diff --git a/CMakeLists.txt b/CMakeLists.txt
index 557706c..9e29a1f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,7 @@ set(HEADER_FILES
     ${PLUGIN_CGAL_SRC_DIR}/FrontSurfaceReconstruction.h
     ${PLUGIN_CGAL_SRC_DIR}/UpsamplePointCloud.h
     ${PLUGIN_CGAL_SRC_DIR}/BooleanOperations.h
+    ${PLUGIN_CGAL_SRC_DIR}/MeshRepulsionEngine.h
     )
 set(SOURCE_FILES
     ${PLUGIN_CGAL_SRC_DIR}/initCGALPlugin.cpp
@@ -30,6 +31,7 @@ set(SOURCE_FILES
     ${PLUGIN_CGAL_SRC_DIR}/FrontSurfaceReconstruction.cpp
     ${PLUGIN_CGAL_SRC_DIR}/UpsamplePointCloud.cpp
     ${PLUGIN_CGAL_SRC_DIR}/BooleanOperations.cpp
+    ${PLUGIN_CGAL_SRC_DIR}/MeshRepulsionEngine.cpp
     )
 set(README_FILES README.md)
 
diff --git a/scenes/MeshRepulsion.scn b/scenes/MeshRepulsion.scn
new file mode 100644
index 0000000..8e1bd4a
--- /dev/null
+++ b/scenes/MeshRepulsion.scn
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<Node name="root" gravity="0 0 0" dt="0.03"  >
+    <RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+    <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+    <RequiredPlugin pluginName="Sofa.Component.Setting"/> <!-- Needed to use components [BackgroundSetting] -->
+    <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+    <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+    <RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+    <RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+    <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+    <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
+    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
+    <RequiredPlugin pluginName="CGALPlugin"/> 
+
+    <BackgroundSetting color="0 0.16862745098 0.21176470588"/>
+    <VisualStyle displayFlags="showVisual" />
+
+    <DefaultAnimationLoop />
+
+    <Node name="MasterMesh">
+        <MeshOBJLoader name="loader" filename="./data/mesh/liver_coarse.obj" triangulate="true"/>
+        <MechanicalObject name="dofs" position="@loader.position"/>
+        <MeshTopology name="topology" src="@loader"/> 
+
+        <Node name="Visual" >
+            <OglModel name="visu" src="@../loader" color="red"/>
+            <IdentityMapping input="@../dofs" output="@visu"/>
+        </Node>
+    </Node>
+    
+
+    <Node name="SlaveMesh">
+        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.0" rayleighMass="1.0" />
+        <CGLinearSolver iterations="15" name="linear_solver" tolerance="1.0e-5" threshold="1.0e-5" />
+        <MeshOBJLoader name="loader" filename="./data/mesh/diaphragm.obj" triangulate="true"/>
+        <MechanicalObject name="dofs" position="@loader.position"/>
+        <MeshTopology name="topology" src="@loader"/> 
+
+        <!-- to adapt to the scene -->
+        <BoxROI name="box_roi" box="-4 3.4 -5 8 4 5" drawBoxes="1"/>
+        <FixedProjectiveConstraint indices="@[-1].indices" />
+
+        <UniformMass totalMass="0.5" />
+        <!-- gmsh file should be used with tetrahedra to use the mesh spring volume
+        <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="0" /> -->
+
+        <TriangularFEMForceField name="FEM" youngModulus="600" poissonRatio="0.3" method="large" />
+        <TriangularBendingSprings name="BS" stiffness="300" damping="1.0" />
+
+        <Node name="Visual" >
+            <OglModel name="visu" src="@../loader" color="white"/>
+            <IdentityMapping input="@../dofs" output="@visu"/>
+        </Node>
+    </Node>
+
+    <MeshRepulsionEngine name="theEngine" masterState="@MasterMesh/dofs" slaveState="@SlaveMesh/dofs" 
+        masterTopology="@MasterMesh/topology" slaveTopology="@SlaveMesh/topology"/>
+
+
+    <!--<VTKExporter name="exporter" filename="data/output.vtu"  XMLformat="1" edges="0" tetras="1"  listening="true" exportAtBegin="true" cellsDataFields="generator.outputCellData" overwrite="true"/>-->
+</Node>
diff --git a/scenes/data/mesh/diaphragm.obj b/scenes/data/mesh/diaphragm.obj
new file mode 100644
index 0000000..dbd45b2
--- /dev/null
+++ b/scenes/data/mesh/diaphragm.obj
@@ -0,0 +1,3816 @@
+# Blender 4.3.2
+# www.blender.org
+mtllib diaphragm.mtl
+o diaphragm
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diff --git a/scenes/data/mesh/liver_coarse.obj b/scenes/data/mesh/liver_coarse.obj
new file mode 100644
index 0000000..f91a8e0
--- /dev/null
+++ b/scenes/data/mesh/liver_coarse.obj
@@ -0,0 +1,3407 @@
+# Blender 4.3.2
+# www.blender.org
+mtllib liver_collision.mtl
+o liver
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diff --git a/src/CGALPlugin/MeshGenerationFromImage.inl b/src/CGALPlugin/MeshGenerationFromImage.inl
index f411efc..070e66d 100644
--- a/src/CGALPlugin/MeshGenerationFromImage.inl
+++ b/src/CGALPlugin/MeshGenerationFromImage.inl
@@ -25,6 +25,7 @@
 #include <sofa/type/Quat.h>
 
 using namespace sofa;
+using namespace CGAL;
 
 #define SQR(X)   ((X)*(X))
 
@@ -170,7 +171,7 @@ void MeshGenerationFromImage<DataTypes, _ImageTypes>::doUpdate()
                     }
                 }
             }
-            _image* vrnimage = _initImage();
+            CGAL::_image* vrnimage = CGAL::_initImage();
             vrnimage->vectMode = VM_SCALAR;
             //image dimension
             vrnimage->xdim = in->getDimensions()[0]; //columns
diff --git a/src/CGALPlugin/MeshRepulsionEngine.cpp b/src/CGALPlugin/MeshRepulsionEngine.cpp
new file mode 100644
index 0000000..9847a5f
--- /dev/null
+++ b/src/CGALPlugin/MeshRepulsionEngine.cpp
@@ -0,0 +1,168 @@
+/*****************************************************************************
+ *                - Copyright (C) 2020-Present InfinyTech3D -                *
+ *                                                                           *
+ * This file is part of the InfinyToolkit plugin for the SOFA framework.     *
+ *                                                                           *
+ * This file is dual-licensed:                                               *
+ *                                                                           *
+ * 1) Commercial License:                                                    *
+ *      This file may be used under the terms of a valid commercial license  *
+ *      agreement provided wih the software by InfinyTech3D.                 *
+ *                                                                           *
+ * 2) GNU General Public License (GPLv3) Usage                               *
+ *      Alternatively, this file may be used under the terms of the          *
+ *      GNU General Public License version 3 as published by the             *
+ *      Free Software Foundation: https://www.gnu.org/licenses/gpl-3.0.html  *
+ *                                                                           *
+ * Contact: contact@infinytech3d.com                                         *
+ * Further information: https://infinytech3d.com                             *
+ ****************************************************************************/
+#define SOFA_COMPONENT_NEARESTTEXCOORDS_CPP
+#include <CGALPlugin/MeshRepulsionEngine.h>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/core/visual/VisualParams.h>
+#include <sofa/simulation/AnimateEndEvent.h>
+#include <sofa/core/objectmodel/KeypressedEvent.h>
+
+#include <sofa/geometry/Triangle.h>
+#include <sofa/simulation/Node.h>
+
+namespace cgal
+{
+
+using namespace sofa;
+using namespace sofa::defaulttype;
+using namespace sofa::helper;
+
+void registerMeshRepulsionEngine(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("MeshRepulsionEngine engine description to complete")
+        .add< MeshRepulsionEngine >());
+}
+
+
+MeshRepulsionEngine::MeshRepulsionEngine()
+    : l_masterState(initLink("masterState", "link to the mechanical state of the tool, if not set, manager will search for a MechanicalState with tag: AngioToolState."))
+	, l_slaveState(initLink("slaveState", "link to the mechanical state of the balloon, if not set, manager will search for a MechanicalState with tag: BalloonState."))
+    , l_masterTopology(initLink("masterTopology", "link to the mechanical state of the balloon, if not set, manager will search for a MechanicalState with tag: BalloonState."))
+    , l_slaveTopology(initLink("slaveTopology", "link to the mechanical state of the balloon, if not set, manager will search for a MechanicalState with tag: BalloonState."))
+
+    //: d_inputPositions(initData(&d_inputPositions, "inputPositions", "Indices of the points on the first model"))
+    //, d_mapPositions(initData(&d_mapPositions, "mapPositions", "Indices of the points on the second model"))
+    //, d_mapTexCoords(initData(&d_mapTexCoords, "mapTexCoords", "Indices of the points on the second model"))
+    //, d_radius(initData(&d_radius, (SReal)1, "radius", "Radius to search corresponding fixed point"))
+    //, d_useInterpolation(initData(&d_useInterpolation, false, "useInterpolation", "Radius to search corresponding fixed point"))    
+    //, d_drawInterpolation(initData(&d_drawInterpolation, false, "drawInterpolation", "Radius to search corresponding fixed point"))
+    //, d_outputTexCoords(initData(&d_outputTexCoords, "outputTexCoords", "Radius to search corresponding fixed point"))
+{
+    f_listening.setValue(true);
+}
+
+MeshRepulsionEngine::~MeshRepulsionEngine()
+{
+}
+
+
+void MeshRepulsionEngine::init()
+{
+
+    // need to add check here if link to the mechanicalObject are correct
+    // if not put : sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+    sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+}
+
+
+void MeshRepulsionEngine::doUpdate()
+{
+    std::cout << "call MeshRepulsionEngine::doUpdate()" << std::endl;
+
+
+}
+
+
+void MeshRepulsionEngine::updateIntersectedPositions()
+{
+    std::cout << "call MeshRepulsionEngine::updateIntersectedPositions()" << std::endl;
+
+    // get access to the meshes:
+    sofa::helper::ReadAccessor<VecCoord> masterVertices = l_masterState.get()->read(sofa::core::vec_id::read_access::restPosition)->getValue();
+    sofa::helper::WriteAccessor<Data<VecCoord> > slaveVertices = *l_slaveState.get()->write(sofa::core::vec_id::write_access::position);
+
+    std::cout << "number of vertices for the master mesh: " << masterVertices.size() << std::endl;
+    std::cout << "number of vertices for the slave mesh: " << slaveVertices.size() << std::endl;
+
+    sofa::core::topology::BaseMeshTopology* _masterTopology = l_masterTopology.get();
+    sofa::core::topology::BaseMeshTopology* _slaveTopology = l_slaveTopology.get();
+
+    std::cout << "number of triangles for the master mesh: " << _masterTopology->getNbTriangles() << std::endl;
+    std::cout << "number of triangles for the slave mesh: " << _slaveTopology->getNbTriangles() << std::endl;
+
+
+    // CGAL tambouille here and push vertices in slaveVertices which is in write mode
+}
+
+
+void MeshRepulsionEngine::handleEvent(sofa::core::objectmodel::Event* event)
+{
+    if (d_componentState.getValue() != sofa::core::objectmodel::ComponentState::Valid)
+        return;
+
+    if (sofa::core::objectmodel::KeypressedEvent::checkEventType(event))
+    {
+        sofa::core::objectmodel::KeypressedEvent* ev = dynamic_cast<sofa::core::objectmodel::KeypressedEvent*>(event);
+        if (ev->getKey() == 'D')
+        {
+           // do something if ctrl + D is pressed
+        }
+    }
+    else if (sofa::simulation::AnimateEndEvent::checkEventType(event))
+    {
+        // will be called at the end of each animation step. The idea is to move point here and at next step SOFA will move the rest of the mesh using the solver
+		updateIntersectedPositions();
+
+    }
+}
+
+
+
+
+void MeshRepulsionEngine::draw(const core::visual::VisualParams* vparams)
+{
+    //if (m_mapPositionIds.empty() || d_drawInterpolation.getValue() == false)
+    //    return;
+
+    //const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
+    //vparams->drawTool()->setLightingEnabled(false);
+    //sofa::helper::ReadAccessor< Data< type::vector< Vec3 > > > fullPositions = d_inputPositions;
+    //sofa::helper::ReadAccessor< Data< type::vector< Vec3 > > > mapPositions = d_mapPositions;
+
+    //std::vector<sofa::type::Vec3> vertices;
+    //std::vector<sofa::type::RGBAColor> colors;
+
+    //if (m_mapPositionIds.size() == fullPositions.size())
+    //{
+    //    for (unsigned int i = 0; i < fullPositions.size(); ++i)
+    //    {
+    //        vertices.emplace_back(fullPositions[i]);
+    //        vertices.emplace_back(mapPositions[m_mapPositionIds[i]]);
+    //        colors.emplace_back(m_mapColors[i]);
+    //    }
+    //}
+    //else
+    //{
+    //    for (unsigned int i = 0; i < fullPositions.size(); ++i)
+    //    {
+    //        for (unsigned int j = 0; j < 3; ++j)
+    //        {
+    //            vertices.emplace_back(fullPositions[i]);
+    //            vertices.emplace_back(mapPositions[m_mapPositionIds[i * 3 + j]]);
+    //            colors.emplace_back(m_mapColors[i]);
+    //        }
+    //    }
+    //}
+
+    //vparams->drawTool()->drawLines(vertices, 1, colors);
+}
+
+
+} //namespace cgal
diff --git a/src/CGALPlugin/MeshRepulsionEngine.h b/src/CGALPlugin/MeshRepulsionEngine.h
new file mode 100644
index 0000000..2fe30f7
--- /dev/null
+++ b/src/CGALPlugin/MeshRepulsionEngine.h
@@ -0,0 +1,79 @@
+/*****************************************************************************
+ *                - Copyright (C) 2020-Present InfinyTech3D -                *
+ *                                                                           *
+ * This file is part of the InfinyToolkit plugin for the SOFA framework.     *
+ *                                                                           *
+ * This file is dual-licensed:                                               *
+ *                                                                           *
+ * 1) Commercial License:                                                    *
+ *      This file may be used under the terms of a valid commercial license  *
+ *      agreement provided wih the software by InfinyTech3D.                 *
+ *                                                                           *
+ * 2) GNU General Public License (GPLv3) Usage                               *
+ *      Alternatively, this file may be used under the terms of the          *
+ *      GNU General Public License version 3 as published by the             *
+ *      Free Software Foundation: https://www.gnu.org/licenses/gpl-3.0.html  *
+ *                                                                           *
+ * Contact: contact@infinytech3d.com                                         *
+ * Further information: https://infinytech3d.com                             *
+ ****************************************************************************/
+#pragma once
+
+#include <CGALPlugin/config.h>
+#include <sofa/core/DataEngine.h>
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/core/objectmodel/Data.h>
+#include <vector>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/behavior/MechanicalState.h>
+
+namespace cgal
+{
+
+using sofa::type::Vec3;
+
+/** Attach given pair of particles, projecting the positions of the second particles to the first ones.
+*/
+class SOFA_CGALPLUGIN_API MeshRepulsionEngine : public sofa::core::DataEngine
+{
+public:
+    SOFA_CLASS(MeshRepulsionEngine, sofa::core::DataEngine);
+
+    using DataTypes = sofa::defaulttype::Vec3Types;
+    using Coord = DataTypes::Coord;
+    using VecCoord = DataTypes::VecCoord;
+    using BaseLink = sofa::core::objectmodel::BaseLink;
+
+    MeshRepulsionEngine();
+    ~MeshRepulsionEngine() override;
+
+    void init() override;
+    void doUpdate() override;
+
+    void handleEvent(sofa::core::objectmodel::Event* event) override;
+
+    void draw(const sofa::core::visual::VisualParams* vparams) override;
+
+protected:
+    void updateIntersectedPositions();
+
+public:
+    /// Inputs Data
+    //Data< type::vector< Vec3 > > d_inputPositions; ///< Full mesh position
+    //Data< type::vector< Vec3 > > d_mapPositions; ///< Surface mesh position
+    //Data< type::vector<sofa::type::Vec2> > d_mapTexCoords; ///< Surface mesh texcoords
+
+
+    sofa::core::objectmodel::SingleLink< MeshRepulsionEngine, sofa::core::behavior::MechanicalState<sofa::defaulttype::Vec3Types>, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_masterState;
+    sofa::core::objectmodel::SingleLink<MeshRepulsionEngine, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_masterTopology;
+
+
+    sofa::core::objectmodel::SingleLink< MeshRepulsionEngine, sofa::core::behavior::MechanicalState<sofa::defaulttype::Vec3Types>, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_slaveState;
+    sofa::core::objectmodel::SingleLink<MeshRepulsionEngine, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_slaveTopology;
+    
+private:
+   // std::vector<Index> m_mapPositionIds; ///< vector to store map position Id per position from full mesh. (same size as @d_inputPositions)
+  //  std::vector<sofa::type::RGBAColor> m_mapColors; ///< vector to store color to draw the mapping per position from full mesh. (same size as @d_inputPositions)    
+};
+
+} //namespace cgal
diff --git a/src/CGALPlugin/initCGALPlugin.cpp b/src/CGALPlugin/initCGALPlugin.cpp
index 2fa9384..28c7d38 100644
--- a/src/CGALPlugin/initCGALPlugin.cpp
+++ b/src/CGALPlugin/initCGALPlugin.cpp
@@ -33,6 +33,7 @@ namespace cgal
     extern void registerPoissonSurfaceReconstruction(sofa::core::ObjectFactory* factory);
     extern void registerUpsamplePointCloud(sofa::core::ObjectFactory* factory);
     extern void registerBooleanOperations(sofa::core::ObjectFactory* factory);
+    extern void registerMeshRepulsionEngine(sofa::core::ObjectFactory* factory);
 }
 
 extern void registerMeshGenerationFromPolyhedron(sofa::core::ObjectFactory* factory);
@@ -106,6 +107,8 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     registerDecimateMesh( factory);
     registerTriangularConvexHull3D( factory);
     registerRefine2DMesh( factory);
+
+    cgal::registerMeshRepulsionEngine(factory);
 }
 
 } // namespace sofa::component