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..32ca6bf
--- /dev/null
+++ b/scenes/MeshRepulsion.scn
@@ -0,0 +1,67 @@
+<?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"
+        enableCgalDetection="true" rebuildMasterEveryStep="false" logEveryNSteps="1"
+        runDetectionAtInit="true" logAsWarning="true" writeCsv="true"
+        csvFilePath="MeshRepulsion_PR01E_diagnostics.csv"/>
+
+
+    <!--<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..b1a7482
--- /dev/null
+++ b/src/CGALPlugin/MeshRepulsionEngine.cpp
@@ -0,0 +1,431 @@
+/*****************************************************************************
+*                - 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 <CGAL/Side_of_triangle_mesh.h>
+
+#include <algorithm>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <stdexcept>
+
+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: SOFA/CGAL bridge for progressive slave/master repulsion")
+            .add<MeshRepulsionEngine>());
+    }
+
+    MeshRepulsionEngine::MeshRepulsionEngine()
+        : l_masterState(initLink("masterState", "link to the master MechanicalState"))
+        , l_masterTopology(initLink("masterTopology", "link to the master BaseMeshTopology"))
+        , l_slaveState(initLink("slaveState", "link to the slave MechanicalState"))
+        , l_slaveTopology(initLink("slaveTopology", "link to the slave BaseMeshTopology"))
+        , d_enableCgalDetection(initData(&d_enableCgalDetection, true, "enableCgalDetection", "Enable CGAL inside/outside detection"))
+        , d_rebuildMasterEveryStep(initData(&d_rebuildMasterEveryStep, false, "rebuildMasterEveryStep", "Rebuild the master CGAL mesh at every animation step"))
+        , d_logEveryNSteps(initData(&d_logEveryNSteps, static_cast<unsigned int>(1), "logEveryNSteps", "Print diagnostics every N animation steps"))
+        , d_runDetectionAtInit(initData(&d_runDetectionAtInit, true, "runDetectionAtInit", "Run one CGAL detection during init()"))
+        , d_logAsWarning(initData(&d_logAsWarning, true, "logAsWarning", "Print diagnostics with msg_warning instead of msg_info"))
+        , d_writeCsv(initData(&d_writeCsv, true, "writeCsv", "Write diagnostics to a CSV file"))
+        , d_csvFilePath(initData(&d_csvFilePath, std::string("MeshRepulsion_diagnostics.csv"), "csvFilePath", "CSV file path for diagnostics"))
+        , d_lastStep(initData(&d_lastStep, static_cast<unsigned int>(0), "lastStep", "Last diagnostic step"))
+        , d_lastMasterVertexCount(initData(&d_lastMasterVertexCount, static_cast<unsigned int>(0), "lastMasterVertexCount", "Last master vertex count"))
+        , d_lastMasterTriangleCount(initData(&d_lastMasterTriangleCount, static_cast<unsigned int>(0), "lastMasterTriangleCount", "Last master triangle count"))
+        , d_lastSlaveVertexCount(initData(&d_lastSlaveVertexCount, static_cast<unsigned int>(0), "lastSlaveVertexCount", "Last slave vertex count"))
+        , d_lastSlaveTriangleCount(initData(&d_lastSlaveTriangleCount, static_cast<unsigned int>(0), "lastSlaveTriangleCount", "Last slave triangle count"))
+        , d_lastInsideCount(initData(&d_lastInsideCount, static_cast<unsigned int>(0), "lastInsideCount", "Last slave vertices inside master"))
+        , d_lastBoundaryCount(initData(&d_lastBoundaryCount, static_cast<unsigned int>(0), "lastBoundaryCount", "Last slave vertices on master boundary"))
+        , d_lastOutsideCount(initData(&d_lastOutsideCount, static_cast<unsigned int>(0), "lastOutsideCount", "Last slave vertices outside master"))
+        , d_lastSlaveCgalFaceCount(initData(&d_lastSlaveCgalFaceCount, static_cast<unsigned int>(0), "lastSlaveCgalFaceCount", "Last CGAL slave face count"))
+
+        //: 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);
+        std::cout << "LOADED MeshRepulsionEngine loader-position-fix" << std::endl;
+    }
+
+    MeshRepulsionEngine::~MeshRepulsionEngine() = default;
+
+    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);
+        if (!l_masterState.get() || !l_slaveState.get() || !l_masterTopology.get() || !l_slaveTopology.get())
+        {
+            msg_error() << "MeshRepulsionEngine invalid links. Expected masterState, slaveState, masterTopology and slaveTopology.";
+            sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+            return;
+        }
+
+        sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+
+        std::cout << "[CGAL detection] init(): links are valid. Detection will run in bwdInit(), after loaders/mechanical objects are initialized. runDetectionAtInit="
+            << (d_runDetectionAtInit.getValue() ? "true" : "false") << std::endl;
+    }
+
+    void MeshRepulsionEngine::bwdInit()
+    {
+        if (d_componentState.getValue() != sofa::core::objectmodel::ComponentState::Valid)
+        {
+            return;
+        }
+
+        std::cout << "[CGAL detection] bwdInit(): post-init diagnostic point reached." << std::endl;
+
+        if (d_runDetectionAtInit.getValue())
+        {
+            updateIntersectedPositions();
+        }
+    }
+
+    void MeshRepulsionEngine::doUpdate()
+    {
+        // The engine is event-driven for now. The real work is performed in handleEvent().
+        std::cout << "call MeshRepulsionEngine::doUpdate()" << std::endl;
+
+    }
+
+    // HELPER METHOD TO GET A CGAL POINT FROM A SOFA COORD
+    MeshRepulsionEngine::CgalPoint MeshRepulsionEngine::toCgalPoint(const Coord& p)
+    {
+        return CgalPoint(static_cast<double>(p[0]), static_cast<double>(p[1]), static_cast<double>(p[2]));
+    }
+
+    bool MeshRepulsionEngine::buildSurfaceMeshFromSofa(
+        const VecCoord& positions,
+        sofa::core::topology::BaseMeshTopology* topology,
+        CgalSurfaceMesh& outputMesh,
+        std::string& errorMessage) const
+    {
+        outputMesh.clear();
+        errorMessage.clear();
+
+        if (!topology)
+        {
+            errorMessage = "null topology";
+            return false;
+        }
+
+        if (positions.empty())
+        {
+            errorMessage = "empty position vector";
+            return false;
+        }
+
+        const auto nbTriangles = topology->getNbTriangles();
+        if (nbTriangles == 0)
+        {
+            errorMessage = "topology has no triangles; needs a surface topology for inside/outside tests";
+            return false;
+        }
+
+        std::vector<CgalSurfaceMesh::Vertex_index> vertexMap;
+        vertexMap.reserve(positions.size());
+        for (const Coord& p : positions)
+        {
+            vertexMap.emplace_back(outputMesh.add_vertex(toCgalPoint(p)));
+        }
+
+        std::size_t invalidTriangles = 0;
+        std::size_t rejectedTriangles = 0;
+
+        for (std::size_t i = 0; i < static_cast<std::size_t>(nbTriangles); ++i)
+        {
+            const auto tri = topology->getTriangle(i);
+            const auto a = static_cast<std::size_t>(tri[0]);
+            const auto b = static_cast<std::size_t>(tri[1]);
+            const auto c = static_cast<std::size_t>(tri[2]);
+
+            if (a >= positions.size() || b >= positions.size() || c >= positions.size() || a == b || b == c || a == c)
+            {
+                ++invalidTriangles;
+                continue;
+            }
+
+            auto f = outputMesh.add_face(vertexMap[a], vertexMap[b], vertexMap[c]);
+            if (f == CgalSurfaceMesh::null_face())
+            {
+                f = outputMesh.add_face(vertexMap[a], vertexMap[c], vertexMap[b]);
+            }
+
+            if (f == CgalSurfaceMesh::null_face())
+            {
+                ++rejectedTriangles;
+            }
+        }
+
+        if (outputMesh.number_of_faces() == 0)
+        {
+            std::ostringstream oss;
+            oss << "no valid CGAL face created from " << nbTriangles
+                << " SOFA triangles; invalid=" << invalidTriangles
+                << ", rejected=" << rejectedTriangles;
+            errorMessage = oss.str();
+            return false;
+        }
+
+        if (invalidTriangles > 0 || rejectedTriangles > 0)
+        {
+            std::ostringstream oss;
+            oss << "surface mesh built with warnings: invalid=" << invalidTriangles
+                << ", rejected=" << rejectedTriangles;
+            errorMessage = oss.str();
+        }
+
+        return true;
+    }
+
+    bool MeshRepulsionEngine::rebuildMasterCgalMesh(const VecCoord& masterVertices)
+    {
+        m_masterCgalMesh = std::make_unique<CgalSurfaceMesh>();
+
+        std::string errorMessage;
+        if (!buildSurfaceMeshFromSofa(masterVertices, l_masterTopology.get(), *m_masterCgalMesh, errorMessage))
+        {
+            msg_error() << "Could not build master CGAL mesh: " << errorMessage;
+            m_masterCgalMesh.reset();
+            return false;
+        }
+
+        if (!errorMessage.empty())
+        {
+            msg_warning() << "Master CGAL mesh warning: " << errorMessage;
+        }
+
+        msg_info() << "Master CGAL mesh built: vertices=" << m_masterCgalMesh->number_of_vertices()
+            << " faces=" << m_masterCgalMesh->number_of_faces();
+        return true;
+    }
+
+    void MeshRepulsionEngine::updateIntersectedPositions()
+    {
+        ++m_stepCounter;
+        std::cout << "[CGAL detection] updateIntersectedPositions() called, step=" << m_stepCounter << std::endl;
+
+        if (!d_enableCgalDetection.getValue())
+        {
+            return;
+        }
+
+        if (!l_masterState.get() || !l_slaveState.get() || !l_masterTopology.get() || !l_slaveTopology.get())
+        {
+            msg_error() << "MeshRepulsionEngine links became invalid during simulation.";
+            return;
+        }
+
+        sofa::helper::ReadAccessor<VecCoord> masterVertices = l_masterState.get()->read(sofa::core::vec_id::read_access::position)->getValue();
+        sofa::helper::ReadAccessor<VecCoord> slaveVertices = l_slaveState.get()->read(sofa::core::vec_id::read_access::position)->getValue();
+
+        auto* masterTopology = l_masterTopology.get();
+        auto* slaveTopology = l_slaveTopology.get();
+
+        if (!m_masterCgalMesh || d_rebuildMasterEveryStep.getValue())
+        {
+            if (!rebuildMasterCgalMesh(masterVertices))
+            {
+                return;
+            }
+        }
+
+        CgalSurfaceMesh slaveCgalMesh;
+        std::string slaveBuildWarning;
+        const bool slaveMeshOk = buildSurfaceMeshFromSofa(slaveVertices, slaveTopology, slaveCgalMesh, slaveBuildWarning);
+        if (!slaveMeshOk)
+        {
+            msg_warning() << "Could not build slave CGAL surface mesh: " << slaveBuildWarning;
+        }
+
+        CGAL::Side_of_triangle_mesh<CgalSurfaceMesh, Kernel> insideTester(*m_masterCgalMesh);
+
+        std::size_t insideCount = 0;
+        std::size_t boundaryCount = 0;
+        std::size_t outsideCount = 0;
+
+        for (const Coord& p : slaveVertices)
+        {
+            const auto side = insideTester(toCgalPoint(p));
+            if (side == CGAL::ON_BOUNDED_SIDE)
+            {
+                ++insideCount;
+            }
+            else if (side == CGAL::ON_BOUNDARY)
+            {
+                ++boundaryCount;
+            }
+            else
+            {
+                ++outsideCount;
+            }
+        }
+
+        const auto masterTriangleCount = static_cast<unsigned int>(masterTopology->getNbTriangles());
+        const auto slaveTriangleCount = static_cast<unsigned int>(slaveTopology->getNbTriangles());
+        const auto slaveCgalFaceCount = static_cast<unsigned int>(slaveMeshOk ? slaveCgalMesh.number_of_faces() : 0);
+
+        d_lastStep.setValue(static_cast<unsigned int>(m_stepCounter));
+        d_lastMasterVertexCount.setValue(static_cast<unsigned int>(masterVertices.size()));
+        d_lastMasterTriangleCount.setValue(masterTriangleCount);
+        d_lastSlaveVertexCount.setValue(static_cast<unsigned int>(slaveVertices.size()));
+        d_lastSlaveTriangleCount.setValue(slaveTriangleCount);
+        d_lastInsideCount.setValue(static_cast<unsigned int>(insideCount));
+        d_lastBoundaryCount.setValue(static_cast<unsigned int>(boundaryCount));
+        d_lastOutsideCount.setValue(static_cast<unsigned int>(outsideCount));
+        d_lastSlaveCgalFaceCount.setValue(slaveCgalFaceCount);
+
+        const unsigned int logEvery = std::max(1u, d_logEveryNSteps.getValue());
+        if ((m_stepCounter % logEvery) == 0)
+        {
+            std::ostringstream oss;
+            oss << "[CGAL detection] step=" << m_stepCounter
+                << " masterVertices=" << masterVertices.size()
+                << " masterTriangles=" << masterTriangleCount
+                << " slaveVertices=" << slaveVertices.size()
+                << " slaveTriangles=" << slaveTriangleCount
+                << " inside=" << insideCount
+                << " boundary=" << boundaryCount
+                << " outside=" << outsideCount
+                << " slaveCgalFaces=" << slaveCgalFaceCount;
+
+            std::cout << oss.str() << std::endl;
+            if (d_logAsWarning.getValue())
+            {
+                msg_warning() << oss.str();
+            }
+            else
+            {
+                msg_info() << oss.str();
+            }
+
+            if (!slaveBuildWarning.empty())
+            {
+                msg_warning() << "Slave CGAL mesh warning: " << slaveBuildWarning;
+            }
+        }
+
+        if (d_writeCsv.getValue())
+        {
+            const std::string path = d_csvFilePath.getValue();
+            const bool writeHeader = (m_stepCounter == 1);
+            std::ofstream csv(path, std::ios::app);
+            if (csv)
+            {
+                if (writeHeader)
+                {
+                    csv << "step,masterVertices,masterTriangles,slaveVertices,slaveTriangles,inside,boundary,outside,slaveCgalFaces\n";
+                }
+                csv << m_stepCounter << ','
+                    << masterVertices.size() << ','
+                    << masterTriangleCount << ','
+                    << slaveVertices.size() << ','
+                    << slaveTriangleCount << ','
+                    << insideCount << ','
+                    << boundaryCount << ','
+                    << outsideCount << ','
+                    << slaveCgalFaceCount << "\n";
+            }
+            else
+            {
+                msg_warning() << "Could not open diagnostic CSV: " << path;
+            }
+        }
+
+    }
+
+    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))
+        {
+            auto* ev = dynamic_cast<sofa::core::objectmodel::KeypressedEvent*>(event);
+            if (ev)
+            {
+                std::cout << " KeypressedEvent received: " << ev->getKey() << std::endl;
+            }
+        }
+        else if (sofa::simulation::AnimateEndEvent::checkEventType(event))
+        {
+            std::cout << " AnimateEndEvent received" << std::endl;
+            updateIntersectedPositions();
+        }
+    }
+
+    void MeshRepulsionEngine::draw(const core::visual::VisualParams*)
+    {
+        //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..b172c9f
--- /dev/null
+++ b/src/CGALPlugin/MeshRepulsionEngine.h
@@ -0,0 +1,144 @@
+/*****************************************************************************
+*                - 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>
+
+#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
+#include <CGAL/Surface_mesh.h>
+
+#include <cstddef>
+#include <memory>
+#include <string>
+
+namespace cgal
+{
+
+    using sofa::type::Vec3;
+
+    /*
+        TODO: Attach given pair of particles, projecting the positions of the second particles to the first ones.
+    */
+
+    /**
+        * @brief SOFA/CGAL bridge used to detect.
+        *
+        * reads master/slave MechanicalState and BaseMeshTopology from the scene;
+        * converts the master surface topology to a CGAL::Surface_mesh;
+        * converts the slave surface topology to a CGAL::Surface_mesh for validation/debug;
+        * counts slave vertices inside/on/outside the master using CGAL::Side_of_triangle_mesh;
+        * does not move any point yet.
+        *
+        */
+    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;
+
+        using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel;
+        using CgalPoint = Kernel::Point_3;
+        using CgalSurfaceMesh = CGAL::Surface_mesh<CgalPoint>;
+
+        MeshRepulsionEngine();
+        ~MeshRepulsionEngine() override;
+
+        void init() override;
+        void bwdInit() override;
+        void doUpdate() override;
+
+        void handleEvent(sofa::core::objectmodel::Event* event) override;
+
+        void draw(const sofa::core::visual::VisualParams* vparams) override;
+
+    protected:
+        void updateIntersectedPositions();
+
+    private:
+        static CgalPoint toCgalPoint(const Coord& p);
+
+        bool buildSurfaceMeshFromSofa(
+            const VecCoord& positions,
+            sofa::core::topology::BaseMeshTopology* topology,
+            CgalSurfaceMesh& outputMesh,
+            std::string& errorMessage) const;
+
+        bool rebuildMasterCgalMesh(const VecCoord& masterVertices);
+
+    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;
+
+        //  Enable/disable the CGAL detection bridge without removing the component from the scene.
+        sofa::core::objectmodel::Data<bool> d_enableCgalDetection;
+
+        //  Rebuild the master CGAL mesh at every step. Keep false for a fixed master.
+        sofa::core::objectmodel::Data<bool> d_rebuildMasterEveryStep;
+
+        //  Print one CGAL diagnostic line every N animation steps (1 means every step).
+        sofa::core::objectmodel::Data<unsigned int> d_logEveryNSteps;
+
+        //  Run one detection automatically after initialization, during bwdInit().
+        sofa::core::objectmodel::Data<bool> d_runDetectionAtInit;
+
+        //  Print diagnostics as warnings. Warnings are visible even when info logs are filtered.
+        sofa::core::objectmodel::Data<bool> d_logAsWarning;
+
+        //  Write diagnostics to a CSV file in the current working directory.
+        sofa::core::objectmodel::Data<bool> d_writeCsv;
+        sofa::core::objectmodel::Data<std::string> d_csvFilePath;
+
+        //  Last computed values. These are visible on theEngine in the SOFA GUI data panel.
+        sofa::core::objectmodel::Data<unsigned int> d_lastStep;
+        sofa::core::objectmodel::Data<unsigned int> d_lastMasterVertexCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastMasterTriangleCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastSlaveVertexCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastSlaveTriangleCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastInsideCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastBoundaryCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastOutsideCount;
+        sofa::core::objectmodel::Data<unsigned int> d_lastSlaveCgalFaceCount;
+
+    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)  
+        std::unique_ptr<CgalSurfaceMesh> m_masterCgalMesh;
+        std::size_t m_stepCounter = 0;
+    };
+
+} // 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