diff --git a/CMakeLists.txt b/CMakeLists.txt
index 85302c55c..d136f5563 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.12)
-project(BeamAdapter VERSION 1.0)
+project(BeamAdapter VERSION 1.0 LANGUAGES CXX)
 
 include(cmake/environment.cmake)
 
diff --git a/extensions/CUDA/CMakeLists.txt b/extensions/CUDA/CMakeLists.txt
index 51ffef0dc..edcfdfcde 100644
--- a/extensions/CUDA/CMakeLists.txt
+++ b/extensions/CUDA/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.12)
-project(BeamAdapter.CUDA)
+project(BeamAdapter.CUDA LANGUAGES CXX CUDA)
 
 set(HEADER_FILES
     src/BeamAdapter/CUDA/init.h
diff --git a/extensions/CUDA/src/BeamAdapter/CUDA/CudaInstantiations.cpp b/extensions/CUDA/src/BeamAdapter/CUDA/CudaInstantiations.cpp
index 3c56f451b..b2ca6ea62 100644
--- a/extensions/CUDA/src/BeamAdapter/CUDA/CudaInstantiations.cpp
+++ b/extensions/CUDA/src/BeamAdapter/CUDA/CudaInstantiations.cpp
@@ -20,7 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #include <BeamAdapter/CUDA/config.h>
-#include <SofaCUDA/sofa/gpu/cuda/CudaTypes.h>
+#include <sofa/gpu/cuda/CudaTypes.h>
 
 #include <BeamAdapter/component/WireBeamInterpolation.inl>
 #include <BeamAdapter/component/BeamInterpolation.inl>
@@ -36,149 +36,114 @@
 #include <sofa/core/behavior/Mass.inl>
 #include <sofa/core/Mapping.inl>
 #include <sofa/component/controller/MechanicalStateController.inl>
-#include <sofa/component/constraint/projective/FixedConstraint.inl> // for InterventionalRadiologyController
+#include <sofa/component/constraint/projective/FixedProjectiveConstraint.inl> // for InterventionalRadiologyController
 
 #include <sofa/core/ObjectFactory.h>
 
 using namespace sofa::gpu::cuda;
 
-namespace sofa::component::fem::_beaminterpolation_
+namespace beamadapter::cuda
 {
     // template class SOFA_BEAMADAPTER_CUDA_API BeamInterpolation<CudaRigid3fTypes>;
-#ifdef SOFA_GPU_CUDA_DOUBLE
-    template class SOFA_BEAMADAPTER_CUDA_API BeamInterpolation<CudaRigid3dTypes>;
-#endif
-} // namespace sofa::component::fem::_beaminterpolation_
-
-namespace sofa::component::fem::_wirebeaminterpolation_
-{
     // template class SOFA_BEAMADAPTER_CUDA_API WireBeamInterpolation<CudaRigid3fTypes>;
-#ifdef SOFA_GPU_CUDA_DOUBLE
-    template class SOFA_BEAMADAPTER_CUDA_API WireBeamInterpolation<CudaRigid3dTypes>;
-#endif
-} // namespace sofa::component::fem::_beaminterpolation_
-
-namespace sofa::component::engine::_wirerestshape_
-{
     template class SOFA_BEAMADAPTER_CUDA_API WireRestShape<CudaRigid3fTypes>;
-#ifdef SOFA_GPU_CUDA_DOUBLE
-    template class SOFA_BEAMADAPTER_CUDA_API WireRestShape<CudaRigid3dTypes>;
-#endif
-} // namespace sofa::component::engine::_wirerestshape_
-
-namespace sofa::component::controller::_interventionalradiologycontroller_
-{
     template class SOFA_BEAMADAPTER_CUDA_API InterventionalRadiologyController<CudaRigid3fTypes>;
-#ifdef SOFA_GPU_CUDA_DOUBLE
-    template class SOFA_BEAMADAPTER_CUDA_API InterventionalRadiologyController<CudaRigid3dTypes>;
-#endif
-} // namespace sofa::component::controller::_interventionalradiologycontroller_
-
-namespace sofa::component::mapping::_adaptivebeammapping_
-{
     template class SOFA_BEAMADAPTER_CUDA_API AdaptiveBeamMapping<CudaRigid3fTypes, defaulttype::Vec3Types>;
-#ifdef SOFA_GPU_CUDA_DOUBLE
-    template class SOFA_BEAMADAPTER_CUDA_API AdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types>;
-#endif
-} // namespace sofa::component::mapping::_adaptivebeammapping_
-
-namespace sofa::component::mapping
-{
     template class SOFA_BEAMADAPTER_CUDA_API MultiAdaptiveBeamMapping<CudaRigid3fTypes, defaulttype::Vec3Types>;
-#ifdef SOFA_GPU_CUDA_DOUBLE
-    template class SOFA_BEAMADAPTER_CUDA_API MultiAdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types>;
-#endif
-} // namespace sofa::component::mapping
-
-namespace sofa::beamadapter
-{
     template class SOFA_BEAMADAPTER_CUDA_API RodMeshSection<CudaRigid3fTypes>;
     template class SOFA_BEAMADAPTER_CUDA_API RodSpireSection<CudaRigid3fTypes>;
     template class SOFA_BEAMADAPTER_CUDA_API RodStraightSection<CudaRigid3fTypes>;
 
 #ifdef SOFA_GPU_CUDA_DOUBLE
+    template class SOFA_BEAMADAPTER_CUDA_API BeamInterpolation<CudaRigid3dTypes>;
+    template class SOFA_BEAMADAPTER_CUDA_API WireBeamInterpolation<CudaRigid3dTypes>;
+    template class SOFA_BEAMADAPTER_CUDA_API WireRestShape<CudaRigid3dTypes>;
+    template class SOFA_BEAMADAPTER_CUDA_API InterventionalRadiologyController<CudaRigid3dTypes>;
+    template class SOFA_BEAMADAPTER_CUDA_API AdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types>;
+    template class SOFA_BEAMADAPTER_CUDA_API MultiAdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types>;
     template class SOFA_BEAMADAPTER_CUDA_API RodMeshSection<CudaRigid3dTypes>;
     template class SOFA_BEAMADAPTER_CUDA_API RodSpireSection<CudaRigid3dTypes>;
     template class SOFA_BEAMADAPTER_CUDA_API RodStraightSection<CudaRigid3dTypes>;
 #endif
-} // namespace sofa::beamadapter
 
+using namespace sofa::gpu::cuda;
 
-namespace sofa::gpu::cuda
+void registerBeamAdapterCUDAComponents(sofa::core::ObjectFactory* factory)
 {
-
 #ifdef SOFA_GPU_CUDA_DOUBLE
-int CudaBeamInterpolationClass = core::RegisterObject("Adaptive Beam Interpolation - Supports GPU-side computations using CUDA")
-    // .add< sofa::component::fem::BeamInterpolation<CudaRigid3fTypes> >()
-    .add< sofa::component::fem::BeamInterpolation<CudaRigid3dTypes> >()
-    ;
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Adaptive Beam Interpolation - Supports GPU-side computations using CUDA")
+        // .add< BeamInterpolation<CudaRigid3fTypes> >()
+        .add< BeamInterpolation<CudaRigid3dTypes> >());
 #endif
 
 #ifdef SOFA_GPU_CUDA_DOUBLE
-int CudaWireBeamInterpolationClass = core::RegisterObject("Adaptive Wire Beam Interpolation - Supports GPU-side computations using CUDA")
-    // .add< sofa::component::fem::WireBeamInterpolation<CudaRigid3fTypes> >()
-    .add< sofa::component::fem::WireBeamInterpolation<CudaRigid3dTypes> >()
-    ;
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Adaptive Wire Beam Interpolation - Supports GPU-side computations using CUDA")
+        // .add< WireBeamInterpolation<CudaRigid3fTypes> >()
+        .add< WireBeamInterpolation<CudaRigid3dTypes> >());
 #endif
 
-int CudaWireRestShapenClass = core::RegisterObject("Wire Shape - Supports GPU-side computations using CUDA")
-    .add< sofa::component::engine::WireRestShape<CudaRigid3fTypes> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Wire Shape - Supports GPU-side computations using CUDA")
+        .add< WireRestShape<CudaRigid3fTypes> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::component::engine::WireRestShape<CudaRigid3dTypes> >()
+        .add< WireRestShape<CudaRigid3dTypes> >()
 #endif
-    ;
+    );
 
-int CudaAdaptiveBeamForceFieldAndMassClass = core::RegisterObject("Adaptive Beam finite elements - Supports GPU-side computations using CUDA")
-    .add< sofa::component::forcefield::AdaptiveBeamForceFieldAndMass<CudaRigid3fTypes> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Adaptive Beam finite elements - Supports GPU-side computations using CUDA")
+        .add< AdaptiveBeamForceFieldAndMass<CudaRigid3fTypes> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::component::forcefield::AdaptiveBeamForceFieldAndMass<CudaRigid3dTypes> >()
+        .add< AdaptiveBeamForceFieldAndMass<CudaRigid3dTypes> >()
 #endif
-    ;
+    );
 
-int CudaInterventionalRadiologyControllerClass = core::RegisterObject("Provides a Mouse & Keyboard user control on an EdgeSet Topology - Supports GPU-side computations using CUDA")
-    .add< sofa::component::controller::InterventionalRadiologyController<CudaRigid3fTypes> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Provides a Mouse & Keyboard user control on an EdgeSet Topology - Supports GPU-side computations using CUDA")
+        .add< InterventionalRadiologyController<CudaRigid3fTypes> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::component::controller::InterventionalRadiologyController<CudaRigid3dTypes> >()
+        .add< InterventionalRadiologyController<CudaRigid3dTypes> >()
 #endif
-    ;
+    );
 
-int CudaAdaptiveBeamMappingClass = core::RegisterObject("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs - Supports GPU-side computations using CUDA")
-    .add< sofa::component::mapping::AdaptiveBeamMapping<CudaRigid3fTypes, defaulttype::Vec3Types> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Provides a Mouse & Keyboard user control on an EdgeSet Topology - Supports GPU-side computations using CUDA")
+            .add< InterventionalRadiologyController<CudaRigid3fTypes> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::component::mapping::AdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types> >()
+            .add< InterventionalRadiologyController<CudaRigid3dTypes> >()
 #endif
-    ;
+    );
 
-int CudaMultiAdaptiveBeamMappingClass = core::RegisterObject("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs - Supports GPU-side computations using CUDA")
-    .add< sofa::component::mapping::MultiAdaptiveBeamMapping<CudaRigid3fTypes, defaulttype::Vec3Types> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs - Supports GPU-side computations using CUDA")
+        .add< AdaptiveBeamMapping<CudaRigid3fTypes, defaulttype::Vec3Types> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::component::mapping::MultiAdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types> >()
+        .add< AdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types> >()
 #endif
-    ;
+    );
 
-const int CudaRodMeshSectionClass = core::RegisterObject("Class defining a Rod Section using a MeshLoader and material parameters using CUDA.")
-    .add< sofa::beamadapter::RodMeshSection<CudaRigid3fTypes> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs - Supports GPU-side computations using CUDA")
+        .add< MultiAdaptiveBeamMapping<CudaRigid3fTypes, defaulttype::Vec3Types> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::beamadapter::RodMeshSection<CudaRigid3dTypes> >()
+        .add< MultiAdaptiveBeamMapping<CudaRigid3dTypes, defaulttype::Vec3Types> >()
 #endif
-    ;
+    );
 
-const int CudaRodSpireSectionClass = core::RegisterObject("Class defining a rod spire section, defining material and geometry parameters using CUDA.")
-    .add< sofa::beamadapter::RodSpireSection<CudaRigid3fTypes> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Class defining a Rod Section using a MeshLoader and material parameters using CUDA.")
+        .add< RodMeshSection<CudaRigid3fTypes> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::beamadapter::RodSpireSection<CudaRigid3dTypes> >()
+        .add< RodMeshSection<CudaRigid3dTypes> >()
 #endif
-;
+    );
 
-const int CudaRodStraightSectionClass = core::RegisterObject("Class defining a rod straight section Material, defining material and geometry parameters using CUDA.")
-    .add< sofa::beamadapter::RodStraightSection<CudaRigid3fTypes> >()
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Class defining a rod spire section, defining material and geometry parameters using CUDA.")
+        .add< RodSpireSection<CudaRigid3fTypes> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    .add< sofa::beamadapter::RodStraightSection<CudaRigid3dTypes> >()
+        .add< RodSpireSection<CudaRigid3dTypes> >()
 #endif
-;
+    );
 
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Class defining a rod straight section Material, defining material and geometry parameters using CUDA.")
+        .add< RodStraightSection<CudaRigid3fTypes> >()
+#ifdef SOFA_GPU_CUDA_DOUBLE
+        .add< RodStraightSection<CudaRigid3dTypes> >()
+#endif
+    );
+}
 
-
-
-} // namespace sofa::gpu::cuda
-
+} // namespace beamadapter
diff --git a/extensions/CUDA/src/BeamAdapter/CUDA/init.cpp b/extensions/CUDA/src/BeamAdapter/CUDA/init.cpp
index 585cdc745..b29d0a635 100644
--- a/extensions/CUDA/src/BeamAdapter/CUDA/init.cpp
+++ b/extensions/CUDA/src/BeamAdapter/CUDA/init.cpp
@@ -22,15 +22,20 @@
 #include <BeamAdapter/CUDA/init.h>
 #include <BeamAdapter/initBeamAdapter.h>
 #include <SofaCUDA/init.h>
+
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace beamadapter::cuda
 {
 
+extern void registerBeamAdapterCUDAComponents(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
-    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList();
+    SOFA_BEAMADAPTER_API void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -53,17 +58,18 @@ void init()
     static bool first = true;
     if (first)
     {
-        sofa::component::initBeamAdapter();
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
+        beamadapter::initBeamAdapter();
         sofa::gpu::cuda::init();
         first = false;
     }
 }
 
-const char* getModuleComponentList()
+void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    /// string containing the names of the classes provided by the plugin
-    static std::string classes = sofa::core::ObjectFactory::getInstance()->listClassesFromTarget(MODULE_NAME);
-    return classes.c_str();
+    registerBeamAdapterCUDAComponents(factory);
 }
 
 } // namespace beamadapter::cuda
diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl
index 3fed22982..dcd08e25d 100644
--- a/src/BeamAdapter/component/engine/WireRestShape.inl
+++ b/src/BeamAdapter/component/engine/WireRestShape.inl
@@ -198,7 +198,7 @@ void WireRestShape<DataTypes>::getMechanicalSampling(Real &dx, const Real x_curv
     Real x_used = x_curv - EPSILON;
 
     const Real totalLength = this->getLength();
-    x_used = std::clamp(x_used, 0.0, totalLength);
+    x_used = std::clamp(x_used, static_cast<Real>(0.0), totalLength);
 
     const type::vector<Real>& keyPts = d_keyPoints.getValue();