diff --git a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
index c1445042c5d..5e5510938e9 100644
--- a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp
@@ -42,7 +42,9 @@ using namespace core::objectmodel;
 template<typename DataTypes>
 void createUniformMass(simulation::Node::SPtr node, component::statecontainer::MechanicalObject<DataTypes>& /*dofs*/)
 {
-    node->addObject(New<component::mass::UniformMass<DataTypes> >());
+    typename component::mass::UniformMass<DataTypes>::SPtr uniformMass = New<component::mass::UniformMass<DataTypes> >();
+    uniformMass->d_totalMass.setValue(1.0);
+    node->addObject(uniformMass);
 }
 
 template <typename _DataTypes>
diff --git a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
index 14a43f5a67e..8267b022412 100644
--- a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
@@ -45,7 +45,9 @@ using core::objectmodel::New;
 template<typename DataTypes>
 void createUniformMass(simulation::Node::SPtr node, component::statecontainer::MechanicalObject<DataTypes>& /*dofs*/)
 {
-    node->addObject(New<component::mass::UniformMass<DataTypes> >());
+    typename component::mass::UniformMass<DataTypes>::SPtr uniformMass = New<component::mass::UniformMass<DataTypes> >();
+    uniformMass->d_totalMass.setValue(1.0);
+    node->addObject(uniformMass);
 }
 
 template <typename _DataTypes>
diff --git a/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
index 3ca05c51679..f91407fbbe9 100644
--- a/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
+++ b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp
@@ -41,7 +41,9 @@ using namespace core::objectmodel;
 template<typename DataTypes>
 void createUniformMass(simulation::Node::SPtr node, component::statecontainer::MechanicalObject<DataTypes>& /*dofs*/)
 {
-    node->addObject(New<component::mass::UniformMass<DataTypes> >());
+    typename component::mass::UniformMass<DataTypes>::SPtr uniformMass = New<component::mass::UniformMass<DataTypes> >();
+    uniformMass->d_totalMass.setValue(1.0);
+    node->addObject(uniformMass);
 }
 
 template <typename _DataTypes>
diff --git a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
index 1e3db25c26e..6dd556f57b6 100644
--- a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
+++ b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
@@ -98,7 +98,7 @@ TEST(SparseLDLSolver, TopologyChangeEmptyMState)
     sofa::simpleapi::createObject(root, "PointSetTopologyContainer", {{"position", "0 0 0"}});
     sofa::simpleapi::createObject(root, "PointSetTopologyModifier");
     sofa::simpleapi::createObject(root, "MechanicalObject", {{"template", "Vec3"}});
-    sofa::simpleapi::createObject(root, "UniformMass");
+    sofa::simpleapi::createObject(root, "UniformMass", {{"totalMass", "1.0"}});
     sofa::simpleapi::createObject(root, "TopologicalChangeProcessor",
                                   {{"useDataInputs", "true"}, {"timeToRemove", "0.05"},
                                    {"pointsToRemove", "0"}});
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
index 6b0e22a0e8d..bd68a8ada3f 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.h
@@ -63,12 +63,11 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     Data<SReal> d_totalMass;    ///< if >0 : total mass of this body
     sofa::core::objectmodel::DataFileName d_filenameMass; ///< a .rigid file to automatically load the inertia matrix and other parameters
 
+    /// Visualization-related data
     Data<bool>  d_showCenterOfGravity; ///< display the center of gravity of the system
     Data<float> d_showAxisSize; ///< factor length of the axis displayed (only used for rigids)
-
     Data<bool>  d_computeMappingInertia; ///< to be used if the mass is placed under a mapping
     Data<bool>  d_showInitialCenterOfGravity; ///< display the initial center of gravity of the system
-
     Data<bool>  d_showX0; ///< display the rest positions
 
     /// optional range of local DOF indices. Any computation involving only
@@ -78,6 +77,14 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     DataSetIndex     d_indices; ///< optional local DOF indices. Any computation involving only indices outside of this list are discarded
     Data<bool> d_preserveTotalMass; ///< Prevent totalMass from decreasing when removing particles.
 
+    /// Enumeration specifying which data was used for initialization
+    enum class InitMethod
+    {
+        TOTALMASS,
+        VERTEXMASS
+    };
+    InitMethod m_initMethod;
+
     ////////////////////////// Inherited attributes ////////////////////////////
     /// https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html
     /// Bring inherited attributes and function in the current lookup context.
@@ -87,6 +94,7 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     using core::objectmodel::BaseObject::getContext;
     ////////////////////////////////////////////////////////////////////////////
 
+
     /// Link to be set to the topology container in the component graph.
     SingleLink <UniformMass<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
 
@@ -115,10 +123,8 @@ class UniformMass : public core::behavior::Mass<DataTypes>
 
     void loadRigidMass(const std::string& filename);
 
-    void reinit() override;
     void init() override;
     void initDefaultImpl() ;
-    void doUpdateInternal() override;
 
     /// @name Check and standard initialization functions from mass information
     /// @{
@@ -126,10 +132,13 @@ class UniformMass : public core::behavior::Mass<DataTypes>
     virtual void initFromVertexMass();
 
     virtual bool checkTotalMass();
-    virtual void checkTotalMassInit();
     virtual void initFromTotalMass();
     /// @}
 
+    /// Functions updating data
+    sofa::core::objectmodel::ComponentState updateFromTotalMass();
+    sofa::core::objectmodel::ComponentState updateFromVertexMass();
+
     void addMDx(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
     void accFromF(const core::MechanicalParams* mparams, DataVecDeriv& a, const DataVecDeriv& f) override;
     void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
index f94c2381f6c..3b400886ad7 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.inl
@@ -78,6 +78,36 @@ UniformMass<DataTypes>::UniformMass()
     , l_topology(initLink("topology", "link to the topology container"))
 {
     constructor_message();
+
+
+    sofa::core::objectmodel::Base::addUpdateCallback("updateFromTotalMass", {&d_totalMass}, [this](const core::DataTracker& )
+    {
+        if(m_initMethod == InitMethod::TOTALMASS)
+        {
+            msg_info() << "dataInternalUpdate: data totalMass has changed";
+            return updateFromTotalMass();
+        }
+        else if(m_initMethod == InitMethod::VERTEXMASS)
+        {
+            msg_info() << "vertexMass data is initially used, the callback associated with the totalMass is skipped";
+            return updateFromVertexMass();
+        }
+    }, {});
+
+
+    sofa::core::objectmodel::Base::addUpdateCallback("updateFromVertexMass", {&d_vertexMass}, [this](const core::DataTracker& )
+    {
+        if(m_initMethod == InitMethod::VERTEXMASS)
+        {
+            msg_info() << "dataInternalUpdate: data vertexMass has changed";
+            return updateFromVertexMass();
+        }
+        else if(m_initMethod == InitMethod::TOTALMASS)
+        {
+            msg_info() << "totalMass data is initially used, the callback associated with the vertexMass is skipped";
+            return updateFromTotalMass();
+        }
+    }, {});
 }
 
 template <class DataTypes>
@@ -132,24 +162,21 @@ void UniformMass<DataTypes>::initDefaultImpl()
 {
     this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
 
-    Mass<DataTypes>::init();
 
-    WriteAccessor<Data<SetIndexArray > > indices = d_indices;
-    
-    if(mstate==nullptr)
-    {
-        msg_warning(this) << "Missing mechanical state. \n"
-                             "UniformMass need to be used with an object also having a MechanicalState. \n"
-                             "To remove this warning: add a <MechanicalObject/> to the parent node of the one \n"
-                             " containing this <UniformMass/>";
-        return;
-    }
+    /// SingleStateAccessor checks the mstate pointer to a MechanicalObject
+    Mass<DataTypes>::init();
 
+        
+    /// Check filename
     if ( d_filenameMass.isSet() && d_filenameMass.getValue() != "unused" )
     {
         loadRigidMass(d_filenameMass.getFullPath()) ;
     }
 
+
+    /// Check indices
+    WriteAccessor<Data<SetIndexArray > > indices = d_indices;
+
     //If d_localRange is set, update indices
     if (d_localRange.getValue()[0] >= 0
         && d_localRange.getValue()[1] > 0
@@ -168,13 +195,15 @@ void UniformMass<DataTypes>::initDefaultImpl()
             indices.push_back(i);
     }
 
-    // check if mass should use topology
+
+    /// Check link to topology
     if (l_topology.empty())
     {
         l_topology.set(this->getContext()->getMeshTopologyLink());
     }
 
     BaseMeshTopology* meshTopology = l_topology.get();
+
     if (meshTopology != nullptr && dynamic_cast<sofa::core::topology::TopologyContainer*>(meshTopology) != nullptr)
     {
         msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
@@ -201,92 +230,54 @@ void UniformMass<DataTypes>::initDefaultImpl()
         });
     }
 
-    //If user defines the vertexMass, use this as the mass
+
+    /// Check which input data isSet() to define mass initialization
     if (d_vertexMass.isSet())
     {
-        //Check double definition : both totalMass and vertexMass are user-defined
-        if (d_totalMass.isSet())
+        if(d_totalMass.isSet())
         {
             msg_warning(this) << "totalMass value overriding the value of the attribute vertexMass. \n"
                                  "vertexMass = totalMass / nb_dofs. \n"
                                  "To remove this warning you need to set either totalMass or vertexMass data field, but not both.";
-            checkTotalMassInit();
-            initFromTotalMass();
+
+            m_initMethod = InitMethod::TOTALMASS;
+            d_vertexMass.setReadOnly(true);
         }
         else
         {
-            if(checkVertexMass())
-            {
-                initFromVertexMass();
-            }
-            else
-            {
-                checkTotalMassInit();
-                initFromTotalMass();
-            }
+            m_initMethod = InitMethod::VERTEXMASS;
+            d_totalMass.setReadOnly(true);
+
+            msg_info() << "Input vertexMass is used for initialization";
         }
     }
-    //else totalMass is used
-    else
+    else if (d_totalMass.isSet())
     {
-        if(!d_totalMass.isSet())
-        {
-            msg_info() << "No information about the mass is given. Default totatMass is used as reference.";
-        }
+        m_initMethod = InitMethod::TOTALMASS;
+        d_vertexMass.setReadOnly(true);
 
-        checkTotalMassInit();
-        initFromTotalMass();
+        msg_info() << "Input totalForce is used for initialization";
     }
-
-    this->trackInternalData(d_vertexMass);
-    this->trackInternalData(d_totalMass);
-
-    //Info post-init
-    msg_info() << "totalMass  = " << d_totalMass.getValue() << " \n"
-                  "vertexMass = " << d_vertexMass.getValue();
-}
-
-
-template <class DataTypes>
-void UniformMass<DataTypes>::reinit()
-{
-    // Now update is handled through the doUpdateInternal mechanism
-    // called at each begin of step through the UpdateInternalDataVisitor
-}
-
-
-template <class DataTypes>
-void UniformMass<DataTypes>::doUpdateInternal()
-{
-    if (this->hasDataChanged(d_totalMass))
-    {
-        if(checkTotalMass())
-        {
-            initFromTotalMass();
-            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
-        }
-        else
-        {
-            msg_error() << "doUpdateInternal: incorrect update from totalMass";
-            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-        }
-    }
-    else if(this->hasDataChanged(d_vertexMass))
+    else
     {
-        if(checkVertexMass())
-        {
-            initFromVertexMass();
-            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
-        }
-        else
+        if(d_filenameMass.getValue() == "unused")
         {
-            msg_error() << "doUpdateInternal: incorrect update from vertexMass";
+            msg_error() << "No input mass information has been set. Please define one of both Data: "
+                        << d_vertexMass.getName() << " or " << d_totalMass.getName()
+                        << "\nFor your information, prior to #3927, default value was totalMass=\"1.0\".";
             this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+            return;
         }
     }
 
-    //Info post-reinit
-    msg_info() << "totalMass  = " << d_totalMass.getValue() << " \n"
+
+    /// Trigger callbacks to update data (see constructor)
+    if(!this->isComponentStateValid())
+        msg_error() << "Initialization process is invalid";
+
+
+    /// Info post-init
+    msg_info() << "totalMass  = " << d_totalMass.getValue() << " | "
                   "vertexMass = " << d_vertexMass.getValue();
 }
 
@@ -296,8 +287,8 @@ bool UniformMass<DataTypes>::checkVertexMass()
 {
     if(d_vertexMass.getValue() < 0.0 )
     {
-        msg_warning(this) << "vertexMass data can not have a negative value. \n"
-                             "To remove this warning, you need to set one single, non-zero and positive value to the vertexMass data";
+        msg_error(this) << "vertexMass data can not have a negative value. \n"
+                           "To remove this warning, you need to set one single, non-zero and positive value to the vertexMass data";
         return false;
     }
     else
@@ -325,8 +316,8 @@ bool UniformMass<DataTypes>::checkTotalMass()
 {
     if(d_totalMass.getValue() < 0.0)
     {
-        msg_warning(this) << "totalMass data can not have a negative value. \n"
-                             "To remove this warning, you need to set a non-zero positive value to the totalMass data";
+        msg_error(this) << "totalMass data can not have a negative value. \n"
+                           "To remove this warning, you need to set a non-zero positive value to the totalMass data";
         return false;
     }
     else
@@ -336,19 +327,6 @@ bool UniformMass<DataTypes>::checkTotalMass()
 }
 
 
-template <class DataTypes>
-void UniformMass<DataTypes>::checkTotalMassInit()
-{
-    //Check for negative or null value, if wrongly set use the default value totalMass = 1.0
-    if(!checkTotalMass())
-    {
-        msg_warning(this) << "Switching back to default values: totalMass = 1.0\n";
-        d_totalMass.setValue(1.0) ;
-        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-    }
-}
-
-
 template <class DataTypes>
 void UniformMass<DataTypes>::initFromTotalMass()
 {
@@ -357,9 +335,8 @@ void UniformMass<DataTypes>::initFromTotalMass()
 
     if(d_indices.getValue().size() > 0)
     {
-        MassType *m = d_vertexMass.beginEdit();
+        helper::WriteAccessor<Data<MassType>> m = d_vertexMass;
         *m = d_totalMass.getValue() / Real(d_indices.getValue().size());
-        d_vertexMass.endEdit();
 
         msg_info() << "totalMass information is used";
     }
@@ -370,6 +347,38 @@ void UniformMass<DataTypes>::initFromTotalMass()
 }
 
 
+template <class DataTypes>
+sofa::core::objectmodel::ComponentState UniformMass<DataTypes>::updateFromTotalMass()
+{
+    if (checkTotalMass())
+    {
+        initFromTotalMass();
+        return sofa::core::objectmodel::ComponentState::Valid;
+    }
+    else
+    {
+        msg_error() << "dataInternalUpdate: incorrect update from totalMass";
+        return sofa::core::objectmodel::ComponentState::Invalid;
+    }
+}
+
+
+template <class DataTypes>
+sofa::core::objectmodel::ComponentState UniformMass<DataTypes>::updateFromVertexMass()
+{
+    if(checkVertexMass())
+    {
+        initFromVertexMass();
+        return sofa::core::objectmodel::ComponentState::Valid;
+    }
+    else
+    {
+        msg_error() << "dataInternalUpdate: incorrect update from vertexMass";
+        return sofa::core::objectmodel::ComponentState::Invalid;
+    }
+}
+
+
 template <class DataTypes>
 void UniformMass<DataTypes>::updateMassOnResize(sofa::Size newSize)
 {
@@ -393,11 +402,11 @@ void UniformMass<DataTypes>::updateMassOnResize(sofa::Size newSize)
 
 // -- Mass interface
 template <class DataTypes>
-void UniformMass<DataTypes>::addMDx ( const core::MechanicalParams*,
-                                                DataVecDeriv& vres,
-                                                const DataVecDeriv& vdx,
-                                                SReal factor)
+void UniformMass<DataTypes>::addMDx ( const core::MechanicalParams*, DataVecDeriv& vres, const DataVecDeriv& vdx, SReal factor)
 {
+    if (!this->isComponentStateValid())
+        return;
+
     helper::WriteAccessor<DataVecDeriv> res = vres;
     helper::ReadAccessor<DataVecDeriv> dx = vdx;
 
@@ -413,10 +422,11 @@ void UniformMass<DataTypes>::addMDx ( const core::MechanicalParams*,
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::accFromF ( const core::MechanicalParams*,
-                                                  DataVecDeriv& va,
-                                                  const DataVecDeriv& vf )
+void UniformMass<DataTypes>::accFromF ( const core::MechanicalParams*, DataVecDeriv& va, const DataVecDeriv& vf )
 {
+    if (!this->isComponentStateValid())
+        return;
+
     WriteOnlyAccessor<DataVecDeriv> a = va;
     ReadAccessor<DataVecDeriv> f = vf;
 
@@ -429,10 +439,7 @@ void UniformMass<DataTypes>::accFromF ( const core::MechanicalParams*,
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::addMDxToVector ( BaseVector * resVect,
-                                                        const VecDeriv* dx,
-                                                        SReal mFact,
-                                                        unsigned int& offset )
+void UniformMass<DataTypes>::addMDxToVector ( BaseVector * resVect, const VecDeriv* dx, SReal mFact, unsigned int& offset )
 {
     SOFA_UNUSED(resVect);
     SOFA_UNUSED(dx);
@@ -442,26 +449,23 @@ void UniformMass<DataTypes>::addMDxToVector ( BaseVector * resVect,
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::addGravityToV(const MechanicalParams* mparams,
-                                                     DataVecDeriv& d_v)
+void UniformMass<DataTypes>::addGravityToV(const MechanicalParams* mparams, DataVecDeriv& d_v)
 {
     if (mparams)
     {
-        VecDeriv& v = *d_v.beginEdit();
+        helper::WriteAccessor<DataVecDeriv> v = d_v;
 
         const SReal* g = getContext()->getGravity().ptr();
         Deriv theGravity;
         DataTypes::set ( theGravity, g[0], g[1], g[2] );
         Deriv hg = theGravity * Real(sofa::core::mechanicalparams::dt(mparams));
 
-        dmsg_info()<< " addGravityToV hg = "<<theGravity<<"*"<<sofa::core::mechanicalparams::dt(mparams)<<"="<<hg ;
+        dmsg_info()<< "addGravityToV hg = "<<theGravity<<"*"<<sofa::core::mechanicalparams::dt(mparams)<<"="<<hg ;
 
         for ( unsigned int i=0; i<v.size(); i++ )
         {
             v[i] += hg;
         }
-
-        d_v.endEdit();
     }
 }
 
@@ -482,7 +486,7 @@ void UniformMass<DataTypes>::addForce ( const core::MechanicalParams*, DataVecDe
     const MassType& m = d_vertexMass.getValue();
     Deriv mg = theGravity * m;
 
-    dmsg_info() <<" addForce, mg = "<<d_vertexMass<<" * "<<theGravity<<" = "<<mg;
+    dmsg_info() <<"addForce, mg = "<<d_vertexMass<<" * "<<theGravity<<" = "<<mg;
 
     const ReadAccessor<Data<SetIndexArray > > indices = d_indices;
 
@@ -494,8 +498,7 @@ void UniformMass<DataTypes>::addForce ( const core::MechanicalParams*, DataVecDe
 }
 
 template <class DataTypes>
-SReal UniformMass<DataTypes>::getKineticEnergy ( const MechanicalParams* params,
-                                                           const DataVecDeriv& d_v  ) const
+SReal UniformMass<DataTypes>::getKineticEnergy ( const MechanicalParams* params, const DataVecDeriv& d_v  ) const
 {
     SOFA_UNUSED(params);
 
@@ -512,8 +515,7 @@ SReal UniformMass<DataTypes>::getKineticEnergy ( const MechanicalParams* params,
 }
 
 template <class DataTypes>
-SReal UniformMass<DataTypes>::getPotentialEnergy ( const MechanicalParams* params,
-                                                             const DataVecCoord& d_x  ) const
+SReal UniformMass<DataTypes>::getPotentialEnergy ( const MechanicalParams* params, const DataVecCoord& d_x  ) const
 {
     SOFA_UNUSED(params);
     ReadAccessor<DataVecCoord> x = d_x;
@@ -538,9 +540,7 @@ SReal UniformMass<DataTypes>::getPotentialEnergy ( const MechanicalParams* param
 // does nothing by default, need to be specialized in .cpp
 template <class DataTypes>
 type::Vec6
-UniformMass<DataTypes>::getMomentum ( const core::MechanicalParams* params,
-                                                const DataVecCoord& d_x,
-                                                const DataVecDeriv& d_v  ) const
+UniformMass<DataTypes>::getMomentum ( const core::MechanicalParams* params, const DataVecCoord& d_x, const DataVecDeriv& d_v  ) const
 {
     SOFA_UNUSED(params);
     SOFA_UNUSED(d_x);
@@ -555,9 +555,11 @@ UniformMass<DataTypes>::getMomentum ( const core::MechanicalParams* params,
 
 /// Add Mass contribution to global Matrix assembling
 template <class DataTypes>
-void UniformMass<DataTypes>::addMToMatrix (const MechanicalParams *mparams,
-                                                     const MultiMatrixAccessor* matrix)
+void UniformMass<DataTypes>::addMToMatrix (const MechanicalParams *mparams, const MultiMatrixAccessor* matrix)
 {
+    if (!this->isComponentStateValid())
+        return;
+
     const MassType& m = d_vertexMass.getValue();
 
     static constexpr auto N = Deriv::total_size;
@@ -577,6 +579,11 @@ void UniformMass<DataTypes>::addMToMatrix (const MechanicalParams *mparams,
 template <class DataTypes>
 void UniformMass<DataTypes>::buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
 {
+    if (!this->isComponentStateValid())
+    {
+        return;
+    }
+
     const MassType& m = d_vertexMass.getValue();
     static constexpr auto N = Deriv::total_size;
 
@@ -598,8 +605,7 @@ SReal UniformMass<DataTypes>::getElementMass (sofa::Index ) const
 
 
 template <class DataTypes>
-void UniformMass<DataTypes>::getElementMass (sofa::Index  index ,
-                                                        BaseMatrix *m ) const
+void UniformMass<DataTypes>::getElementMass (sofa::Index  index, BaseMatrix *m ) const
 {
     SOFA_UNUSED(index);
 
diff --git a/Sofa/Component/Mass/tests/UniformMass_test.cpp b/Sofa/Component/Mass/tests/UniformMass_test.cpp
index 312765db17e..69a5f1a35ad 100644
--- a/Sofa/Component/Mass/tests/UniformMass_test.cpp
+++ b/Sofa/Component/Mass/tests/UniformMass_test.cpp
@@ -115,8 +115,8 @@ struct UniformMassTest :  public BaseTest
         return ;
     }
 
-    /// totalMass, mass and d_localRange..
-    /// case where NO mass info give, default totalMass = 1.0
+    /// totalMass, mass and localRange..
+    /// case where NO mass info given, ComponentState = Invalid
     void checkNoAttributes(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -127,19 +127,15 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
-        root->init(sofa::core::execparams::defaultInstance()) ;
+        EXPECT_MSG_EMIT(Error);
+        root->init(sofa::core::execparams::defaultInstance());
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
-    /// totalMass, mass and d_localRange..
-    /// case where NO mass info give, default totalMass = 1.0
+    /// Check inertiaMatrix
     void checkRigidAttribute()
     {
         EXPECT_MSG_NOEMIT(Error, Warning);
@@ -162,20 +158,19 @@ struct UniformMassTest :  public BaseTest
         {
             for(unsigned int j=0;j<3;j++)
             {
-                ASSERT_EQ(mass->d_vertexMass.getValue().inertiaMatrix[i][j],
-                          values[i*3+j]);
+                ASSERT_EQ(mass->d_vertexMass.getValue().inertiaMatrix[i][j], values[i*3+j]);
             }
         }
     }
 
     /// totalMass is well defined
-    /// vertexMass will be computed from it using the formulat :  vertexMass = totalMass / number of particules
+    /// vertexMass will be computed from it using the formula:  vertexMass = totalMass / number of dofs
     void checkVertexMassFromTotalMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' totalMass='8.0'/>                             "
+                "   <UniformMass name='m_mass' totalMass='8.0'/>             "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
@@ -192,13 +187,13 @@ struct UniformMassTest :  public BaseTest
     }
 
     /// vertexMass is well defined
-    /// totalMass will be computed from it using the formulat : totalMass = vertexMass * number of particules
+    /// totalMass will be computed from it using the formula: totalMass = vertexMass * number of dofs
     void checkTotalMassFromVertexMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' vertexMass='4.0' />                 "
+                "   <UniformMass name='m_mass' vertexMass='4.0' />           "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
@@ -215,49 +210,43 @@ struct UniformMassTest :  public BaseTest
     }
 
     /// totalMass is defined but negative
-    /// Ignore value and use default value of totalMass = 1.0
+    /// ComponentState = Invalid
     void checkNegativeTotalMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' totalMass='-8.0' />                 "
+                "   <UniformMass name='m_mass' totalMass='-8.0' />           "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
     /// vertexMass is defined but negative
-    /// Ignore value and use default value of totalMass = 1.0
+    /// ComponentState = Invalid
     void checkNegativeVertexMass(){
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0 4 5 6'/>               "
-                "   <UniformMass name='m_mass' vertexMass='-4.0' />                 "
+                "   <UniformMass name='m_mass' vertexMass='-4.0' />          "
                 "</Node>                                                     " ;
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
     /// totalMass & mass are exclusive.
@@ -286,7 +275,7 @@ struct UniformMassTest :  public BaseTest
 
     /// Both vertexMass and totalMass information are defined but totalMass is negative
     /// Due to double declaration, by default the totalMass is used
-    /// Due to negative value, the default value of totalMass overwrites totalMass = 1.0
+    /// ComponentState = Invalid
     void checkDoubleDeclarationNegativeTotalMass(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -297,19 +286,16 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
-
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-        }
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
     }
 
     /// Both vertexMass and totalMass information are defined but vertexMass is negative
-    /// By default use the totalMass
+    /// totalMass takes over and overwrite the vertexMass
     void checkDoubleDeclarationNegativeVertexMass(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -320,19 +306,23 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Warning);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
 
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getVertexMass(), 4.0 ) ;
-            EXPECT_EQ( mass->getTotalMass(), 8.0 ) ;
+        if(mass!=nullptr)
+        {
+            EXPECT_EQ( mass->getVertexMass(), 4.0 );
+            EXPECT_EQ( mass->getTotalMass(), 8.0 );
         }
+
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
     }
 
     /// Both vertexMass and totalMass information are negative
-    /// Ignore them and use default value of totalMass = 1.0
+    /// ComponentState = Invalid
     void checkDoubleDeclarationBothNegative(){
         const string scene =
                 "<?xml version='1.0'?>"
@@ -343,15 +333,70 @@ struct UniformMassTest :  public BaseTest
 
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
 
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
 
         TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
         EXPECT_TRUE( mass != nullptr ) ;
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Invalid ) ;
+    }
 
-        if(mass!=nullptr){
-            EXPECT_EQ( mass->getVertexMass(), 0.5 ) ;
-            EXPECT_EQ( mass->getTotalMass(), 1.0 ) ;
+    /// Update the totalMass
+    void checkUpdateTotalMass(){
+        const string scene =
+                "<?xml version='1.0'?>"
+                "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
+                "   <MechanicalObject position='0 0 0 4 5 6'/>               "
+                "   <UniformMass name='m_mass' totalMass='18.0'/>            "
+                "</Node>                                                     " ;
+
+        const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
+
+        root->init(sofa::core::execparams::defaultInstance()) ;
+
+        TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
+        EXPECT_TRUE( mass != nullptr ) ;
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
+
+        mass->setTotalMass(3.0);
+        mass->updateFromTotalMass();
+
+        if(mass!=nullptr)
+        {
+            EXPECT_EQ( mass->getVertexMass(), 1.5 );
+            EXPECT_EQ( mass->getTotalMass(), 3.0 );
         }
+
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
+    }
+
+    /// Update the vertexMass
+    void checkUpdateVertexMass(){
+        const string scene =
+                "<?xml version='1.0'?>"
+                "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
+                "   <MechanicalObject position='0 0 0 4 5 6'/>               "
+                "   <UniformMass name='m_mass' vertexMass='1.0'/>            "
+                "</Node>                                                     " ;
+
+        const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadWithNoParam", scene.c_str());
+
+        root->init(sofa::core::execparams::defaultInstance()) ;
+
+        TheUniformMass* mass = root->getTreeObject<TheUniformMass>() ;
+        EXPECT_TRUE( mass != nullptr ) ;
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
+
+        mass->setMass(3.0);
+        mass->updateFromVertexMass();
+
+        if(mass!=nullptr)
+        {
+            EXPECT_EQ( mass->getVertexMass(), 3.0 );
+            EXPECT_EQ( mass->getTotalMass(), 6.0 );
+        }
+
+        EXPECT_TRUE( mass->getComponentState() == sofa::core::objectmodel::ComponentState::Valid ) ;
     }
 
     /// check mass initialization for rigids
@@ -360,7 +405,7 @@ struct UniformMassTest :  public BaseTest
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject template='Rigid3' position='0 0 0 1 0 0 1 0 0 0 1 0 0 1'/>                     "
-                "   <UniformMass filename='BehaviorModels/card.rigid'/>        "
+                "   <UniformMass filename='BehaviorModels/card.rigid'/>      "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAValidFile", scene.c_str());
         root->init(sofa::core::execparams::defaultInstance()) ;
@@ -379,9 +424,10 @@ struct UniformMassTest :  public BaseTest
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0'/>                     "
-                "   <UniformMass filename='BehaviorModels/card.rigid'/>        "
+                "   <UniformMass filename='BehaviorModels/card.rigid'/>      "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAValidFile", scene.c_str());
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
     }
 
@@ -390,9 +436,10 @@ struct UniformMassTest :  public BaseTest
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
                 "   <MechanicalObject position='0 0 0'/>                     "
-                "   <UniformMass filename='invalid_uniformmatrix.txt'/>        "
+                "   <UniformMass filename='invalid_uniformmatrix.txt'/>      "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAnInValidFile", scene.c_str());
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
     }
 
@@ -400,17 +447,14 @@ struct UniformMassTest :  public BaseTest
         const string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   > "
-                "   <MechanicalObject position='0 0 0'/>                     "
+                "   <MechanicalObject template='Rigid3' position='0 0 0 1 0 0 1 0 0 0 1 0 0 1'/>                     "
                 "   <UniformMass filename='invalid_uniformmatrix.txt'/>        "
                 "</Node>                                                     " ;
         const Node::SPtr root = SceneLoaderXML::loadFromMemory("loadFromAnInValidFile", scene.c_str());
+        EXPECT_MSG_EMIT(Error);
         root->init(sofa::core::execparams::defaultInstance()) ;
     }
 
-    void reinitTest(){
-        // TODO
-        EXPECT_TRUE(todo == false) ;
-    }
 
 };
 
@@ -470,6 +514,16 @@ TYPED_TEST(UniformMassTest, checkDoubleDeclarationBothNegative)
     ASSERT_NO_THROW(this->checkDoubleDeclarationBothNegative()) ;
 }
 
+TYPED_TEST(UniformMassTest, checkUpdateTotalMass)
+{
+ASSERT_NO_THROW(this->checkUpdateTotalMass()) ;
+}
+
+TYPED_TEST(UniformMassTest, checkUpdateVertexMass)
+{
+ASSERT_NO_THROW(this->checkUpdateVertexMass()) ;
+}
+
 TYPED_TEST(UniformMassTest, loadFromAFileForNonRigid) {
     ASSERT_NO_THROW(this->loadFromAFileForNonRigid()) ;
 }
@@ -489,7 +543,3 @@ TYPED_TEST(UniformMassTest, loadFromAFileForRigid) {
 TYPED_TEST(UniformMassTest, checkRigidAttribute) {
     ASSERT_NO_THROW(this->checkRigidAttribute()) ;
 }
-
-TYPED_TEST(UniformMassTest, reinitTest) {
-    //ASSERT_NO_THROW(this->reinitTest()) ;
-}
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h
index 4725124906d..4348f3f3a75 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.h
@@ -127,9 +127,13 @@ class ConstantForceField : public core::behavior::ForceField<DataTypes>
     /// Save system size for update of indices (doUpdateInternal)
     size_t m_systemSize;
 
-    /// Boolean specifying whether the data totalMass has been initially given
-    /// (else forces vector is being used)
-    bool m_isTotalForceUsed;
+    /// Enumeration specifying which data was used for initialization
+    enum class InitMethod
+    {
+        TOTALFORCE,
+        FORCESVECTOR
+    };
+    InitMethod m_initMethod;
 };
 
 template <>
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl
index 4e0b34c6ea1..480d5a836d1 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/ConstantForceField.inl
@@ -58,12 +58,12 @@ ConstantForceField<DataTypes>::ConstantForceField()
 
     sofa::core::objectmodel::Base::addUpdateCallback("updateFromForcesVector", {&d_forces, &d_indices}, [this](const core::DataTracker& )
     {
-        if(!m_isTotalForceUsed)
+        if(m_initMethod == InitMethod::FORCESVECTOR)
         {
             msg_info() << "dataInternalUpdate: data forces has changed";
             return updateFromForcesVector();
         }
-        else
+        else if(m_initMethod == InitMethod::TOTALFORCE)
         {
             msg_info() << "totalForce data is initially used, the callback associated with the forces vector is skipped";
             return updateFromTotalForce();
@@ -72,12 +72,12 @@ ConstantForceField<DataTypes>::ConstantForceField()
 
     sofa::core::objectmodel::Base::addUpdateCallback("updateFromTotalForce", {&d_totalForce, &d_indices}, [this](const core::DataTracker& )
     {
-        if(m_isTotalForceUsed)
+        if(m_initMethod == InitMethod::TOTALFORCE)
         {
             msg_info() << "dataInternalUpdate: data totalForce has changed";
             return updateFromTotalForce();
         }
-        else
+        else if(m_initMethod == InitMethod::FORCESVECTOR)
         {
             msg_info() << "forces data is initially used, the callback associated with the totalForce is skipped";
             return updateFromForcesVector();
@@ -89,15 +89,16 @@ ConstantForceField<DataTypes>::ConstantForceField()
 template<class DataTypes>
 void ConstantForceField<DataTypes>::init()
 {
-    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-       
+    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+
+
+    /// Check link to topology
     if (l_topology.empty())
     {
         msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
         l_topology.set(this->getContext()->getMeshTopologyLink());
     }
 
-    // temprory pointer to topology
     if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get())
     {
         msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
@@ -115,23 +116,23 @@ void ConstantForceField<DataTypes>::init()
     }
 
 
-
-    /// Check on data isSet()
+    /// Check which input data isSet() to define force initialization
     if (d_forces.isSet())
     {
         if(d_totalForce.isSet())
         {
-            msg_warning() <<"Both data \'forces\' and \'totalForce\' cannot be used simultaneously, please set only one of them to remove this warning";
+            msg_warning() <<"Both data \'forces\' and \'totalForce\' cannot be used simultaneously.\n"
+                         << "Vector \'forces\' is used. Please set only one force input to remove this warning";
         }
 
-        m_isTotalForceUsed = false;
+        m_initMethod = InitMethod::FORCESVECTOR;
         d_totalForce.setReadOnly(true);
 
         msg_info() << "Input vector forces is used for initialization";
     }
     else if (d_totalForce.isSet())
     {
-        m_isTotalForceUsed = true;
+        m_initMethod = InitMethod::TOTALFORCE;
         d_forces.setReadOnly(true);
 
         msg_info() << "Input totalForce is used for initialization";
@@ -152,11 +153,14 @@ void ConstantForceField<DataTypes>::init()
         std::iota (std::begin(indicesEdit), std::end(indicesEdit), 0);
     }
 
-    // init from ForceField
+
+    /// init from ForceField
     Inherit::init();
 
-    // if all init passes, component is valid
-    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+
+    /// Trigger callbacks to update data (see constructor)
+    if(!this->isComponentStateValid())
+        msg_error() << "Initialization process is invalid";
 }
 
 
@@ -370,6 +374,9 @@ void ConstantForceField<DataTypes>::addForce(const core::MechanicalParams* param
 template <class DataTypes>
 SReal ConstantForceField<DataTypes>::getPotentialEnergy(const core::MechanicalParams* params, const DataVecCoord& x) const
 {
+    if(!this->isComponentStateValid())
+        return 0_sreal;
+
     SOFA_UNUSED(params);
     const VecIndex& indices = d_indices.getValue();
     const VecDeriv& f = d_forces.getValue();
@@ -399,11 +406,14 @@ SReal ConstantForceField<DataTypes>::getPotentialEnergy(const core::MechanicalPa
 template <class DataTypes>
 void ConstantForceField<DataTypes>::setForce(unsigned i, const Deriv& force)
 {
-    if(m_isTotalForceUsed)
+    if(!this->isComponentStateValid())
+        return;
+
+    if(m_initMethod == InitMethod::TOTALFORCE)
     {
         msg_warning() << "\'forces\' vector is modified using setForce() while totalMass is initially used. "
                       << "Now the 'forces\' vector is used.";
-        m_isTotalForceUsed = false;
+        m_initMethod = InitMethod::FORCESVECTOR;
     }
 
     auto indices = sofa::helper::getWriteAccessor(d_indices);
diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in
index 8bd4efad18f..23749c09ce1 100644
--- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in
+++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/config.h.in
@@ -51,7 +51,7 @@ namespace sofa::component::mechanicalload
 #else
 #define SOFA_ATTRIBUTE_DISABLED__CONSTANTFF_FORCE_DATA() \
     SOFA_ATTRIBUTE_DISABLED( \
-    "v23.12 (PR#XXXX)", "v24.06",\
+    "v23.12 (PR#4019)", "v24.06",\
     "The \'force\' data is no longer used, please use the \'forces\' vector instead (with size = 1).")
 #endif
 
diff --git a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
index e97efd5fff3..80a2ffaa362 100644
--- a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp
@@ -93,7 +93,7 @@ struct ConstantForceField_test : public BaseSimulationTest, NumericTest<typename
                  "   <CGLinearSolver iterations=\"25\" tolerance=\"1e-5\" threshold=\"1e-5\"/>   \n"
                  "   <EulerImplicitSolver/>                                                      \n"
                  "   <MechanicalObject name='mstate' size='2' template='"<<  DataTypes::Name() << "'/> \n"
-                 "   <UniformMass/>                                                                    \n"
+                 "   <UniformMass totalMass='1.0'/>                                                                    \n"
                  "   <ConstantForceField name='myForceField' indices='0' totalForce='"<< defaultValueForces << "'/>        \n"
                  "</Node>                                                                                                                                                               \n" ;
 
diff --git a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
index a599e9926ff..e78755301d8 100644
--- a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
+++ b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
@@ -149,8 +149,8 @@ struct PlaneForceField_test : public BaseSimulationTest
         m_mechanicalObj->x.setValue(points);
 
         typename TypedUniformMass::SPtr uniformMass = New<TypedUniformMass>();
-        m_root->addObject(uniformMass);
         uniformMass->d_totalMass.setValue(1);
+        m_root->addObject(uniformMass);
 
         /*Create the plane force field*/
         m_planeForceFieldSPtr = New<PlaneForceFieldType>();
diff --git a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h
index 5c4c221dec9..deb9b6aa8df 100644
--- a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h
+++ b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h
@@ -62,7 +62,7 @@ PatchTestStruct<DataTypes> createRegularGridScene(
     PatchTestStruct<DataTypes> patchStruct;
     typedef typename DataTypes::Real Real;
     typedef typename component::statecontainer::MechanicalObject<DataTypes> MechanicalObject;
-    typedef typename sofa::component::mass::UniformMass <DataTypes> UniformMass;
+    typedef typename sofa::component::mass::UniformMass<DataTypes> UniformMass;
     typedef component::topology::container::grid::RegularGridTopology RegularGridTopology;
     typedef typename component::engine::select::BoxROI<DataTypes> BoxRoi;
     typedef typename sofa::component::engine::select::PairBoxROI<DataTypes> PairBoxRoi;
@@ -90,6 +90,7 @@ PatchTestStruct<DataTypes> createRegularGridScene(
 
     // Mass
     typename UniformMass::SPtr mass = modeling::addNew<UniformMass>(SquareNode,"mass");
+    mass->d_totalMass.setValue(1.0);
 
     // Regular grid topology
     const RegularGridTopology::SPtr gridMesh = modeling::addNew<RegularGridTopology>(SquareNode,"loader");
diff --git a/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp b/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
index a8ab5d8040c..53507e22024 100644
--- a/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
+++ b/Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
@@ -222,7 +222,12 @@ struct Scene_test: public NumericTest<SReal>
 
         root = simulation::getSimulation()->createNewGraph("root");
         root->addObject(core::objectmodel::New<InstrumentedObject<MechanicalObject3> >());
+
+        typename UniformMass3::SPtr uniformMass = core::objectmodel::New<UniformMass3>();
+        uniformMass->d_totalMass.setValue(1.0);
+        root->addObject(uniformMass);
         root->addObject(core::objectmodel::New<InstrumentedObject<UniformMass3> >());
+
         const simulation::Node::SPtr child  = simulation::getSimulation()->createNewNode("child");
         root->addChild(child);
         child->addObject(core::objectmodel::New<InstrumentedObject<MechanicalObject3> >());
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
index 8b451789701..ed90b00f819 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn
@@ -42,13 +42,13 @@
 		</Node>
 		<Node 	 name="Floor"  >
 			<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 -20 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="uniformMass63" />
+			<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 			<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 			<Node 	 name="TRIANGLE"  >
 				<MeshOBJLoader name="loader"  filename="mesh/SaladBowl.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="the_bowl"  src="@loader" scale3d="100 100 100"/>
-				<UniformMass template="Vec3d" name="Mass"  mass="0.33333" />
+				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 				<RigidMapping template="Rigid3d,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@the_bowl" />
 				<BulletTriangleModel template="Vec3d" name="tTriangleModel1"  selfCollision="0" margin="1"/>
 			</Node>
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
index d4d284f4e3c..96be6a23841 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn
@@ -12,7 +12,7 @@
 	<BulletIntersection contactDistance="5"/>
 	<Node 	 name="Dragon"  >
 		<MechanicalObject template="Rigid3d" name="mObject0"  position="0 0 50 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"  reserve="1" />
-		<UniformMass template="Rigid3d" name="uniformMass0" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<Node 	 name="Dragon2"  >
 			<!-- <MeshOBJLoader name="loader"  filename="mesh/SimpleThinCube.obj" /> -->
 			<MeshOBJLoader name="loader"  filename="mesh/dragon.obj" />
@@ -25,13 +25,13 @@
 	</Node>
 	<Node 	 name="Floor"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0 0 0 1"/>
-		<UniformMass template="Rigid3d" name="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 			<Node 	 name="TRIANGLE"  >
 				<MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 				<!-- <MechanicalObject template="Vec3d" name="fix"  position="-2 0 -2 -2 0 2 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" reserve="0" /> -->
 				<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"  mass="0.33333" />
+				<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"/>
 			</Node>
diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
index 5c549726185..6199dab1921 100644
--- a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
+++ b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn
@@ -27,12 +27,12 @@
 		<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" />
-			<UniformMass template="Vec3d" name="Mass"  mass="0.33" />
+			<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"  mass="0.33333" />
+				<UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 				<TBulletSphereModel template="Vec3d" name="tBulletTriangleModel2"  proximity="0"  margin="0.04" />
 				<FixedProjectiveConstraint template="Vec3d" name="fixedProjectiveConstraint0"  indices="0 1 2" />
 			</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn
index a3b22ccb2ba..5c5a355e743 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="-0.5 0 0 0.5 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn
index be3d5623649..8247b27df9d 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn
@@ -25,13 +25,13 @@
         <CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="Capsule"  position="-0.5 0 -0.5 0.5 0 0.5"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn
index f067b42d1a9..d8c1341a3e8 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="-0.5 0 0 0.5 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn
index b4bd1bff158..950d442f1be 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.3 0 5 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 0 0 0 2"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn
index 8b5f3fd8f50..1404d550cb3 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 0.17592 0.424708 0.339851 0.820473"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="-1 0 0 1 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn
index 74699c66456..0156e171b6a 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn
@@ -25,13 +25,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8 0.17592 0.424708 0.339851 0.820473"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 0"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<Node 	 name="gNode19"  >
 			<MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 -0.5 0 0 0.5"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  reserve="0" />
 			<MeshTopology name="meshTopology34"  edges="0 1 "  drawEdges="1" />
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn
index 6e30f739230..7723d4da822 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.5 0 5 0.577 0.577 0 0.577"  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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn
index b3b6f6f3737..ee8ef4934d2 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn
@@ -23,12 +23,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn
index 98404d9e504..1690541caeb 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16"  extents="1 2 3" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.5 0 5 0.577 0.577 0 0.577"  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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn
index cb722ba85a4..7736eec3273 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn
@@ -23,12 +23,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0.5 0 0 0.577 0.577 0 0.577"  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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16"/>
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn
index 8809f875aca..809224ca112 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.270598 0.653281 0.270598 0.653282"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0.270598 0.653281 0.270598 0.653282"  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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn
index 39ba344e353..4240e5e596d 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.17592 0.424708 0.339851 0.820473"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0.270598 0.653281 0.270598 0.653282"  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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn
index a8281fd12f9..fc81e303e34 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn
@@ -23,13 +23,13 @@
 	<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.270598 0.653281 0.270598 0.653282"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn
index 48bff4ce98e..5829ce2a174 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn
@@ -23,13 +23,13 @@
         <CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.17592 0.424708 0.339851 0.820473"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 0.17592 0.424708 0.339851 0.820473"  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="uniformMass63" />
+		<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel15" />
 	</Node>
 </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn
index 3986adc9c3b..f7b230d63bd 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 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" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn
index 6958086322e..75f980942b6 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 10"  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" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.577 0.577 0 0.577"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn
index fb19177217f..ea5a0b35344 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 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" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.270598 0.653281 0.270598 0.653282"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn
index e1131d724bc..5c07c969836 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn
@@ -24,12 +24,12 @@
 	<CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Vec3d" name="obstacle_particle"  position="0 0 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" />
+		<UniformMass template="Vec3d" name="Mass" totalMass="1.0"/>
 		<SphereCollisionModel template="Vec3d" name="tSphereModel46"  radius="1" />
 	</Node>
 	<Node 	 name="gNode4"  gravity="0 0 -9.81"  >
 		<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -10 0.17592 0.424708 0.339851 0.820473"  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" />
+		<UniformMass template="Rigid3d" name="uniformMass0" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 		<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
 	</Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn
index 013b2b8509c..e0e4969120e 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 -2 0 -2 2 0 2 0 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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -5 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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn
index 1fc60715158..509983e8468 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="0 -2 0 0 2 0 2 0 2"  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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn
index 940298e3d69..285651e85eb 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 0 0 2 0 0 2 0 2"  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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn
index 182c5ef73da..21984e2ba86 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="0 0 0 -2 0 2 2 0 2"  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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.270598 0.653281 0.270598 0.653282"  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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn
index 73e1e1535ef..338df366e8e 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 0 -2 -2 0 2 2 0 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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -5 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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn
index 4db77349d71..a30bd8a635f 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="0 -2 0 0 2 0 2 0 2"  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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.17592 0.424708 0.339851 0.820473"  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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn
index e25636aae4e..9b3e5713677 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn
@@ -26,18 +26,18 @@
   <NewProximityIntersection name="newProximityIntersection0" alarmDistance="1" contactDistance="0.5"/>
   <Node 	 name="RigMec"  gravity="0 0 0"  >
 	<MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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="uniformMass63" />
+	<UniformMass template="Rigid3d" name="uniformMass63" totalMass="1.0"/>
 	<Node 	 name="TRIANGLE"  >
 	  <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
 	  <MechanicalObject template="Vec3d" name="falling_particle"  position="-2 -2 0 -2 2 0 2 0 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"  mass="0.33333" />
+	  <UniformMass template="Vec3d" name="Mass"  vertexMass="0.33333" />
 	  <TriangleCollisionModel template="Vec3d" name="tTriangleModel12"  bothSide="1" />
 	  <RigidMapping template="Rigid,Vec3d" name="rigidMap1"  input="@../rigidDOF"  output="@falling_particle" />
 	</Node>
   </Node>
   <Node 	 name="OBB"  gravity="0 0 -9.81"  >
 	<MechanicalObject template="Rigid3d" name="mObject37"  position="0 0 -8  0.17592 0.424708 0.339851 0.820473"  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"  mass="1 1 [1 0 0,0 1 0,0 0 1]" />
+	<UniformMass template="Rigid3d" name="uniformMass0"  vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
 	<FixedProjectiveConstraint template="Rigid3d" name="fixedProjectiveConstraint0"  indices="0" />
 	<OBBCollisionModel template="Rigid3d" name="tOBBModel16" />
   </Node>
diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn
index 452b69386b4..6a83a452bf0 100644
--- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn
+++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn
@@ -26,7 +26,7 @@
 
     <Node name="RigMec" gravity="0 0 0" >
         <MechanicalObject template="Rigid3d" name="rigidDOF"  position="0 0 0 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 name="uniformMass63" />
+        <UniformMass name="uniformMass63" totalMass="1.0"/>
 
         <Node name="TRIANGLE" >
             <MeshTopology name="meshTopology35"  edges="2 0  1 2  0 1 "  triangles="0 1 2 "  drawEdges="1"  drawTriangles="1" />
diff --git a/applications/plugins/Haption/exemple/haption1.scn b/applications/plugins/Haption/exemple/haption1.scn
index 4e6a67741c5..528622522c0 100644
--- a/applications/plugins/Haption/exemple/haption1.scn
+++ b/applications/plugins/Haption/exemple/haption1.scn
@@ -50,7 +50,7 @@
 		<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 		<SparseGridTopology name="Embedded Sparse Grid"  fileTopology="mesh/liver.obj"  n="7 6 5" />
 		<MechanicalObject template="Vec3d" name="Particles"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" />
-		<UniformMass template="Vec3d" name="Mass"  mass="0.1"  totalMass="2" />
+		<UniformMass template="Vec3d" name="Mass"  vertexMass="0.1"  totalMass="2" />
 		<PrecomputedConstraintCorrection template="Vec3d" name="precomputedConstraintCorrection0"  rotations="1" />
 		<HexahedronFEMForceField template="Vec3d" name="FEM"  poissonRatio="0.45"  youngModulus="3" />
 		<Node 	name="VisualNode" gravity="0 -9.81 0" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
@@ -72,7 +72,7 @@
 		<EulerImplicitSolver name="cg_odesolver"  printLog="0"  rayleighStiffness="0.001"  rayleighMass="30" />
 		<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="25"  tolerance="1e-009"  threshold="1e-015" />
 		<MechanicalObject template="Rigid3d" name="mechanicalObject2"  position="0 0 0 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"  showObjectScale="0.1"  showIndicesScale="0.0001"  translation="10 0 0"  scale3d="1 1 1" />
-		<UniformMass template="Rigid3d" name="uniformMass1"  mass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
+		<UniformMass template="Rigid3d" name="uniformMass1"  vertexMass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
 		<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection1" />
 		<Node 	name="Visu" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
 			<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj"  rotation="90 0 0"  scale3d="1 1 1" handleSeams="1" />
diff --git a/applications/plugins/Haption/exemple/temp1.scn b/applications/plugins/Haption/exemple/temp1.scn
index 144b7ceec19..359a4a7df86 100644
--- a/applications/plugins/Haption/exemple/temp1.scn
+++ b/applications/plugins/Haption/exemple/temp1.scn
@@ -50,7 +50,7 @@
 		<CGLinearSolver template="GraphScattered" iterations="25" tolerance="1e-5" threshold="1e-5" name="Conjugate Gradient"/>
 		<SparseGridTopology name="Embedded Sparse Grid"  fileTopology="mesh/liver.obj"  n="7 6 5" />
 		<MechanicalObject template="Vec3d" name="Particles"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" />
-		<UniformMass template="Vec3d" name="Mass"  mass="0.1"  totalMass="2" />
+		<UniformMass template="Vec3d" name="Mass"  vertexMass="0.1"  totalMass="2" />
 		<PrecomputedConstraintCorrection template="Vec3d" name="precomputedConstraintCorrection0"  rotations="1" />
 		<HexahedronFEMForceField template="Vec3d" name="FEM"  poissonRatio="0.45"  youngModulus="3" />
 		<Node 	name="VisualNode" gravity="0 -9.81 0" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
@@ -72,7 +72,7 @@
 		<EulerImplicitSolver name="cg_odesolver"  printLog="0"  rayleighStiffness="0.001"  rayleighMass="30" />
 		<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="25"  tolerance="1e-009"  threshold="1e-015" />
 		<MechanicalObject template="Rigid3d" name="mechanicalObject2"  position="0 0 0 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"  showObjectScale="0.1"  showIndicesScale="0.0001"  translation="10 0 0"  scale3d="1 1 1" />
-		<UniformMass template="Rigid3d" name="uniformMass1"  mass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
+		<UniformMass template="Rigid3d" name="uniformMass1"  vertexMass="0.01 1 [1 0 0,0 1 0,0 0 1]" />
 		<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection1" />
 		<Node 	name="Visu" showVisualModels="1" showBehaviorModels="0" showCollisionModels="0" showBoundingCollisionModels="0" showMappings="0" showMechanicalMappings="0" showForceFields="0" showInteractionForceFields="0" showWireFrame="0" showNormals="0"  >
 			<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj"  rotation="90 0 0"  scale3d="1 1 1" handleSeams="1" />
diff --git a/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn b/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn
index f1a820d9596..f0a2c46f003 100644
--- a/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn
+++ b/applications/plugins/SofaCUDA/examples/SPHFluid2CUDA.scn
@@ -113,7 +113,7 @@
  0.099457 0.345314 0
 "		        translation="3 9 0" radius="0 0 0" velocity="0 0 -15" delay="0.013333" start="-0.04" stop="4" />
 
-		<UniformMass name="M1" mass="1" />
+		<UniformMass name="M1" vertexMass="1" />
 		<PlaneForceField damping="0" normal="1 0 0" d="-5" />
 		<PlaneForceField damping="0" normal="-1 0 0" d="-11" />
 		<PlaneForceField damping="0" normal="0 1 0" d="0" />
diff --git a/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn b/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn
index a1c04a6e1c1..c90b41b2a9d 100644
--- a/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn
+++ b/applications/plugins/SofaCUDA/examples/SPHFluidForceFieldCUDA.scn
@@ -14,7 +14,7 @@
 			ymin="-3" ymax="12"
 			zmin="-1.5" zmax="0"
 		/>
-		<UniformMass name="M1" mass="1" />
+		<UniformMass name="M1" vertexMass="1" />
 		<SpatialGridContainer cellWidth="1.5" />
 		<SPHFluidForceField radius="0.75" density="15" viscosity="10" pressure="1000" surfaceTension="-1000" />
 		<!-- The following force fields handle collision with walls and an inclined floor -->
diff --git a/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn b/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn
index ab8437c24cd..a22d61d7e7f 100644
--- a/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn
+++ b/applications/plugins/SofaOpenCL/examples/PCISPHFluidForceFieldCPU.scn
@@ -15,7 +15,7 @@
 			zmin="-1.5" zmax="1.5"
 		/>
 <!---->
-		<UniformMass name="M1" mass="1" />
+		<UniformMass name="M1" vertexMass="1" />
 		<SpatialGridContainer cellWidth="1.5" />
 		<!-- The following force fields handle collision with walls and an inclined floor -->
 		<PlaneForceField normal="1.0 0 0" d="-4.0"/>
diff --git a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn
index a11bac2929f..d888792de76 100644
--- a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn
+++ b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn
@@ -14,7 +14,7 @@
         <EulerImplicitSolver name="solver"  printLog="0"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
 	<MechanicalObject template="Vec3d" name="DOF"  position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  velocity="0 0 0 0 0 0 0 0 0 0 0 0"  force="0 0 0 0 0 0 0 0 0 0 0 0"  externalForce="0 0 0 0 0 0 0 0 0 0 0 0"  derivX="0 0 0 0 0 0 0 0 0 0 0 0"  free_position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  free_velocity="0 0 0 0 0 0 0 0 0 0 0 0"  rest_position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  reset_position="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66"  restScale="1"  showObject="1"  showObjectScale="10" />
-	<UniformMass template="Vec3d" name="mass"  mass="2"  totalMass="8" />
+        <UniformMass template="Vec3d" name="mass"  totalMass="8" />
 	<MeshTopology name="mesh topology"  edges="0 1  0 2  0 3  1 2  1 3  2 3 "  triangles="1 3 2  0 2 3  0 3 1  0 1 2 "  tetrahedra="0 1 2 3 " />
 	<FixedProjectiveConstraint template="Vec3d" name="constraints"  indices="0 0" />
 	<TetrahedronFEMForceField template="Vec3d" name="FEM"  initialPoints="0 10 0 10 0 0 -5 0 8.66 -5 0 -8.66" poissonRatio="0.45" method="polar"  youngModulus="6"  updateStiffnessMatrix="1"  gatherPt=" "  gatherBsize=" " />
diff --git a/applications/plugins/Xitact/examples/XitactGrasping.scn b/applications/plugins/Xitact/examples/XitactGrasping.scn
index 58c579e5a53..a2b37a124ca 100644
--- a/applications/plugins/Xitact/examples/XitactGrasping.scn
+++ b/applications/plugins/Xitact/examples/XitactGrasping.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" listening="1" permanent="1"/>
@@ -113,7 +113,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn b/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
index 686e04e1301..3725346d2fe 100644
--- a/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
+++ b/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="0" permanent="1"/>
@@ -112,7 +112,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
index 49de0119ea9..6431ef2d7d9 100644
--- a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
+++ b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="0"/>
@@ -111,7 +111,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
@@ -220,7 +220,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="1"/>
@@ -228,7 +228,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
index 8ab8fa62483..c9c2a905e1f 100644
--- a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
+++ b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
@@ -25,7 +25,7 @@
 		<EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighMass="30"  rayleighStiffness="0.001"/>
     <CGLinearSolver iterations="25" threshold="1.0e-15"  tolerance="1.0e-9" />
     <MechanicalObject template="Rigid3d" scale="5.0"  dx="40.0" dy="0.0" dz="-70.0"/>
-		<UniformMass mass="0.01"/>
+		<UniformMass vertexMass="0.01"/>
     <!--<LinearSolverConstraintCorrection />-->
     <UncoupledConstraintCorrection />
 		<Node name="Visu">
@@ -103,7 +103,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="0"/>
@@ -111,7 +111,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
@@ -220,7 +220,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <IHPDriver Scale="1000" toolIndex="1"/>
@@ -228,7 +228,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
@@ -337,7 +337,7 @@
 
     <Node name="Grasper">
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
       <UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
       <ITPDriver Scale="1000" toolIndex="2"/>
@@ -345,7 +345,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="1" rx="90.0" />
diff --git a/applications/plugins/Xitact/examples/xitactTest.scn b/applications/plugins/Xitact/examples/xitactTest.scn
index 895163277bd..8b9ce1ecf9a 100644
--- a/applications/plugins/Xitact/examples/xitactTest.scn
+++ b/applications/plugins/Xitact/examples/xitactTest.scn
@@ -33,7 +33,7 @@
     <Node name="Grasper">
       <IHPDriver toolIndex="0" permanent="true" RefreshFrequency="500" forceScale="0.1"/>
       <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
-      <!--	<UniformMass mass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+      <!--	<UniformMass vertexMass="10.0 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
       <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000 1000 1000 10000 1000 1000 " />
       <UncoupledConstraintCorrection compliance="0.01 0.01 0.01 0.0001 0.001 0.001 " />
       <VMechanismsForceFeedback activate="true"/>
@@ -42,7 +42,7 @@
 
       <Node name="Jaws">
         <MechanicalObject name="GrasperDOFs" template="Rigid3d" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1  "/>
-        <!--	<UniformMass mass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
+        <!--	<UniformMass vertexMass="0.1 1  2.0 0 0  0 10.0 0  0 0 10.0"/>	-->
 
         <Node name="Tool1VM">
           <OglModel name="VM" fileMesh="dt/aspi.trian" scale="0.001" rx="90.0" />
diff --git a/applications/plugins/image/examples/ImageToRigidMass.scn b/applications/plugins/image/examples/ImageToRigidMass.scn
index f00b3b4cdd7..2c3e8196fa7 100644
--- a/applications/plugins/image/examples/ImageToRigidMass.scn
+++ b/applications/plugins/image/examples/ImageToRigidMass.scn
@@ -32,10 +32,10 @@
   	<MechanicalObject template="Rigid3d" position="@../imagemass.position" showObject="0" showObjectScale="1"/>
 
 <!--COMPLIANT API-->
-<!--  	<RigidMass template="Rigid3d" inertia="@../imagemass.inertia" mass="@../imagemass.mass" draw="1" /> -->
+<!--  	<RigidMass template="Rigid3d" inertia="@../imagemass.inertia" vertexMass="@../imagemass.mass" draw="1" /> -->
 
 <!--SOFA API-->
-  	<UniformMass template="Rigid3d" mass="@../imagemass.rigidMass" showAxisSizeFactor="1"/>
+  	<UniformMass template="Rigid3d" vertexMass="@../imagemass.rigidMass" showAxisSizeFactor="1"/>
 	
 	<Node 	name="visual" >
   		<MechanicalObject name="dofs"  position="@../../mesh.position" /> 
diff --git a/applications/plugins/image/examples/sampler_Frames.scn b/applications/plugins/image/examples/sampler_Frames.scn
index d38ec823ba1..c2f46d7e643 100644
--- a/applications/plugins/image/examples/sampler_Frames.scn
+++ b/applications/plugins/image/examples/sampler_Frames.scn
@@ -25,7 +25,7 @@
 -->
 
 	  <MechanicalObject  template="Rigid3d" name="DOFs" src="@sampler" />
-	  <UniformMass template="Rigid3d" name="mass"  mass="50 50 [1 0 0,0 1 0,0 0 1]" showAxisSizeFactor='0.5'/>
+	  <UniformMass template="Rigid3d" name="mass"  vertexMass="50 50 [1 0 0,0 1 0,0 0 1]" showAxisSizeFactor='0.5'/>
 	<MeshOBJLoader name="meshLoader_0" filename="mesh/Armadillo_simplified.obj" handleSeams="1" />
 	<OglModel name="Visual" src="@meshLoader_0" color="0.5 0.8 0.5 0.6"/>
 </Node>
diff --git a/examples/Benchmark/Analysis/constantMomentum.scn b/examples/Benchmark/Analysis/constantMomentum.scn
index 3c7b5347b71..d2ea9f497eb 100644
--- a/examples/Benchmark/Analysis/constantMomentum.scn
+++ b/examples/Benchmark/Analysis/constantMomentum.scn
@@ -72,7 +72,7 @@
 		      7 3.5 0
 		      7 3.5 3.5"
 		/>
-		<UniformMass/>
+		<UniformMass totalMass="1.0"/>
 		<include href="Objects/internalSpringsCube.xml" InternalSprings__name="InternalSprings1" />
 	</Node>
 
@@ -138,7 +138,7 @@
 		      7 3.5 0
 		      7 3.5 3.5"
 		/>
-		<UniformMass/>
+		<UniformMass totalMass="1.0"/>
 		<include href="Objects/internalSpringsCube.xml" InternalSprings__name="InternalSprings1" />
 	</Node>
 	    
diff --git a/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn b/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn
index 450d741a510..4c417f0ee49 100644
--- a/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn
+++ b/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn
@@ -33,7 +33,7 @@
             <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="2.5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_3" color="gray" />
@@ -51,7 +51,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_0" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_0" color="gray" />
@@ -69,7 +69,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="7.5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_1" color="gray" />
@@ -87,7 +87,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="10" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_2" color="gray" />
diff --git a/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn b/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn
index c4af413bbb2..78937b2fd67 100644
--- a/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn
+++ b/examples/Component/Constraint/Projective/AttachProjectiveConstraintMatrix.scn
@@ -33,7 +33,7 @@
 			<EulerImplicitSolver name="cg_odesolver" printLog="false"/>
 			<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9"/>
 			<MechanicalObject/>
-			<UniformMass mass="1"/>
+			<UniformMass vertexMass="1"/>
 			<RegularGridTopology nx="4" ny="4" nz="10" xmin="1" xmax="4" ymin="0" ymax="3" zmin="18" zmax="27"/>
 			<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3"/>
 		</Node>
@@ -62,7 +62,7 @@
 			<EulerImplicitSolver name="cg_odesolver" printLog="false"/>
 			<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9"/>
 			<MechanicalObject/>
-			<UniformMass mass="1"/>
+			<UniformMass vertexMass="1"/>
 			<RegularGridTopology nx="4" ny="4" nz="10" xmin="-4" xmax="-1" ymin="0" ymax="3" zmin="18" zmax="27"/>
 			<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3"/>
 		</Node>
diff --git a/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn b/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
index dff0cbf791f..6ad955b2326 100644
--- a/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
+++ b/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
@@ -25,10 +25,10 @@
             <MechanicalObject template="Rigid3" name="default0" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1" />
             <FixedProjectiveConstraint template="Rigid3" name="default1" indices="0" />
             <FixedRotationProjectiveConstraint template="Rigid3" name="default2" FixedXRotation="0" FixedYRotation="0" FixedZRotation="1" />
-            <UniformMass name="default3" showAxisSizeFactor="1" />
+            <UniformMass name="default3" showAxisSizeFactor="1" totalMass="1.0"/>
             <Node name="spring" gravity="0 -9.81 0">
                 <MechanicalObject template="Rigid3" name="default4" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 -1 0 0 0 0 0 1" />
-                <UniformMass name="default54" showAxisSizeFactor="1" />
+                <UniformMass name="default54" showAxisSizeFactor="1" totalMass="1.0"/>
                 <RigidMapping template="Rigid3,Rigid3" name="default1" rigidIndexPerPoint="1 1" axisLength="0.001" />
                 <JointSpringForceField template="Rigid3" name="default5" spring="BEGIN_SPRING  0 1  KS_T 1e+06 100000  KS_R 0 1000  KS_B 100  END_SPRING&#x0A;" />
             </Node>
@@ -36,10 +36,10 @@
         <Node name="Rotation around Z axis is free" gravity="0 -9.81 0">
             <MechanicalObject template="Rigid3" name="default6" translation="0 0 0" rotation="0 0 0" restScale="1" position="3 0 0 0 0 0 1 4 0 0 0 0 0 1" />
             <FixedProjectiveConstraint template="Rigid3" name="default7" indices="0" />
-            <UniformMass name="default54" showAxisSizeFactor="1" />
+            <UniformMass name="default54" showAxisSizeFactor="1" totalMass="1.0"/>
             <Node name="spring" gravity="0 -9.81 0">
                 <MechanicalObject template="Rigid3" name="default9" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 -1 0 0 0 0 0 1" />
-                <UniformMass name="default10" showAxisSizeFactor="1" />
+                <UniformMass name="default10" showAxisSizeFactor="1" totalMass="1.0"/>
                 <RigidMapping template="Rigid3,Rigid3" name="default11" rigidIndexPerPoint="1 1" axisLength="0.001" />
                 <JointSpringForceField template="Rigid3" name="default12" spring="BEGIN_SPRING  0 1  END_SPRING&#x0A;" />
             </Node>
diff --git a/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn b/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn
index ebf9b35dcdd..3df33cffcc1 100644
--- a/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn
+++ b/examples/Component/Constraint/Projective/OscillatorProjectiveConstraint_rigid.scn
@@ -10,13 +10,13 @@
 
     <Node name="Point Oscillator"  >
         <MechanicalObject template="Vec3" name="mech" position="0 0 0"  velocity="1 0 0"  force="1 0 0" externalForce="1 0 0" derivX="1 0 0"  restScale="1" />
-        <UniformMass name="m" />
+        <UniformMass name="m" totalMass="1.0"/>
         <OscillatorProjectiveConstraint template="Vec3" name="osc"  oscillators="0  1 1 1  1 0 0  1 5" />
     </Node>
 
     <Node name="Rigid Oscillator" >
         <MechanicalObject template="Rigid3" name="mech2" position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0" />
-        <UniformMass name="m2" />
+        <UniformMass name="m2" totalMass="1.0"/>
         <OscillatorProjectiveConstraint template="Rigid3" name="osc2" oscillators="0  1 1 0 0 0 0 1   0 1 1 0 0.707 0.707  1 5" />
     </Node>
 
diff --git a/examples/Component/Engine/Generate/MergeMeshes.scn b/examples/Component/Engine/Generate/MergeMeshes.scn
index bccdb3fc97a..2c86e7409d8 100644
--- a/examples/Component/Engine/Generate/MergeMeshes.scn
+++ b/examples/Component/Engine/Generate/MergeMeshes.scn
@@ -25,6 +25,6 @@
     	  
         <MeshTopology src="@basis" drawTriangles="1"/>
         <MechanicalObject showObject="1"/>
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Component/Engine/Select/MeshSplittingEngine.scn b/examples/Component/Engine/Select/MeshSplittingEngine.scn
index 9964396e546..9e47bc7013b 100644
--- a/examples/Component/Engine/Select/MeshSplittingEngine.scn
+++ b/examples/Component/Engine/Select/MeshSplittingEngine.scn
@@ -32,7 +32,7 @@
             <CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" printLog="0" />
             
             <MechanicalObject name="rigidframe" template="Rigid3" position="1 0 1 0 0 0 1" />
-            <UniformMass  />
+            <UniformMass totalMass="1.0"/>
             <FixedProjectiveConstraint indices="0"/>
             
             <Node name="rigidmapped points">
diff --git a/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn b/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn
index ac68e5a2029..6f5e51a86a0 100644
--- a/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn
+++ b/examples/Component/Engine/Select/SubsetTopology_subsetbehaviormodel.scn
@@ -29,7 +29,7 @@
         <EulerImplicitSolver name="cg_odesolver"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver template="GraphScattered" name="default18" iterations="100" tolerance="1e-05" threshold="1e-05"/>
         <MechanicalObject template="Rigid3" name="rigid" position="0 0 0 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" free_position="0 0 0 0 0 0 1" free_velocity="0 0 0 0 0 0" restScale="1" />
-        <UniformMass name="default0" />
+        <UniformMass name="default0" totalMass="1.0"/>
         <Node name="topology" gravity="0 -9.81 0">
             <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh" />
             <MeshTopology src="@loader" name="meshTopology" />
diff --git a/examples/Component/Engine/Transform/TransformPosition.scn b/examples/Component/Engine/Transform/TransformPosition.scn
index 5ae0742e113..f9077fcf805 100644
--- a/examples/Component/Engine/Transform/TransformPosition.scn
+++ b/examples/Component/Engine/Transform/TransformPosition.scn
@@ -28,7 +28,7 @@
         <SparseGridTopology name="grid" fileTopology="mesh/dragon.obj" n="7 6 5" />
         <TransformPosition name="transfo" method="fromFile" filename="transfo.tfm" input_position="@grid.position"/>
         <MechanicalObject  name="Particles" restScale="1" position="@transfo.output_position" />
-        <UniformMass  name="Mass" />
+        <UniformMass  name="Mass" totalMass="1.0"/>
         <PlaneForceField  name="Plane" normal="0 0 1" d="-10" />
         <HexahedronFEMForceField  name="FEM" youngModulus="200" poissonRatio="0.45"/>
         <Node name="VisualNode" gravity="0 -9.81 0">
diff --git a/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn b/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn
index 1288a343fcd..d7fde54e6d6 100644
--- a/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn
+++ b/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn
@@ -16,7 +16,7 @@
         <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject template="Rigid3" />
         <PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
-        <UniformMass template="Rigid3" name="mass" />
+        <UniformMass template="Rigid3" name="mass" totalMass="1.0"/>
         <Node name="child node with DOFs mapped from the parent">
             <MechanicalObject template="Vec3" name="endpoint coordinates" position="1 -0.0 0"  />
             <RigidMapping name="angle-coord mapping" input="@.." output="@." index="0" />
diff --git a/examples/Component/Mapping/NonLinear/RigidMapping.scn b/examples/Component/Mapping/NonLinear/RigidMapping.scn
index 341e623abc4..300fb830c98 100644
--- a/examples/Component/Mapping/NonLinear/RigidMapping.scn
+++ b/examples/Component/Mapping/NonLinear/RigidMapping.scn
@@ -50,7 +50,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_4" color="gray" texturename="textures/brushed_metal.bmp" />
@@ -68,7 +68,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="7.5" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_0" color="gray" texturename="textures/brushed_metal.bmp" />
@@ -86,7 +86,7 @@
             <EulerImplicitSolver />
             <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
             <MechanicalObject template="Rigid3" dx="10" />
-            <UniformMass />
+            <UniformMass totalMass="1.0"/>
             <Node name="Visu">
                 <MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
                 <OglModel name="Visual" src="@meshLoader_1" color="gray" texturename="textures/brushed_metal.bmp" />
diff --git a/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn b/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn
index f80e9ca2cc0..af9df9825fd 100644
--- a/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn
+++ b/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn
@@ -17,7 +17,7 @@
         <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject template="Rigid2" />
         <PartialFixedProjectiveConstraint fixedDirections="1 1 0" />
-        <UniformMass template="Rigid2" name="mass" />
+        <UniformMass template="Rigid2" name="mass" totalMass="1.0"/>
         <Node name="child node with DOFs mapped from the parent">
             <MechanicalObject template="Vec2" name="endpoint coordinates" position="1 0 "  />
             <RigidMapping template="" name="angle-coord mapping" input="@.." output="@." index="0" />
diff --git a/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn b/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
index cc1d920970c..6b09109dc7c 100644
--- a/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
+++ b/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
@@ -15,7 +15,7 @@
         <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" verbose="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
         <MechanicalObject template="Rigid3" />
         <PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
-        <UniformMass template="Rigid3" name="mass" />
+        <UniformMass template="Rigid3" name="mass" totalMass="1.0"/>
         <Node name="child node with DOFs mapped from the parent">
             <MechanicalObject template="Rigid3" name="endpoint coordinates" position="1 0 0 0 0 0 1"  />
             <RigidMapping name="angle-coord mapping" input="@.." output="@." index="0" />
diff --git a/examples/Component/Mass/UniformMass.scn b/examples/Component/Mass/UniformMass.scn
index 7de3a469e35..e312c9ecaa1 100644
--- a/examples/Component/Mass/UniformMass.scn
+++ b/examples/Component/Mass/UniformMass.scn
@@ -14,6 +14,7 @@
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    <RequiredPlugin name="Sofa.Component.Visual"/> 
 
     <CollisionPipeline verbose="0" name="CollisionPipeline" />
     <BruteForceBroadPhase/>
@@ -22,6 +23,8 @@
     <DiscreteIntersection />
     <DefaultAnimationLoop/>
 
+    <InteractiveCamera position="-2 2.6 17.9" orientation="0 0 0 1" distance="17.9" />
+
     <MeshGmshLoader name="loader" filename="mesh/liver.msh" />
     <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />
 
@@ -32,7 +35,7 @@
         <!-- Container for the tetrahedra-->
         <TetrahedronSetTopologyContainer name="TetraTopo" src="@../loader" />
         <TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
-        <UniformMass totalMass="60"  name="uniformlyConstantMass" />
+        <UniformMass totalMass="60" name="uniformlyConstantMass" printLog="1"/>
         <TetrahedralCorotationalFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.45" youngModulus="5000" />
         <FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="3 39 64" />
         
diff --git a/examples/Component/MechanicalLoad/ConstantForceField.scn b/examples/Component/MechanicalLoad/ConstantForceField.scn
index c564034920a..7f29d2bd1c7 100644
--- a/examples/Component/MechanicalLoad/ConstantForceField.scn
+++ b/examples/Component/MechanicalLoad/ConstantForceField.scn
@@ -34,7 +34,7 @@
         <EulerImplicitSolver rayleighStiffness="0.01" />
         <CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
         <MechanicalObject template="Rigid3" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
         <ConstantForceField indices="0" forces="0 0.10 0     0 1 0" />
         <Node name="Visu">
diff --git a/examples/Component/MechanicalLoad/LinearForceField.scn b/examples/Component/MechanicalLoad/LinearForceField.scn
index 8b811e39720..85780d88527 100644
--- a/examples/Component/MechanicalLoad/LinearForceField.scn
+++ b/examples/Component/MechanicalLoad/LinearForceField.scn
@@ -15,7 +15,7 @@
         <EulerExplicitSolver />
         <CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
         <MechanicalObject template="Rigid3" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
         <LinearForceField points="0" forces="0 0 0 0 0 0  1 0 0 0 0 0  -1 0 0 0 0 0  -1 0 0 0 0 0  0 0 0 0 0 0" force="2.0" times="0 4 8 10 12" />
         <Node name="Visu">
@@ -28,7 +28,7 @@
         <EulerExplicitSolver />
         <CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
         <MechanicalObject template="Rigid3" dx="2" dy="2" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
         <LinearForceField points="0" forces="0 0 0 0 0 0  0 1 0 0 0 0  0 -1 0 0 0 0  0 -1 0 0 0 0  0 0 0 0 0 0" force="2.0" times="0 4 8 10 12" />
         <Node name="Visu">
diff --git a/examples/Component/SolidMechanics/FEM/DampingForceField.scn b/examples/Component/SolidMechanics/FEM/DampingForceField.scn
index 01fba9bcbe9..2d69a008339 100644
--- a/examples/Component/SolidMechanics/FEM/DampingForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/DampingForceField.scn
@@ -17,20 +17,20 @@
 
     <Node name="noDamping (white)"  >
         <MechanicalObject name="mObject2"  position="0 0 0"  velocity="1 1 1"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  showObject="1"  showObjectScale="0.1"  drawMode="1" />
-        <UniformMass template="Vec3" name="uniformMass3" />
+        <UniformMass template="Vec3" name="uniformMass3" totalMass="1.0"/>
         <TrailRenderer template="Vec3" position="@mObject2.position" color="1 1 1 1"/>
     </Node>
 
     <Node name="uniform (green)"  >
         <MechanicalObject template="Vec3" name="mObject2"  position="0 0 0 0 0 0"  velocity="1 1 1 1 1 1"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1"  showObject="1"  showObjectScale="0.1"  drawMode="3" />
-        <UniformMass name="uniformMass3" />
+        <UniformMass name="uniformMass3" totalMass="1.0"/>
         <UniformVelocityDampingForceField template="Vec3" name="uniformVelocityDampingFF0" />
         <TrailRenderer template="Vec3" position="@mObject2.position" color="0 1 0 1"/>
     </Node>
 
     <Node name="diagonal (red)"  >
         <MechanicalObject template="Vec3" name="mObject2"  position="0 0 0 0 0 0"  velocity="1 1 1 1 1 1"  force="0 0 0 0 0 0"  externalForce="0 0 0 0 0 0"  derivX="0 0 0 0 0 0"  restScale="1"  showObject="1"  drawMode="2" />
-        <UniformMass name="uniformMass3" />
+        <UniformMass name="uniformMass3" totalMass="1.0"/>
         <DiagonalVelocityDampingForceField template="Vec3" name="diagonalVelocityDampingFF1"  dampingCoefficient="0.5 0.2 0.2 1 1 1" />
         <TrailRenderer template="Vec3" position="@mObject2.position" color="1 0 0 1"/>
     </Node>
diff --git a/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn b/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn
index 62ccba55d4c..f606597068c 100644
--- a/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn
@@ -23,7 +23,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />
 
         <BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
@@ -38,7 +38,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
@@ -61,7 +61,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
@@ -85,7 +85,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
@@ -109,7 +109,7 @@
         <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>
 
         <MechanicalObject name="mechObj"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
 
         <Node name="tetras">
             <TetrahedronSetTopologyContainer name="Container"/>
diff --git a/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn
index 6d0598f2161..4ea423a4263 100644
--- a/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn
+++ b/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn
@@ -1,135 +1,140 @@
 <?xml version="1.0" ?>
 <Node name="root" dt="0.005" showBoundingTree="0" gravity="0 -9 0">
-	<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
-	<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
-	<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
-	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
-	<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
-	<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
-	<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
-	<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
-	<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
-	<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [TetrahedronHyperelasticityFEMForceField] -->
-	<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
-	<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
-	<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
-	<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
-	<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [Visual3DText VisualStyle] -->
-
-	<VisualStyle displayFlags="showForceFields showBehaviorModels" />
-	<CollisionPipeline verbose="0" />
-	<BruteForceBroadPhase/>
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [TetrahedronHyperelasticityFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [Visual3DText VisualStyle] -->
+
+        <VisualStyle displayFlags="showForceFields showBehaviorModels" />
+        <CollisionPipeline verbose="0" />
+        <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-	<CollisionResponse response="PenalityContactForceField" />
-	<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-	<DefaultAnimationLoop/>
-	
-	<Node name="Corrotational">
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-		
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		<TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />
-		
-		<BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="Corrotational" position="1 0 -0.5" scale="0.2" />
-	</Node>
-	
-	<Node name="ArrudaBoyce">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="2 0 0 3 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="ArrudaBoyce" position="3 0 -0.5" scale="0.2" />
-	</Node>
-	
-	<Node name="StVenantKirchhoff">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="StVenantKirchhoff"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="4 0 0 5 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="StVenantKirchhoff" position="5 0 -0.5" scale="0.2" />
-	</Node>
-	
-	
-	<Node name="NeoHookean">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="NeoHookean"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="6 0 0 7 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="NeoHookean" position="7 0 -0.5" scale="0.2" />
-	</Node>
-	
-	
-	<Node name="MooneyRivlin">		
-		<EulerImplicitSolver name="cg_odesolver" printLog="false" />
-		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
-			
-		<RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>
-		
-		<MechanicalObject name="mechObj"/>
-		<MeshMatrixMass totalMass="1.0"/>
-		
-		<Node name="tetras">
-			<TetrahedronSetTopologyContainer name="Container"/>
-			<TetrahedronSetTopologyModifier name="Modifier" />
-			<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
-			<Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
-			
-			<TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="5000 7000 10" materialName="MooneyRivlin"/>
-		</Node>
-		
-		<BoxROI drawBoxes="1" box="8 0 0 9 1 0.05" name="box"/>
-		<FixedProjectiveConstraint indices="@box.indices"/>
-		<Visual3DText text="MooneyRivlin" position="9 0 -0.5" scale="0.2" />
-	</Node>
+        <CollisionResponse response="PenalityContactForceField" />
+        <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
+        <DefaultAnimationLoop/>
+
+        <Node name="Corrotational">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+                <TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />
+
+                <BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="Corrotational" position="1 0 -0.5" scale="0.2" />
+        </Node>
+
+        <Node name="ArrudaBoyce">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="2 0 0 3 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="ArrudaBoyce" position="3 0 -0.5" scale="0.2" />
+        </Node>
+
+        <Node name="StVenantKirchhoff">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="StVenantKirchhoff"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="4 0 0 5 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="StVenantKirchhoff" position="5 0 -0.5" scale="0.2" />
+        </Node>
+
+
+        <Node name="NeoHookean">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="NeoHookean"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="6 0 0 7 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="NeoHookean" position="7 0 -0.5" scale="0.2" />
+        </Node>
+
+
+        <Node name="MooneyRivlin">
+                <EulerImplicitSolver name="cg_odesolver" printLog="false" />
+                <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+                <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>
+
+                <MechanicalObject name="mechObj"/>
+
+                <MeshMatrixMass totalMass="1.0"/>
+
+                <Node name="tetras">
+                        <TetrahedronSetTopologyContainer name="Container"/>
+                        <TetrahedronSetTopologyModifier name="Modifier" />
+                        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+                        <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />
+
+                        <TetrahedronHyperelasticityFEMForceField name="FEM" ParameterSet="5000 7000 10" materialName="MooneyRivlin"/>
+                </Node>
+
+                <BoxROI drawBoxes="1" box="8 0 0 9 1 0.05" name="box"/>
+                <FixedProjectiveConstraint indices="@box.indices"/>
+                <Visual3DText text="MooneyRivlin" position="9 0 -0.5" scale="0.2" />
+        </Node>
 </Node>
diff --git a/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn b/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn
index 3072efe8827..b5fcd047313 100644
--- a/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn
+++ b/examples/Component/SolidMechanics/Spring/StiffSpringForceField_simple.scn
@@ -24,25 +24,25 @@
 
     <Node name="sphere1">
         <MechanicalObject template="Vec3" name="dofs" position="1 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25"/>
     </Node>
 
     <Node name="sphere2">
         <MechanicalObject template="Vec3" name="dofs" position="2 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25"/>
     </Node>
 
     <Node name="sphere3-4">
         <MechanicalObject template="Vec3" name="dofs" position="3 0 0 4 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25 0.25"/>
     </Node>
 
     <Node name="sphere5-6">
         <MechanicalObject template="Vec3" name="dofs" position="5 0 0 6 0 0" showObject="true"/>
-        <UniformMass/>
+        <UniformMass totalMass="1.0"/>
         <SphereCollisionModel listRadius="0.25 0.25"/>
         <SpringForceField template="Vec3" name="spring" spring="0 1 50 1 1" showArrowSize="0.05" drawMode="2"/>
     </Node>
diff --git a/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn
index 605e054a7d4..3b9009aec95 100644
--- a/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn
+++ b/examples/Component/Topology/Container/Dynamic/AddingPointInTriangleProcess.scn
@@ -13,6 +13,6 @@
     <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"  drawTriangles="1" />
     <MechanicalObject position="@mesh.position" showIndices="true" showIndicesScale="0.0002" />
     <TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="60" />
-    <UniformMass />
+    <UniformMass totalMass="1.0"/>
     <TopologicalChangeProcessor listening="1" filename="AddingPointInTriangleProcess.txt" />
 </Node>
diff --git a/examples/Component/Visual/TrailRenderer.scn b/examples/Component/Visual/TrailRenderer.scn
index 7945873e4ff..0bedfed7256 100644
--- a/examples/Component/Visual/TrailRenderer.scn
+++ b/examples/Component/Visual/TrailRenderer.scn
@@ -17,6 +17,6 @@
     <MechanicalObject template="Vec3" name="particle"
                       position="0 0 0  0 0 0  0 0 0  0 0 0"
                       velocity="5 5 0  -5 5 0  7 7 0  -7 7 0" showObject="true" showObjectScale="10"/>
-    <UniformMass/>
+    <UniformMass totalMass="1.0"/>
     <TrailRenderer template="Vec3" position="@particle.position" nbSteps="200"/>
 </Node>
diff --git a/examples/Objects/Rigid.xml b/examples/Objects/Rigid.xml
index c2f0d708b36..6efdd7f80cd 100644
--- a/examples/Objects/Rigid.xml
+++ b/examples/Objects/Rigid.xml
@@ -2,7 +2,7 @@
 	<EulerImplicitSolver rayleighStiffness="0.01"  rayleighMass="0.1" />
 	<CGLinearSolver iterations="25" threshold="0.00000001"  />
 	<MechanicalObject template="Rigid3" translation="0 0 0" rotation="0 0 0" scale3d="1 1 1"/>
-	<UniformMass />
+	<UniformMass totalMass="1.0"/>
 	<Node name="VisualNode" tags="Visual">
 		<OglModel name="Visual" filename="file" color="gray" scale3d="1 1 1" />
 		<RigidMapping input="@.." output="@Visual" />
diff --git a/examples/Objects/TorusRigid.xml b/examples/Objects/TorusRigid.xml
index aa441cee956..c9d9636cc49 100644
--- a/examples/Objects/TorusRigid.xml
+++ b/examples/Objects/TorusRigid.xml
@@ -2,7 +2,7 @@
 	<EulerImplicitSolver rayleighStiffness="0.01"  rayleighMass="0.1" />
 	<CGLinearSolver iterations="25" threshold="0.00000001"  tolerance="1e-05"/>
 	<MechanicalObject template="Rigid3"  dx="0" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0"  />
-	<UniformMass />
+	<UniformMass totalMass="1.0"/>
 	<Node name="Visu">
 		<MeshOBJLoader name="meshVisualLoader" filename="mesh/torus.obj"/>
 		<OglModel name="Visual" src="@meshVisualLoader" color="gray" scale="1.0"/>
diff --git a/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn b/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn
index 3c20e7699fb..fe60c3b4ba0 100644
--- a/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn
+++ b/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn
@@ -31,7 +31,7 @@
         <MeshTopology name="mesh" src="@meshLoader0" />
         <MechanicalObject template="Vec3" name="dofs" />
         <MeshSpringForceField template="Vec3" name="Springs" stiffness="4500" />
-        <UniformMass template="Vec3" name="mass" />
+        <UniformMass template="Vec3" name="mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="FixedProjectiveConstraint" indices="3 39 64" />
         <Node name="Visu" gravity="0 -9.81 0">
             <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />
diff --git a/examples/Tutorials/OldTutorials/demo10.scn b/examples/Tutorials/OldTutorials/demo10.scn
index 6f33a7e6d6c..6d636dfce55 100644
--- a/examples/Tutorials/OldTutorials/demo10.scn
+++ b/examples/Tutorials/OldTutorials/demo10.scn
@@ -96,7 +96,7 @@
 		<EulerImplicitSolver />
 		<CGLinearSolver iterations="20" tolerance="1e-5" threshold="1e-5"/>
 		<MechanicalObject dx="-4" dy="31.5" dz="-4"/>
-		<UniformMass mass="0.37"/>
+		<UniformMass vertexMass="0.37"/>
 		<RegularGridTopology
 			nx="7" ny="7" nz="7"
 			xmin="-3.5" xmax="3.5"
diff --git a/examples/Tutorials/OldTutorials/demo10Triangle.scn b/examples/Tutorials/OldTutorials/demo10Triangle.scn
index 5fd5d9cc010..606dd4768eb 100644
--- a/examples/Tutorials/OldTutorials/demo10Triangle.scn
+++ b/examples/Tutorials/OldTutorials/demo10Triangle.scn
@@ -109,7 +109,7 @@
 		<EulerImplicitSolver />
 		<CGLinearSolver iterations="100" threshold="0.000001" tolerance="1e-5"/>
 		<MechanicalObject dx="-4" dy="31.5" dz="-4"/>
-		<UniformMass mass="0.05"/>
+		<UniformMass vertexMass="0.05"/>
 		<RegularGridTopology
 			nx="7" ny="7" nz="7"
 			xmin="-3.5" xmax="3.5"
diff --git a/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn
index 289fc96f131..afecbb4782e 100644
--- a/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/0_Pendulum.scn
@@ -7,6 +7,6 @@
     <DefaultAnimationLoop/>
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn
index 9c602288d17..cf5e7ed37ed 100644
--- a/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/1_Pendulum.scn
@@ -11,6 +11,6 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn
index 2c0ca124178..9905c77a1ca 100644
--- a/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn
@@ -16,7 +16,7 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0" />
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn
index 2b32034e94a..f7c64d8198e 100644
--- a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn
@@ -16,7 +16,7 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject">
         <MechanicalObject template="Vec3" name="Particles" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn
index ab21d36153b..ec922e8b879 100644
--- a/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn
@@ -17,7 +17,7 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject" gravity="0 -9.81 0">
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
         <SpringForceField template="Vec3" name="Internal Spring" spring="0 1 100 0.1 1&#x0A;" />
     </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn
index f3eb8be8e8a..52b666add4f 100644
--- a/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn
@@ -17,13 +17,13 @@
     <EulerExplicitSolver name="Explicit Euler Solver" />
     <Node name="FirstObject" gravity="0 -9.81 0">
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
         <SpringForceField template="Vec3" name="Internal Spring" spring="0 1 100 0.1 1&#x0A;" />
     </Node>
     <Node name="Second Object" gravity="0 -9.81 0">
         <VisualStyle displayFlags="showVisual hideBehavior hideCollision hideMapping hideOptions" />
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="2 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn
index ff3d7d4a59c..865de90243d 100644
--- a/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn
@@ -17,14 +17,14 @@
 	<EulerExplicitSolver name="Explicit Euler Solver" />
 	<Node 	 name="FirstObject"  gravity="0 -9.81 0"  >
 		<MechanicalObject template="Vec3" name="Particles"  position="0 0 0 1 0 0 2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" showObject="1" showObjectScale="10"/>
-		<UniformMass template="Vec3" name="Mass" />
+		<UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
 		<FixedProjectiveConstraint template="Vec3" name="Fix Particles"  indices="0" />
 		<SpringForceField template="Vec3" name="Internal Spring"  spring="0 1 100 0.1 1 1 2 100 0.1 1" />
 	</Node>
 	<Node 	 name="SecondObject"  gravity="0 -9.81 0"  >
 		<VisualStyle name="visualStyle2"  displayFlags="showVisual hideBehavior hideCollision hideMapping hideOptions" />
 		<MechanicalObject template="Vec3" name="Particles"  position="2 0 0"  velocity="0 0 0"  force="0 0 0"  externalForce="0 0 0"  derivX="0 0 0"  restScale="1" showObject="1" showObjectScale="10"/>
-		<UniformMass template="Vec3" name="Mass" />
+		<UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
 	</Node>
 	<SpringForceField template="Vec3" name="Interaction Spring"  spring="1 0 10 0.1 1"  object1="@FirstObject"  object2="@SecondObject" />
 </Node>
diff --git a/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn
index 237608a794c..d8e8f5f9779 100644
--- a/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn
+++ b/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn
@@ -19,14 +19,14 @@
     <CGLinearSolver template="GraphScattered" name="Conjugate Gradient" iterations="25" tolerance="1e-5" threshold="1e-5"/>
     <Node name="FirstObject" gravity="0 -9.81 0">
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="0 0 0 1 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
         <FixedProjectiveConstraint template="Vec3" name="Fix Particles" indices="0" />
         <SpringForceField template="Vec3" name="Internal Spring" spring="0 1 100 0.1 1&#x0A;" />
     </Node>
     <Node name="SecondObject" gravity="0 -9.81 0">
         <VisualStyle displayFlags="showVisual hideBehavior hideCollision hideMapping hideOptions" />
         <MechanicalObject template="Vec3" name="Particles" restScale="1" position="2 0 0" showObject="1" showObjectScale="10"/>
-        <UniformMass template="Vec3" name="Mass" />
+        <UniformMass template="Vec3" name="Mass" totalMass="1.0"/>
     </Node>
     <SpringForceField template="Vec3" name="Interaction Spring" object1="@FirstObject" object2="@SecondObject" spring="1 0 10 0.1 1&#x0A;" />
 </Node>
diff --git a/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn b/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn
index 381fcdbbb89..ca4e31e71e8 100644
--- a/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn
+++ b/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn
@@ -20,6 +20,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 2 3 4 5 6 7"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn b/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn
index 1d40821c814..9edaa452da2 100644
--- a/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn
+++ b/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn
@@ -23,6 +23,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 4 5"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn b/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn
index d2a6631480f..de4716d5409 100644
--- a/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn
+++ b/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn
@@ -23,6 +23,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 2 3 4 5 6 7"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn b/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn
index 7a484a5417e..02e93b7c2bd 100644
--- a/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn
+++ b/examples/Tutorials/sandbox/linearsolver_direct_or_iterative.scn
@@ -17,7 +17,7 @@
         <RegularGridTopology p0="-2 0 0" />
         <MechanicalObject />
         <HexahedronFEMForceField poissonRatio="0" youngModulus="1000" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <PlaneForceField normal="0 1 0" d="-5" stiffness="10000" />
     </Node>
 
@@ -27,7 +27,7 @@
         <RegularGridTopology p0="2 0 0" />
         <MechanicalObject />
         <HexahedronFEMForceField poissonRatio="0" youngModulus="1000" />
-        <UniformMass />
+        <UniformMass totalMass="1.0"/>
         <PlaneForceField normal="0 1 0" d="-5" stiffness="10000" />
     </Node>
 </Node>
diff --git a/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn b/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn
index 4c973125b5f..3013da95ba2 100644
--- a/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn
+++ b/examples/Tutorials/sandbox/rungekutta2_heterogeneousobjects.scn
@@ -14,7 +14,7 @@
 <Node name="rigid">
 <MechanicalObject template="Rigid3" translation="2 0.5 0"/>
 <PlaneForceField template="Rigid3"  normal="0 1 0" d="-5" stiffness="10000" />
-<UniformMass template="Rigid3" />
+<UniformMass template="Rigid3" totalMass="1.0"/>
 <Node name="mapped">
 	<MechanicalObject />
 	<RegularGridTopology p0="-0.5 -0.5 -0.5"/>
@@ -26,7 +26,7 @@
 <RegularGridTopology />
 <MechanicalObject  translation="-2 0 0"/>
 <RegularGridSpringForceField />
-<UniformMass  />
+<UniformMass totalMass="1.0"/>
 <PlaneForceField normal="0 1 0" d="-5" stiffness="10000" />
 </Node>
 
diff --git a/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn b/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn
index 4d2d3ae2266..ee098b29deb 100644
--- a/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn
+++ b/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn
@@ -19,6 +19,6 @@
 		<BoxROI box="0 0.75 0 1 1 1"  position="@[-2].rest_position"   />
 		<FixedProjectiveConstraint indices="@[-1].indices" />
 		<ConstantForceField indices="0 1 2 3 4 5 6 7"  totalForce="0 -1000 0" />
-		<UniformMass  />
+		<UniformMass totalMass="1.0"/>
 	</Node>
 </Node>