@ -105,7 +105,7 @@ CollisionModel::CollisionModel()
     , bMoving(initData(&bMoving, true, "moving", "flag indicating if this object is changing position between iterations"))
     , bSimulated(initData(&bSimulated, true, "simulated", "flag indicating if this object is controlled by a simulation"))
     , bSelfCollision(initData(&bSelfCollision, false, "selfCollision", "flag indication if the object can self collide"))
-    , proximity(initData(&proximity, 0.0_sreal, "proximity", "Distance to the actual (visual) surface"))
+    , d_contactDistance(initData(&d_contactDistance, 0.0_sreal, "contactDistance", "This distance is added along the normal of the collision element to apply 'skinning' effect for collision. The contact arise at this distance of the element."))
     , contactStiffness(initData(&contactStiffness, 10.0_sreal, "contactStiffness", "Contact stiffness"))
     , contactFriction(initData(&contactFriction, 0.0_sreal, "contactFriction", "Contact friction coefficient (dry or viscous or unused depending on the contact method)"))
     , contactRestitution(initData(&contactRestitution, 0.0_sreal, "contactRestitution", "Contact coefficient of restitution"))
@@ -119,6 +119,10 @@ CollisionModel::CollisionModel()
     , userData(nullptr)
     , l_collElemActiver(initLink("collisionElementActiver", "CollisionElementActiver component that activates or deactivates collision element(s) during execution"))
 {
+
+    proximity.setOriginalData(&d_contactDistance);
+    addAlias(&d_contactDistance, "proximity");
+
     d_numberOfContacts.setReadOnly(true);
 }
 
diff --git a/Sofa/framework/Core/src/sofa/core/CollisionModel.h b/Sofa/framework/Core/src/sofa/core/CollisionModel.h
index bab46f4fb56..65ffb246c1d 100644
--- a/Sofa/framework/Core/src/sofa/core/CollisionModel.h
+++ b/Sofa/framework/Core/src/sofa/core/CollisionModel.h
@@ -25,6 +25,8 @@
 #include <sofa/core/CollisionElement.h>
 #include <sofa/helper/set.h>
 
+#include <sofa/core/objectmodel/lifecycle/RenamedData.h>
+
 //todo(dmarchal 2018-06-19) I really wonder why a collision model has a dependency to a RGBAColors.
 #include <sofa/type/RGBAColor.h>
 
@@ -304,7 +306,7 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject
             root->addSlave(pmodel); 
             pmodel->setMoving(isMoving());
             pmodel->setSimulated(isSimulated());
-            pmodel->proximity.setParent(&proximity);
+            pmodel->d_contactDistance.setParent(&d_contactDistance);
 			
             pmodel->group.beginEdit()->insert(group.getValue().begin(), group.getValue().end());
             pmodel->group.endEdit();
@@ -318,9 +320,11 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject
 
     /// @name Experimental methods
     /// @{
+    SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED()
+    [[nodiscard]] SReal getProximity() const { return getContactDistance(); }
 
     /// Get distance to the actual (visual) surface
-    [[nodiscard]] SReal getProximity() const { return proximity.getValue(); }
+    [[nodiscard]] SReal getContactDistance() const { return d_contactDistance.getValue(); }
 
     /// Get contact stiffness
     [[nodiscard]] SReal getContactStiffness(Index /*index*/) const { return contactStiffness.getValue(); }
@@ -362,7 +366,10 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject
     void setColor4f(const float *c);
 
     /// Set of differents parameters
-    void setProximity       (const SReal a)        { proximity.setValue(a); }
+    void setContactDistance (const SReal a)        { d_contactDistance.setValue(a); }
+    SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED()
+    void setProximity (const SReal a)  { setContactDistance(a); }
+
     void setContactResponse (const std::string &a) { contactResponse.setValue(a); }
 
     /// Returns an int corresponding to the type of this.
@@ -388,8 +395,15 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject
     Data<bool> bSimulated;
     /// flag indication if the object can self collide
     Data<bool> bSelfCollision;
+    
+    
+    SOFA_ATTRIBUTE_RENAMED__COLLISIONMODEL_PROXIMITY()
+    objectmodel::lifecycle::RenamedData<SReal>  proximity;
+
     /// Distance to the actual (visual) surface
-    Data<SReal> proximity;
+    Data<SReal> d_contactDistance;
+
+    
     /// Default contact stiffness
     Data<SReal> contactStiffness;
     /// Default contact friction (damping) coefficient
diff --git a/Sofa/framework/Core/src/sofa/core/config.h.in b/Sofa/framework/Core/src/sofa/core/config.h.in
index 6604277a4e8..eb4b5c5a9af 100644
--- a/Sofa/framework/Core/src/sofa/core/config.h.in
+++ b/Sofa/framework/Core/src/sofa/core/config.h.in
@@ -92,6 +92,13 @@
 #endif
 
 
+#ifdef SOFA_BUILD_SOFA_CORE
+#define SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED()
+#else
+#define SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED() \
+SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.06", "Use getContactDistance or setContactDistance instead.")
+#endif
+
 #ifdef SOFA_BUILD_SOFA_CORE
 
     #define SOFA_ATTRIBUTE_DISABLED__POSITION()
@@ -146,3 +153,11 @@
 #define SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() \
     SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.06", "It was an experimental function no longer used.")
 #endif
+
+
+#ifdef SOFA_BUILD_SOFA_CORE
+#define SOFA_ATTRIBUTE_RENAMED__COLLISIONMODEL_PROXIMITY()
+#else
+#define SOFA_ATTRIBUTE_RENAMED__COLLISIONMODEL_PROXIMITY() \
+    SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.12", "Data 'proximity' has been renamed to 'contactDistance'")
+#endif
\ No newline at end of file
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
index ed90b00f819..f177d50a03e 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
@@ -29,7 +29,7 @@
 		    <MeshOBJLoader name="loader"  filename="mesh/dragon.obj" />
 			<MechanicalObject template="Rigid3d" name="mObject1"  position="0 0 10 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
 			<UniformMass template="Rigid3d" name="uniformMass0"  totalMass="10" />
-			<TBulletConvexHullModel template="Rigid3d" name="tBulletTriangleModel2"  CHPoints="@loader.position" positionDefined="true" proximity="0" margin="1" computeConvexHullDecomposition="true" drawConvexHullDecomposition="true"/>
+			<TBulletConvexHullModel template="Rigid3d" name="tBulletTriangleModel2"  CHPoints="@loader.position" positionDefined="true" contactDistance="0" margin="1" computeConvexHullDecomposition="true" drawConvexHullDecomposition="true"/>
 			<MeshTopology name="meshTopology1"  triangles="@loader.triangles" />
 		</Node>
 
@@ -37,7 +37,7 @@
 			<MeshOBJLoader name="loader"  filename="mesh/frog_body.obj" />
 			<MechanicalObject template="Rigid3d" name="mObject1"  position="0 0 30 0 0 0 1"  velocity="0 0 0 0 0 0"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1" />
 			<UniformMass template="Rigid3d" name="uniformMass0"  totalMass="10" />
-			<TBulletConvexHullModel template="Rigid3d" name="tBulletTriangleModel2"  CHPoints="@loader.position" positionDefined="true" proximity="0" margin="1" computeConvexHullDecomposition="true" drawConvexHullDecomposition="true" concavityThreeshold="50"/>
+			<TBulletConvexHullModel template="Rigid3d" name="tBulletTriangleModel2"  CHPoints="@loader.position" positionDefined="true" contactDistance="0" margin="1" computeConvexHullDecomposition="true" drawConvexHullDecomposition="true" concavityThreeshold="50"/>
 			<MeshTopology name="meshTopology1"  triangles="@loader.triangles" />
 		</Node>
 		<Node 	 name="Floor"  >
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
index 96be6a23841..5d74880c4a5 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
@@ -18,7 +18,7 @@
 			<MeshOBJLoader name="loader"  filename="mesh/dragon.obj" />
 			<MeshTopology name="meshTopology1"  position="@loader.position"  edges="@loader.edges"  triangles="@loader.triangles"  quads="@loader.quads"  tetrahedra="@loader.tetras"  hexahedra="@loader.hexas" />
 			<MechanicalObject template="Vec3d" name="mObject1"  position="@loader.position"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  translation="0 0 0"  rotation="33 0 0" />
-			<TBulletTriangleModel template="Vec3d" name="tBulletTriangleModel2" proximity="0" margin="5"/>
+			<TBulletTriangleModel template="Vec3d" name="tBulletTriangleModel2" contactDistance="0" margin="5"/>
 			<RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../"  output="@./" />
 			<UniformMass template="Vec3d" name="uniformMass0"  totalMass="10" />
 		</Node>
@@ -33,7 +33,7 @@
 				<MechanicalObject template="Vec3d" name="fix"  position="-2 -2 0 2 -2 0 0 2 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  scale3d="50 50 50" reserve="0" />
 				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 				<RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@fix" />
-				<TBulletTriangleModel template="Vec3d" name="tBulletTriangleModel2" proximity="0" margin="2"/>
+				<TBulletTriangleModel template="Vec3d" name="tBulletTriangleModel2" contactDistance="0" margin="2"/>
 			</Node>
 	</Node>
 </Node>
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
index 6199dab1921..eb7f45c3ab6 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
@@ -26,14 +26,14 @@
 		<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 		<Node 	 name="RigMec"  gravity="0 0 0"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 5 3 3 6 6 7 7"  velocity="0 0 -0.01 0 0 -0.01 0 0 -0.01"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
-			<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  proximity="0"  margin="0.04" />
+			<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  contactDistance="0"  margin="0.04" />
 			<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33" />
 		</Node>
 		<Node 	 name="Floor"  >
 			<Node 	 name="TRIANGLE"  >
 				<MechanicalObject template="Vec3d" name="fix"  position="0 0 0 3 3 0 6 7 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
-				<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  proximity="0"  margin="0.04" />
+				<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  contactDistance="0"  margin="0.04" />
 				<FixedProjectiveConstraint template="Vec3d" name="fixedProjectiveConstraint0"  indices="0 1 2" />
 			</Node>
 		</Node>
diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl
index 0da91749056..b9d766ed398 100644
--- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl
+++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl
@@ -67,7 +67,7 @@ void TBulletTriangleModel<DataTypes>::initBullet(){
 
     //_bt_gmesh = new btBvhTriangleMeshShape(_bt_mesh,true,true);
     _bt_gmesh = new BtDynamicMesh(_bt_mesh);//new btGImpactMeshShape(_bt_mesh);//
-    //_bt_gmesh->setMargin(this->getProximity());
+    //_bt_gmesh->setMargin(this->getContactDistance());
     //double margin = 0.5;//0.5;
     _bt_gmesh->setMargin(margin.getValue());
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h
index da8b621811d..5ac0cd5f301 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h
@@ -48,8 +48,8 @@ class COLLISIONOBBCAPSULE_API CapsuleDiscreteIntersection : public core::collisi
     int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) {
         return BaseIntTool::computeIntersection(e1,
             e2, 
-            e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(),
-            e1.getProximity() + e2.getProximity() + intersection->getContactDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(),
             contacts);
     }
 
@@ -72,8 +72,8 @@ class COLLISIONOBBCAPSULE_API CapsuleMeshDiscreteIntersection : public core::col
     int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) {
         return MeshIntTool::computeIntersection(e1,
             e2,
-            e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(),
-            e1.getProximity() + e2.getProximity() + intersection->getContactDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(),
             contacts);
     }
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl
index ebabae95940..c722674a0c4 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl
@@ -62,7 +62,7 @@ int MeshIntTool::doCapPointInt(geometry::TCapsule<DataTypes>& cap, const type::V
     if (pq.norm2() >= enough_to_touch * enough_to_touch)
         return 0;
 
-    //const SReal contactDist = getContactDistance() + e1.getProximity() + e2.getProximity();
+    //const SReal contactDist = getContactDistance() + e1.getContactDistance() + e2.getContactDistance();
     contacts->resize(contacts->size()+1);
     DetectionOutput *detection = &*(contacts->end()-1);
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h
index a41a6186181..cf8d73c9ed6 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h
@@ -48,8 +48,8 @@ class COLLISIONOBBCAPSULE_API RigidDiscreteIntersection : public core::collision
     int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) {
         return BaseIntTool::computeIntersection(e1,
             e2,
-            e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(),
-            e1.getProximity() + e2.getProximity() + intersection->getContactDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(),
             contacts);
     }
 
@@ -74,8 +74,8 @@ class COLLISIONOBBCAPSULE_API RigidMeshDiscreteIntersection : public core::colli
     int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) {
         return MeshIntTool::computeIntersection(e1,
             e2,
-            e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(),
-            e1.getProximity() + e2.getProximity() + intersection->getContactDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(),
+            e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(),
             contacts);
     }
 
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl
index 7ea63b36aea..d2d9fcc1b39 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl
@@ -102,7 +102,7 @@ void OBBCollisionModel<DataTypes>::computeBoundingTree(int maxDepth){
     cubeModel->resize(size);
     if (!empty())
     {
-        const typename OBBCollisionModel<DataTypes>::Real distance = (typename OBBCollisionModel<DataTypes>::Real)this->proximity.getValue();
+        const typename OBBCollisionModel<DataTypes>::Real distance = (typename OBBCollisionModel<DataTypes>::Real)this->d_contactDistance.getValue();
 
         std::vector<Coord> vs;
         vs.reserve(8);
diff --git a/applications/plugins/PersistentContact/PersistentFrictionContact.inl b/applications/plugins/PersistentContact/PersistentFrictionContact.inl
index a6a8401c3f4..00753b5c5e6 100644
--- a/applications/plugins/PersistentContact/PersistentFrictionContact.inl
+++ b/applications/plugins/PersistentContact/PersistentFrictionContact.inl
@@ -523,7 +523,7 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::activateConst
 
     ////////////////////////////////////// STEP 2  : creation des "mappedContacts" + corrections associées par rapport à la ddc
 
-    const double d0 = this->intersectionMethod->getContactDistance() + this->model1->getProximity() + this->model2->getProximity(); // - 0.001;
+    const double d0 = this->intersectionMethod->getContactDistance() + this->model1->getContactDistance() + this->model2->getContactDistance(); // - 0.001;
 
     for (std::vector<DetectionOutput*>::const_iterator it = this->contacts.begin(); it!=this->contacts.end(); it++)
     {
@@ -562,12 +562,12 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::activateConst
             }
             else
             {
-                Vector3 thickness = o->normal * this->model1->getProximity();
+                Vector3 thickness = o->normal * this->model1->getContactDistance();
                 Vector3 posColpoint = o->point[0] + thickness;
                 index1 = this->mapThePersistentContact(o->baryCoords[0], index1, posColpoint, true);
             }
 
-            distance -= this->model1->getProximity();
+            distance -= this->model1->getContactDistance();
             m1 = false;
         }
 
@@ -586,12 +586,12 @@ void PersistentFrictionContact<TCollisionModel1,TCollisionModel2>::activateConst
             }
             else
             {
-                Vector3 thickness = o->normal * this->model2->getProximity();
+                Vector3 thickness = o->normal * this->model2->getContactDistance();
                 Vector3 posColpoint = o->point[1] - thickness;
                 index2 = this->mapThePersistentContact(o->baryCoords[1], index2, posColpoint, false);
             }
 
-            distance -= this->model2->getProximity();
+            distance -= this->model2->getContactDistance();
             m2 = false;
         }
 
diff --git a/applications/plugins/Sensable/examples/CameraAlignment.scn b/applications/plugins/Sensable/examples/CameraAlignment.scn
index d50e633bc54..5a95130d23f 100644
--- a/applications/plugins/Sensable/examples/CameraAlignment.scn
+++ b/applications/plugins/Sensable/examples/CameraAlignment.scn
@@ -46,7 +46,7 @@
 
             <MechanicalObject src="@loader" template="Vec3d" name="toothState" />
 
-            <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth.obj" scale ="2" usePoints="0" proximity="0.3" contactStiffness="1"  />
+            <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth.obj" scale ="2" usePoints="0" contactDistance="0.3" contactStiffness="1"  />
 
 
         </Node>
diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn
index eb888f5e120..491bd294494 100644
--- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn
+++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn
@@ -22,7 +22,7 @@
 			<OglModel name="ToothVisualModel" src="@meshLoader_0" color="white" />
 		</Node>
 		<Node name="CollisionModel" >
-			<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
+			<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" contactDistance="0.0" contactStiffness="50.0" contactFriction="0.0"/>
 		</Node>
 	</Node>
 
diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn
index 2709526de15..0787134aa6e 100644
--- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn
+++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn
@@ -31,19 +31,19 @@
 		<Node name="CollisionModel" >
 			<Node>
 				<MechanicalObject  template="Rigid3d"/>
-				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
+				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" contactDistance="0.0" contactStiffness="50.0" contactFriction="0.0"/>
 			</Node>
 			<Node>
 				<MechanicalObject  template="Rigid3d" dy="-0.3" dz="-2"/>
-				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
+				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" contactDistance="0.0" contactStiffness="50.0" contactFriction="0.0"/>
 			</Node>
 			<Node>
 				<MechanicalObject  template="Rigid3d" dy="-8" dz="0.5"/>
-				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
+				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" contactDistance="0.0" contactStiffness="50.0" contactFriction="0.0"/>
 			</Node>
 			<Node>
 				<MechanicalObject  template="Rigid3d" dy="-8" dz="-1.5"/>
-				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
+				<DistanceGrid fileRigidDistanceGrid="Demos/Dentistry/data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" contactDistance="0.0" contactStiffness="50.0" contactFriction="0.0"/>
 			</Node>
 		</Node>
 	</Node>
diff --git a/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn b/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn
index 5cc41537db5..ff0b6e9da0c 100644
--- a/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn
+++ b/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn
@@ -45,7 +45,7 @@
 
       <MechanicalObject src="@loader" template="Vec3d" name="boxState" />
       
-      <DistanceGrid fileRigidDistanceGrid="data/mesh/box_inside.obj" usePoints="0" proximity="0.3" contactStiffness="2"  />
+      <DistanceGrid fileRigidDistanceGrid="data/mesh/box_inside.obj" usePoints="0" contactDistance="0.3" contactStiffness="2"  />
 
 
     </Node>
diff --git a/applications/plugins/Sensable/examples/SimpleBoxLarge.scn b/applications/plugins/Sensable/examples/SimpleBoxLarge.scn
index a8e7881159a..cf0a0ba09c7 100644
--- a/applications/plugins/Sensable/examples/SimpleBoxLarge.scn
+++ b/applications/plugins/Sensable/examples/SimpleBoxLarge.scn
@@ -45,7 +45,7 @@
 
       <MechanicalObject src="@loader" template="Vec3d" tags="box" name="planeState" />
       
-      <DistanceGrid fileRigidDistanceGrid="data/mesh/box_inside.obj" scale="10" usePoints="0" proximity="0.3" contactStiffness="2"  />
+      <DistanceGrid fileRigidDistanceGrid="data/mesh/box_inside.obj" scale="10" usePoints="0" contactDistance="0.3" contactStiffness="2"  />
 
 
     </Node>
diff --git a/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn b/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn
index 60d9b9c3eef..3d598edd8e8 100644
--- a/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn
+++ b/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn
@@ -46,7 +46,7 @@
 
       <MechanicalObject src="@loader" template="Vec3d" name="toothState" />
       
-      <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth_closed.obj" usePoints="0" proximity="0.3" contactStiffness="1"  />
+      <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth_closed.obj" usePoints="0" contactDistance="0.3" contactStiffness="1"  />
 
 
     </Node>
diff --git a/applications/plugins/Sensable/examples/SpecifyingCamera.scn b/applications/plugins/Sensable/examples/SpecifyingCamera.scn
index 420d08320fb..e3ac8cf8524 100644
--- a/applications/plugins/Sensable/examples/SpecifyingCamera.scn
+++ b/applications/plugins/Sensable/examples/SpecifyingCamera.scn
@@ -48,7 +48,7 @@
 
             <MechanicalObject src="@loader" template="Vec3d" name="toothState" />
 
-            <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth.obj" scale ="2" usePoints="0" proximity="0.3" contactStiffness="1"  />
+            <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth.obj" scale ="2" usePoints="0" contactDistance="0.3" contactStiffness="1"  />
 
 
         </Node>
diff --git a/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn b/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn
index 26f55dc5d3c..ef77b5d9b1b 100644
--- a/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn
+++ b/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn
@@ -46,7 +46,7 @@
 
       <MechanicalObject src="@loader" template="Vec3d" name="toothState" />
       
-      <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth.obj" usePoints="0" proximity="0.3" contactStiffness="1"  />
+      <DistanceGrid fileRigidDistanceGrid="data/mesh/tooth.obj" usePoints="0" contactDistance="0.3" contactStiffness="1"  />
 
 
     </Node>
@@ -63,7 +63,7 @@
 
             <MechanicalObject src="@loader" template="Vec3d" name="toothState"/>
    
-            <DistanceGrid fileRigidDistanceGrid="data/mesh/ToothTranslated.obj" usePoints="0" proximity="0.3" contactStiffness="1" />
+            <DistanceGrid fileRigidDistanceGrid="data/mesh/ToothTranslated.obj" usePoints="0" contactDistance="0.3" contactStiffness="1" />
 
         </Node>
     </Node>
diff --git a/applications/plugins/SofaAssimp/examples/character_clothes.py b/applications/plugins/SofaAssimp/examples/character_clothes.py
index 9f6ae51734e..e553fe51c9d 100644
--- a/applications/plugins/SofaAssimp/examples/character_clothes.py
+++ b/applications/plugins/SofaAssimp/examples/character_clothes.py
@@ -91,9 +91,9 @@ def createChlothes(parent):
     parent.createObject('UniformMass')
     parent.createObject('MeshTopology', name='mesh', position='@loader.position', edges='@loader.edges', triangles='@loader.triangles', quads='@loader.quads', tetrahedra='@loader.tetras', hexahedra='@loader.hexas')
     
-    parent.createObject('TriangleCollisionModel', template='Vec3d', name='models', proximity='0', selfCollision=clothSelfCollision)
-    parent.createObject('LineCollisionModel', template='Vec3d', name='models', proximity='0', selfCollision=clothSelfCollision)
-    parent.createObject('PointCollisionModel', template='Vec3d', name='models', proximity='0', selfCollision=clothSelfCollision)
+    parent.createObject('TriangleCollisionModel', template='Vec3d', name='models', contactDistance='0', selfCollision=clothSelfCollision)
+    parent.createObject('LineCollisionModel', template='Vec3d', name='models', contactDistance='0', selfCollision=clothSelfCollision)
+    parent.createObject('PointCollisionModel', template='Vec3d', name='models', contactDistance='0', selfCollision=clothSelfCollision)
     
     #parent.createObject('ConstantForceField', force='9.81 -9.81 9.81', points='0') #0 24 599 623
     #parent.createObject('ConstantForceField', force='-9.81 -9.81 9.81', points='24')
diff --git a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn
index 49afa9a8b0a..b172c7981fe 100644
--- a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn
+++ b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn
@@ -46,7 +46,7 @@
             filename="mesh/liver-smooth.obj" 
             scale="1.0" 
             usePoints="0" 
-            proximity="0.1" 
+            contactDistance="0.1"
             contactStiffness="500.0" 
             contactFriction="0.0" 
             topology="@grid"
diff --git a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn
index f1ac027945a..c579b703257 100644
--- a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn
+++ b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn
@@ -50,7 +50,7 @@
             filename="mesh/liver-smooth.obj" 
             scale="1.0" 
             usePoints="0" 
-            proximity="0.1" 
+            contactDistance="0.1"
             contactFriction="0.0" 
             topology="@grid"
         />
diff --git a/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn
index bdf2c502e06..ddf300abd92 100644
--- a/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn
+++ b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn
@@ -35,7 +35,7 @@
             filename="mesh/liver-smooth.obj"
             scale="1.0" 
             usePoints="0" 
-            proximity="0.1" 
+            contactDistance="0.1"
             contactStiffness="50" 
             contactFriction="0.0" 
         />
diff --git a/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn
index c0c5f7b695f..a8070296327 100644
--- a/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn
+++ b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn
@@ -39,7 +39,7 @@
             filename="mesh/liver-smooth.obj"
             scale="1.0" 
             usePoints="0" 
-            proximity="0.1" 
+            contactDistance="0.1"
         />
         <Node name="Visu">
             <OglModel name="VisualModel" src="@../meshLoader_0" color="white" />
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 5324b3343fb..de319b296d6 100644
--- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
+++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp
@@ -64,7 +64,7 @@ void BarycentricPenalityContact<CudaPointCollisionModel,CudaRigidDistanceGridCol
 
     mapper1.setPoints1(&outputs);
     mapper2.setPoints2(&outputs);
-    const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
+    const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001;
 #if 0
     int insize = outputs.size();
     int size = insize;
@@ -117,7 +117,7 @@ void BarycentricPenalityContact<CudaSphereCollisionModel,CudaRigidDistanceGridCo
 
     mapper1.setPoints1(&outputs);
     mapper2.setPoints2(&outputs);
-    const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
+    const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001;
 #if 0
     int insize = outputs.size();
     int size = insize;
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp
index 2fbd8049885..115c440e3fc 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp
@@ -71,9 +71,9 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl
     const type::Vec3& t2 = e2.getTranslation();
     const type::Mat3x3& r2 = e2.getRotation();
 
-    const double d0 = e1.getProximity() + e2.getProximity() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance());
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance());
     //const SReal margin = 0.001f + (SReal)d0;
-    const SReal margin = (SReal)((e1.getProximity() + e2.getProximity() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2);
+    const SReal margin = (SReal)((e1.getContactDistance() + e2.getContactDistance() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2);
     const bool singleContact = e1.getCollisionModel()->singleContact.getValue();
 
     // transform from grid1 to grid2
@@ -248,9 +248,9 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl
 
     if (!usePoints1 && !usePoints2) return 0; // no tests possible
 
-    const double d0 = e1.getProximity() + e2.getProximity() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance());
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance());
     //const SReal margin = 0.001f + (SReal)d0;
-    const SReal margin = (SReal)((e1.getProximity() + e2.getProximity() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2);
+    const SReal margin = (SReal)((e1.getContactDistance() + e2.getContactDistance() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2);
 
     if ((c2.center - c1.center).norm2() > (c1.radius+c2.radius)*(c1.radius+c2.radius))
         return 0; // the two enclosing spheres are not colliding
@@ -438,7 +438,7 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl
     const std::shared_ptr<DistanceGrid> grid1 = e1.getGrid();
     FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex());
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance();
     const SReal margin = 0.001f + (SReal)d0;
 
     c1.updateFaces();
@@ -529,7 +529,7 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl
     const std::shared_ptr<DistanceGrid> grid1 = e1.getGrid();
     FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex());
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance();
     const SReal margin = 0.001f + (SReal)d0;
 
     c1.updateFaces();
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl
index bb9fc1a0ab2..6cdc6478708 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl
@@ -54,7 +54,7 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl
     const std::shared_ptr<DistanceGrid> grid1 = e1.getGrid();
     FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex());
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance() + e2.r();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance() + e2.r();
     const SReal margin = 0.001f + (SReal)d0;
 
     c1.updateFaces();
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp
index e5803991772..f1d8fe325f6 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp
@@ -73,9 +73,9 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid
     const type::Vec3& t2 = e2.getTranslation();
     const Matrix3& r2 = e2.getRotation();
 
-    const double d0 = e1.getProximity() + e2.getProximity() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance());
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance());
     //const SReal margin = 0.001f + (SReal)d0;
-    const SReal margin = (SReal)((e1.getProximity() + e2.getProximity() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2);
+    const SReal margin = (SReal)((e1.getContactDistance() + e2.getContactDistance() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2);
 
     // transform from grid1 to grid2
     Vec3f translation;
@@ -562,7 +562,7 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid
     const Matrix3& r1 = e1.getRotation();
     const bool flipped = e1.isFlipped();
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance();
     const SReal margin = 0.001f + (SReal)d0;
 
 
@@ -626,7 +626,7 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid
     const type::Vec3& t1 = e1.getTranslation();
     const Matrix3& r1 = e1.getRotation();
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance();
     const SReal margin = 0.001f + (SReal)d0;
     int nc = 0;
     for (unsigned int iP = 0; iP < 3; ++iP)
@@ -735,7 +735,7 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid
     const type::Vec3& t1 = e1.getTranslation();
     const Matrix3& r1 = e1.getRotation();
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance();
     const SReal margin = 0.001f + (SReal)d0;
     int nresult = 0;
     for (unsigned int iP = 0; iP < 2; ++iP)
diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl
index 6f03ea3580c..6e321b1aa74 100644
--- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl
+++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl
@@ -53,7 +53,7 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid
     const type::Vec3& t1 = e1.getTranslation();
     const sofa::type::Matrix3& r1 = e1.getRotation();
 
-    const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance() + e2.r();
+    const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance() + e2.r();
     const SReal margin = 0.001f + (SReal)d0;
 
     type::Vec3 p2 = e2.center();
diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
index 2a90203e589..6679566aa43 100644
--- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
+++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
@@ -444,7 +444,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
 //dVecCoord.endEdit();
     obbCollisionModel->computeBoundingTree(0);
 
-    //std::cout<<"the proximity "<<obbCollisionModel->getProximity()<<std::endl;
+    //std::cout<<"the proximity "<<obbCollisionModel->getContactDistance()<<std::endl;
     return obbCollisionModel;
 }
 
diff --git a/applications/plugins/SofaTest/BroadPhase_test.h b/applications/plugins/SofaTest/BroadPhase_test.h
index 389e3edb077..fe36a837fd7 100644
--- a/applications/plugins/SofaTest/BroadPhase_test.h
+++ b/applications/plugins/SofaTest/BroadPhase_test.h
@@ -430,7 +430,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
 //dVecCoord.endEdit();
     obbCollisionModel->computeBoundingTree(0);
 
-    //std::cout<<"the proximity "<<obbCollisionModel->getProximity()<<std::endl;
+    //std::cout<<"the proximity "<<obbCollisionModel->getContactDistance()<<std::endl;
     return obbCollisionModel;
 }
 
diff --git a/examples/Benchmark/Performance/TorusFall.scn b/examples/Benchmark/Performance/TorusFall.scn
index 1ba3599209d..6ef6ee21985 100644
--- a/examples/Benchmark/Performance/TorusFall.scn
+++ b/examples/Benchmark/Performance/TorusFall.scn
@@ -62,7 +62,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus0CMT" proximity="0.2" color="0.18039215686275 0.12156862745098 0.086274509803922" />
+        <TriangleCollisionModel name="Torus0CMT" contactDistance="0.2" color="0.18039215686275 0.12156862745098 0.086274509803922" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus0VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.036078431372549 0.024313725490196 0.017254901960784 1.0 Diffuse 1 0.18039215686275 0.12156862745098 0.086274509803922 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.18039215686275 0.12156862745098 0.086274509803922 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -84,7 +84,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus1CMT" proximity="0.2" color="0.18039215686275 0.12156862745098 0.086274509803922" />
+        <TriangleCollisionModel name="Torus1CMT" contactDistance="0.2" color="0.18039215686275 0.12156862745098 0.086274509803922" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus1VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.036078431372549 0.024313725490196 0.017254901960784 1.0 Diffuse 1 0.18039215686275 0.12156862745098 0.086274509803922 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.18039215686275 0.12156862745098 0.086274509803922 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -106,7 +106,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus2CMT" proximity="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
+        <TriangleCollisionModel name="Torus2CMT" contactDistance="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus2VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.15843137254902 0.10039215686275 0.043137254901961 1.0 Diffuse 1 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -128,7 +128,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus3CMT" proximity="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
+        <TriangleCollisionModel name="Torus3CMT" contactDistance="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus3VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.15843137254902 0.10039215686275 0.043137254901961 1.0 Diffuse 1 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -150,7 +150,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus4CMT" proximity="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
+        <TriangleCollisionModel name="Torus4CMT" contactDistance="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus4VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.15843137254902 0.10039215686275 0.043137254901961 1.0 Diffuse 1 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -172,7 +172,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus5CMT" proximity="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
+        <TriangleCollisionModel name="Torus5CMT" contactDistance="0.2" color="0.7921568627451 0.50196078431373 0.2156862745098" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus5VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.15843137254902 0.10039215686275 0.043137254901961 1.0 Diffuse 1 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.7921568627451 0.50196078431373 0.2156862745098 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -194,7 +194,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus6CMT" proximity="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+        <TriangleCollisionModel name="Torus6CMT" contactDistance="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus6VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.18823529411765 0.18745098039216 0.17882352941176 1.0 Diffuse 1 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -216,7 +216,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus7CMT" proximity="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+        <TriangleCollisionModel name="Torus7CMT" contactDistance="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus7VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.18823529411765 0.18745098039216 0.17882352941176 1.0 Diffuse 1 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -238,7 +238,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus8CMT" proximity="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+        <TriangleCollisionModel name="Torus8CMT" contactDistance="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus8VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.18823529411765 0.18745098039216 0.17882352941176 1.0 Diffuse 1 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -260,7 +260,7 @@
         <TriangleSetTopologyContainer position="@/Mesh/MeshTorus1C.position" triangles="@/Mesh/MeshTorus1C.triangles" />
         <MechanicalObject template="Vec3" />
         <BarycentricMapping useRestPosition="true" mapForces="false" mapMasses="false" mapConstraints="true" />
-        <TriangleCollisionModel name="Torus9CMT" proximity="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+        <TriangleCollisionModel name="Torus9CMT" contactDistance="0.2" color="0.94117647058824 0.93725490196078 0.89411764705882" />
       </Node>
       <Node name="Visual">
         <OglModel name="Torus9VM" position="@/Mesh/MeshTorus1V.position" restPosition="@/Mesh/MeshTorus1V.position" triangles="@/Mesh/MeshTorus1V.triangles" material="mat Ambient 1 0.18823529411765 0.18745098039216 0.17882352941176 1.0 Diffuse 1 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.94117647058824 0.93725490196078 0.89411764705882 1.0 Shininess 1 40" handleDynamicTopology="false" />
@@ -273,7 +273,7 @@
       <EdgeSetTopologyContainer name="Cyl0LineTopo" position="100 0 0  100 61.75 0" edges="0 1" />
       <MechanicalObject name="Cyl0LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl0LineAlgo" />
-      <LineCollisionModel name="Cyl0CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl0CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl0SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="100 0 0" />
         <OglModel name="Cyl0VM" position="@Cyl0SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -283,7 +283,7 @@
       <EdgeSetTopologyContainer name="Cyl1LineTopo" position="92.387953251129 0 38.268343236509  92.387953251129 61.75 38.268343236509" edges="0 1" />
       <MechanicalObject name="Cyl1LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl1LineAlgo" />
-      <LineCollisionModel name="Cyl1CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl1CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl1SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="92.387953251129 0 38.268343236509" />
         <OglModel name="Cyl1VM" position="@Cyl1SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -293,7 +293,7 @@
       <EdgeSetTopologyContainer name="Cyl2LineTopo" position="70.710678118655 0 70.710678118655  70.710678118655 61.75 70.710678118655" edges="0 1" />
       <MechanicalObject name="Cyl2LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl2LineAlgo" />
-      <LineCollisionModel name="Cyl2CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl2CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl2SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="70.710678118655 0 70.710678118655" />
         <OglModel name="Cyl2VM" position="@Cyl2SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -303,7 +303,7 @@
       <EdgeSetTopologyContainer name="Cyl3LineTopo" position="38.268343236509 0 92.387953251129  38.268343236509 61.75 92.387953251129" edges="0 1" />
       <MechanicalObject name="Cyl3LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl3LineAlgo" />
-      <LineCollisionModel name="Cyl3CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl3CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl3SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="38.268343236509 0 92.387953251129" />
         <OglModel name="Cyl3VM" position="@Cyl3SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -313,7 +313,7 @@
       <EdgeSetTopologyContainer name="Cyl4LineTopo" position="6.1232339957368E-15 0 100  6.1232339957368E-15 61.75 100" edges="0 1" />
       <MechanicalObject name="Cyl4LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl4LineAlgo" />
-      <LineCollisionModel name="Cyl4CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl4CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl4SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="6.1232339957368E-15 0 100" />
         <OglModel name="Cyl4VM" position="@Cyl4SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -323,7 +323,7 @@
       <EdgeSetTopologyContainer name="Cyl5LineTopo" position="-38.268343236509 0 92.387953251129  -38.268343236509 61.75 92.387953251129" edges="0 1" />
       <MechanicalObject name="Cyl5LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl5LineAlgo" />
-      <LineCollisionModel name="Cyl5CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl5CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl5SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-38.268343236509 0 92.387953251129" />
         <OglModel name="Cyl5VM" position="@Cyl5SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -333,7 +333,7 @@
       <EdgeSetTopologyContainer name="Cyl6LineTopo" position="-70.710678118655 0 70.710678118655  -70.710678118655 61.75 70.710678118655" edges="0 1" />
       <MechanicalObject name="Cyl6LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl6LineAlgo" />
-      <LineCollisionModel name="Cyl6CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl6CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl6SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-70.710678118655 0 70.710678118655" />
         <OglModel name="Cyl6VM" position="@Cyl6SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -343,7 +343,7 @@
       <EdgeSetTopologyContainer name="Cyl7LineTopo" position="-92.387953251129 0 38.268343236509  -92.387953251129 61.75 38.268343236509" edges="0 1" />
       <MechanicalObject name="Cyl7LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl7LineAlgo" />
-      <LineCollisionModel name="Cyl7CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl7CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl7SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-92.387953251129 0 38.268343236509" />
         <OglModel name="Cyl7VM" position="@Cyl7SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -353,7 +353,7 @@
       <EdgeSetTopologyContainer name="Cyl8LineTopo" position="-100 0 1.2246467991474E-14  -100 61.75 1.2246467991474E-14" edges="0 1" />
       <MechanicalObject name="Cyl8LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl8LineAlgo" />
-      <LineCollisionModel name="Cyl8CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl8CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl8SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-100 0 1.2246467991474E-14" />
         <OglModel name="Cyl8VM" position="@Cyl8SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -363,7 +363,7 @@
       <EdgeSetTopologyContainer name="Cyl9LineTopo" position="-92.387953251129 0 -38.268343236509  -92.387953251129 61.75 -38.268343236509" edges="0 1" />
       <MechanicalObject name="Cyl9LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl9LineAlgo" />
-      <LineCollisionModel name="Cyl9CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl9CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl9SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-92.387953251129 0 -38.268343236509" />
         <OglModel name="Cyl9VM" position="@Cyl9SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -373,7 +373,7 @@
       <EdgeSetTopologyContainer name="Cyl10LineTopo" position="-70.710678118655 0 -70.710678118655  -70.710678118655 61.75 -70.710678118655" edges="0 1" />
       <MechanicalObject name="Cyl10LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl10LineAlgo" />
-      <LineCollisionModel name="Cyl10CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl10CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl10SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-70.710678118655 0 -70.710678118655" />
         <OglModel name="Cyl10VM" position="@Cyl10SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -383,7 +383,7 @@
       <EdgeSetTopologyContainer name="Cyl11LineTopo" position="-38.268343236509 0 -92.387953251129  -38.268343236509 61.75 -92.387953251129" edges="0 1" />
       <MechanicalObject name="Cyl11LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl11LineAlgo" />
-      <LineCollisionModel name="Cyl11CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl11CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl11SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-38.268343236509 0 -92.387953251129" />
         <OglModel name="Cyl11VM" position="@Cyl11SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -393,7 +393,7 @@
       <EdgeSetTopologyContainer name="Cyl12LineTopo" position="-1.836970198721E-14 0 -100  -1.836970198721E-14 61.75 -100" edges="0 1" />
       <MechanicalObject name="Cyl12LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl12LineAlgo" />
-      <LineCollisionModel name="Cyl12CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl12CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl12SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="-1.836970198721E-14 0 -100" />
         <OglModel name="Cyl12VM" position="@Cyl12SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -403,7 +403,7 @@
       <EdgeSetTopologyContainer name="Cyl13LineTopo" position="38.268343236509 0 -92.387953251129  38.268343236509 61.75 -92.387953251129" edges="0 1" />
       <MechanicalObject name="Cyl13LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl13LineAlgo" />
-      <LineCollisionModel name="Cyl13CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl13CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl13SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="38.268343236509 0 -92.387953251129" />
         <OglModel name="Cyl13VM" position="@Cyl13SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -413,7 +413,7 @@
       <EdgeSetTopologyContainer name="Cyl14LineTopo" position="70.710678118655 0 -70.710678118655  70.710678118655 61.75 -70.710678118655" edges="0 1" />
       <MechanicalObject name="Cyl14LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl14LineAlgo" />
-      <LineCollisionModel name="Cyl14CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl14CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl14SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="70.710678118655 0 -70.710678118655" />
         <OglModel name="Cyl14VM" position="@Cyl14SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -423,7 +423,7 @@
       <EdgeSetTopologyContainer name="Cyl15LineTopo" position="92.387953251129 0 -38.268343236509  92.387953251129 61.75 -38.268343236509" edges="0 1" />
       <MechanicalObject name="Cyl15LineState" template="Vec3" />
       <EdgeSetGeometryAlgorithms name="Cyl15LineAlgo" />
-      <LineCollisionModel name="Cyl15CML" proximity="6.5" moving="0" simulated="0" />
+      <LineCollisionModel name="Cyl15CML" contactDistance="6.5" moving="0" simulated="0" />
       <Node name="Visual">
         <TransformEngine name="Cyl15SurfXForm" input_position="@/Mesh/MeshCylinder.position" translation="92.387953251129 0 -38.268343236509" />
         <OglModel name="Cyl15VM" position="@Cyl15SurfXForm.output_position" triangles="@/Mesh/MeshCylinder.triangles" color="0.23 0.25 0.42"/>
@@ -433,7 +433,7 @@
     <Node name="Floor" tags="NoBBox" >
       <TriangleSetTopologyContainer name="FloorTopo" position="-1000 -5 -1000  1000 -5 -1000  1000 -5 1000  -1000 -5 1000" triangles="0 2 1  3 2 0" />
       <MechanicalObject template="Vec3"/>
-      <TriangleCollisionModel name="FloorCM" proximity="5" moving="0" simulated="0" />
+      <TriangleCollisionModel name="FloorCM" contactDistance="5" moving="0" simulated="0" />
       <Node name="Visu">
         <RegularGridTopology name="FloorTopo" nx="20" ny="1" nz="20" min="1000 0 -1000" max="-1000 0 1000" />
         <OglModel name="Visual" color="0.52 0.46 0.4" material="floor Ambient 1 0.01 0.01 0.01 0.0 Diffuse 1 0.52 0.46 0.4 1.0 Specular 0 1.0 1.0 1.0 1.0 Emissive 0 0.05 0.05 0.05 0.0 Shininess 0 20" />
diff --git a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
index 8e4fe5d1f71..91340fdf114 100644
--- a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
+++ b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
@@ -53,7 +53,7 @@
             <TriangleSetTopologyModifier name="Modifier"/>
             <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="false"/>
             <MechanicalObject name="dofs" rest_position="@../mstate.rest_position"/>
-            <TriangleCollisionModel name="Torus8CMT" proximity="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+            <TriangleCollisionModel name="Torus8CMT" contactDistance="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
             <Node name="Visual" activated="1">
                 <TriangleSetTopologyContainer name="Container" src="@../Container"/>
                 <OglModel color="1.0 0.1 0.2 1.0" name="visualModel"/>
diff --git a/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn
index 1d3bdf24361..6f5924d34f4 100644
--- a/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn
+++ b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn
@@ -35,7 +35,7 @@
         <Node name="Collision">
             <TriangleSetTopologyContainer name="FloorTopology" position="-200 -200 15    200 -200 15   200 200 15   -200 200 15   -200 -200 -15   200 -200 -15   200 200 -15   -200 200 -15" triangles="0 2 1  0 3 2   4 6 5  4 7 6   0 1 4  5 4 1   3 6 2  3 7 6   1 2 6  1 6 5  0 4 3  3 4 7"/>
             <MechanicalObject name="CollisionDOF" template="Vec3"/>
-            <TriangleCollisionModel  selfCollision="0" topology="@FloorTopology" simulated="0" group="1 2" proximity="3" />
+            <TriangleCollisionModel  selfCollision="0" topology="@FloorTopology" simulated="0" group="1 2" contactDistance="3" />
             <RigidMapping name="MappingCollision" input="@../mstate" output="@CollisionDOF" globalToLocalCoords="true"/>
 
         </Node>
diff --git a/examples/Component/Mapping/Linear/CenterOfMassMapping.scn b/examples/Component/Mapping/Linear/CenterOfMassMapping.scn
index a50d9cdbc89..584c11fd4e1 100644
--- a/examples/Component/Mapping/Linear/CenterOfMassMapping.scn
+++ b/examples/Component/Mapping/Linear/CenterOfMassMapping.scn
@@ -52,7 +52,7 @@
         </Node>
         <Node name="CenterOfMass" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
             <MechanicalObject template="Vec3" name="default88" listening="0" printLog="0" restScale="1" position="3.2 0 0" velocity="0 0 0" force="0 0 0" dx="-1.87325e-005 3.16272e-005 8.66385e-005" free_position="3.2 0 0" free_velocity="0 0 0" rest_position="0 0 0"/>
-            <SphereCollisionModel name="default88Sphere" active="1" moving="1" simulated="1" selfCollision="0" proximity="0" contactStiffness="10" contactFriction="0.01" color="1 0.5 0 1" radius="0.2"/>
+            <SphereCollisionModel name="default88Sphere" active="1" moving="1" simulated="1" selfCollision="0" contactDistance="0" contactStiffness="10" contactFriction="0.01" color="1 0.5 0 1" radius="0.2"/>
             <CenterOfMassMapping template="Rigid3,Vec3" name="default105" />
         </Node>
     </Node>
diff --git a/examples/Demos/SofaScene.scn b/examples/Demos/SofaScene.scn
index dba3a7a0511..e4322c68521 100644
--- a/examples/Demos/SofaScene.scn
+++ b/examples/Demos/SofaScene.scn
@@ -130,7 +130,7 @@
             <Tetra2TriangleTopologicalMapping name="MappingExtractingSurface" input="@../Container" output="@Container" />
 
             <MechanicalObject name="CollisionDOF" rest_position="@../SDOF.rest_position"  />
-            <TriangleCollisionModel name="CollisionModel" proximity="0.02" />
+            <TriangleCollisionModel name="CollisionModel" contactDistance="0.02" />
             <IdentityMapping name="MappingCollision" input="@../SDOF" output="@CollisionDOF"/>
         </Node>
 
@@ -197,7 +197,7 @@
             <EdgeSetTopologyModifier name="Modifier"/>
 
             <MechanicalObject name="CollisionDOF" src="@SkeletonLoader" template="Vec3d"  />
-            <LineCollisionModel name="CenterLineCollisionModel" proximity="0.5" />
+            <LineCollisionModel name="CenterLineCollisionModel" contactDistance="0.5" />
             <RigidMapping name="MappingCollision" input="@../FDOF" output="@CollisionDOF" globalToLocalCoords="true"/>
         </Node>
 
@@ -228,7 +228,7 @@
         <Node name="Collision">
             <MeshOBJLoader name="CoarseCollisionSurface" filename="mesh/SofaScene/ACoarse.obj"  />
             <MechanicalObject name="CollisionDOF" position="@CoarseCollisionSurface.position"/>
-            <PointCollisionModel name="Surface" proximity="0.3" />
+            <PointCollisionModel name="Surface" contactDistance="0.3" />
             <BarycentricMapping name="SurfaceMapping"/>
         </Node>
 
@@ -246,7 +246,7 @@
     <Node name="Floor" tags="NoBBox" >
         <TriangleSetTopologyContainer name="FloorTopology" position="-20 -15 1  50 -15 1  50 15 1  -20 15 1" triangles="0 2 1  0 3 2" />
         <MechanicalObject name="FloorDOF" template="Vec3d"/>
-        <TriangleCollisionModel name="FloorCM" proximity="0.02" moving="0" simulated="0"  color="0.3 0.3 0.3 0.1"/>
+        <TriangleCollisionModel name="FloorCM" contactDistance="0.02" moving="0" simulated="0"  color="0.3 0.3 0.3 0.1"/>
         <OglModel name="VisualModel" src="@FloorTopology"/>
     </Node>
 
@@ -255,7 +255,7 @@
      <Node name="Ceil" tags="NoBBox" >
         <TriangleSetTopologyContainer name="CeilTopology" position="-20 -15 -20   50 -15 -20    50 15 -20    -20 15 -20" triangles="0 1 2  3 0 2" />
         <MechanicalObject name="CeilDOF" template="Vec3d"/>
-        <TriangleCollisionModel name="CeilCM" proximity="0.02" moving="0" simulated="0" color="0.3 0.3 0.3 0.1"/>
+        <TriangleCollisionModel name="CeilCM" contactDistance="0.02" moving="0" simulated="0" color="0.3 0.3 0.3 0.1"/>
         <OglModel name="VisualModel" src="@CeilTopology"/>
     </Node>
 </Node >
diff --git a/examples/Demos/SofaWasher.scn b/examples/Demos/SofaWasher.scn
index 8df6c8210ea..ffb1eb3d0f8 100644
--- a/examples/Demos/SofaWasher.scn
+++ b/examples/Demos/SofaWasher.scn
@@ -89,7 +89,7 @@
         <Node name="Collision">
             <TriangleSetTopologyContainer name="FloorTopology" position="-200 -200 15    200 -200 15   200 200 15   -200 200 15   -200 -200 -15   200 -200 -15   200 200 -15   -200 200 -15" triangles="0 2 1  0 3 2   4 6 5  4 7 6   0 1 4  5 4 1   3 6 2  3 7 6   1 2 6  1 6 5  0 4 3  3 4 7"/>
             <MechanicalObject name="CollisionDOF" template="Vec3"/>
-            <TriangleCollisionModel  selfCollision="0" topology="@FloorTopology" simulated="0" group="1 2" proximity="3" />
+            <TriangleCollisionModel  selfCollision="0" topology="@FloorTopology" simulated="0" group="1 2" contactDistance="3" />
             <RigidMapping name="MappingCollision" input="@../mstate" output="@CollisionDOF" globalToLocalCoords="true"/>
 
         </Node>
diff --git a/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn b/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn
index 0bbbfd3b6d9..a15852e9cda 100644
--- a/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn
+++ b/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn
@@ -60,7 +60,7 @@
             <TriangleSetTopologyModifier name="Modifier"/>
             <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="false"/>
             <MechanicalObject name="dofs" rest_position="@../mstate.rest_position"/>
-            <TriangleCollisionModel name="Torus8CMT" proximity="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+            <TriangleCollisionModel name="Torus8CMT" contactDistance="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
             <Node name="Visual" activated="1">
                 <TriangleSetTopologyContainer name="Container" src="@../Container"/>
                 <OglModel color="1.0 0.1 0.2 1.0" name="visualModel"/>
@@ -84,7 +84,7 @@
                                                                                                                                       3 7 6  3 6 2
                                                                                                                                       4 5 6  4 6 7" />
         <MechanicalObject template="Vec3"/>
-        <TriangleCollisionModel name="FloorCM" proximity="0.001" contactStiffness="60" moving="0" simulated="0" />
+        <TriangleCollisionModel name="FloorCM" contactDistance="0.001" contactStiffness="60" moving="0" simulated="0" />
     </Node>
 
 </Node>
diff --git a/examples/Demos/fallingBeamLagrangianCollision.scn b/examples/Demos/fallingBeamLagrangianCollision.scn
index fee3ef0d327..4de55435c38 100644
--- a/examples/Demos/fallingBeamLagrangianCollision.scn
+++ b/examples/Demos/fallingBeamLagrangianCollision.scn
@@ -59,7 +59,7 @@
             <TriangleSetTopologyModifier name="Modifier"/>
             <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="false"/>
             <MechanicalObject name="dofs" rest_position="@../mstate.rest_position"/>
-            <TriangleCollisionModel name="Torus8CMT" proximity="0.001" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+            <TriangleCollisionModel name="Torus8CMT" contactDistance="0.001" color="0.94117647058824 0.93725490196078 0.89411764705882" />
             <Node name="Visual" activated="1">
                 <TriangleSetTopologyContainer name="Container" src="@../Container"/>
                 <OglModel color="1.0 0.1 0.2 1.0" name="visualModel"/>
@@ -83,7 +83,7 @@
                                                                                                                                       3 7 6  3 6 2
                                                                                                                                       4 5 6  4 6 7" />
         <MechanicalObject template="Vec3"/>
-        <TriangleCollisionModel name="FloorCM" proximity="0.001" moving="0" simulated="0" />
+        <TriangleCollisionModel name="FloorCM" contactDistance="0.001" moving="0" simulated="0" />
     </Node>
 
 </Node>
diff --git a/examples/Demos/fallingSOFA.scn b/examples/Demos/fallingSOFA.scn
index 0fbf0f26607..3914d38ba17 100644
--- a/examples/Demos/fallingSOFA.scn
+++ b/examples/Demos/fallingSOFA.scn
@@ -95,7 +95,7 @@
 
             <!-- This uses triangles as colliding element. These triangular primitives are the triangles present in the topology
             For more information on collision models see : https://sofa-framework.github.io/doc/components/collision/geometry/collisionmodels/ -->
-            <TriangleCollisionModel name="Collision" proximity="0.001" color="0.94117647058824 0.93725490196078 0.89411764705882" />
+            <TriangleCollisionModel name="Collision" contactDistance="0.001" color="0.94117647058824 0.93725490196078 0.89411764705882" />
 
             <!-- This is a mapping: it relates the position of this node to the one of the simulated node.
             The position of this node (the output of the mapping) is totally defined by the position of the input node
@@ -157,6 +157,6 @@
                                                  4 5 6  4 6 7" />
         <MechanicalObject template="Vec3"/>
         <!-- Because it is neither simulated nor moving, we can speed the solver and collision detection by setting parameters moving="0" simulated="0" -->
-        <TriangleCollisionModel name="CubeCM" proximity="0.001" moving="0" simulated="0" />
+        <TriangleCollisionModel name="CubeCM" contactDistance="0.001" moving="0" simulated="0" />
     </Node>
 </Node>