diff --git a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
index 774f2c25e..1c99e90db 100644
--- a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
+++ b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
@@ -159,7 +159,6 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
         EXPECT_NEAR(positions[id][2], 0, 1e-4);
 
         // run some simulation steps
-        auto simulation = sofa::simulation::getSimulation();
         for (int i = 0; i < nbrStep; i++)
         {
             sofa::simulation::node::animate(root.get(), 0.01);
diff --git a/BeamAdapter_test/component/model/WireRestShape_test.cpp b/BeamAdapter_test/component/model/WireRestShape_test.cpp
index c41d9f054..bb896bc90 100644
--- a/BeamAdapter_test/component/model/WireRestShape_test.cpp
+++ b/BeamAdapter_test/component/model/WireRestShape_test.cpp
@@ -175,7 +175,7 @@ void WireRestShape_test::testParameterInit()
     EXPECT_EQ(nbP_density.size(), 2);
     EXPECT_EQ(nbP_density, nbP_density_ref);
 
-    Real dx1, dx2, dx3, nbEdgesCol_ref = 20;
+    Real dx1, dx2, dx3;
     wire->getCollisionSampling(dx1, 0.0);
     wire->getCollisionSampling(dx2, fullLength);
     wire->getCollisionSampling(dx3, 90.0);
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f940cd090..c757c96c1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -182,7 +182,7 @@ SET_PROPERTY(GLOBAL PROPERTY USE_FOLDERS ON)
 SET_PROPERTY(TARGET ${PROJECT_NAME} PROPERTY FOLDER "plugins")
 
 # Config files and install rules for pythons scripts
-sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "python")
+sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "examples/python3")
 
 sofa_add_subdirectory(plugin extensions/CUDA BeamAdapter.CUDA)
 
diff --git a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
index 3bfc94fb9..146416c22 100644
--- a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
+++ b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
         rootNode.addObject('DefaultVisualManagerLoop')
         rootNode.addObject('FreeMotionAnimationLoop')
-        rootNode.addObject('GenericConstraintSolver', tolerance="1e-3", maxIterations="5000", unbuilt="false")
+        rootNode.addObject('GenericConstraintSolver', tolerance="1e-3", maxIterations="5000", resolutionMethod="UnbuiltGaussSeidel")
         rootNode.addObject('CollisionPipeline', depth="6", verbose="0", draw="1")
         rootNode.addObject('BruteForceBroadPhase', name='N2')
         rootNode.addObject('BVHNarrowPhase')
diff --git a/src/BeamAdapter/component/BeamInterpolation.inl b/src/BeamAdapter/component/BeamInterpolation.inl
index d5bd84fc7..0fd175fd5 100644
--- a/src/BeamAdapter/component/BeamInterpolation.inl
+++ b/src/BeamAdapter/component/BeamInterpolation.inl
@@ -538,14 +538,16 @@ template <class DataTypes>
 void BeamInterpolation<DataTypes>::getYoungModulusAtX(int beamId, Real& /*x_curv*/, Real& youngModulus, Real& cPoisson)
 {
     const auto& defaultYoungModuli = d_defaultYoungModulus.getValue();
-    if (beamId < defaultYoungModuli.size()) {
+    if (beamId < int(defaultYoungModuli.size())) {
+
         youngModulus = defaultYoungModuli[beamId];
     } else {
         youngModulus = m_defaultYoungModulus;
     }
     
     const auto& poissonRatios = d_poissonRatio.getValue();
-    if (beamId < poissonRatios.size()) {
+    if (beamId < int(poissonRatios.size())) {
+
         cPoisson     = poissonRatios[beamId];
     } else {
         cPoisson     = m_defaultPoissonRatio;
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
index 9d875919b..fa02b9109 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
@@ -49,10 +49,12 @@ public:
     AdaptiveBeamLengthConstraintResolution(SReal* initF=nullptr, bool* active=nullptr) : ConstraintResolution(1) ,m_initF(initF), m_active(active)
     {
     }
-    void init(int line, SReal** w, SReal* force) override;
-    void resolution(int line, SReal** w, SReal* d, SReal* force);
-    void store(int line, SReal* force, bool convergence) override;
+    virtual void init(int line, SReal** w, SReal* force) override;
+    virtual void store(int line, SReal* force, bool convergence) override;
 
+    using sofa::core::behavior::ConstraintResolution::resolution;
+    void resolution(int line, SReal** w, SReal* d, SReal* force);
+    
 protected:
     SReal*    m_initF;
     bool*      m_active;
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
index 0d24c7736..695d9aaf1 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
@@ -284,7 +284,7 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::draw(const VisualParams* vparams)
     points.reserve(x.size());
     colors.reserve(x.size());
 
-    for (auto i = 0; i < x.size(); i++)
+    for (sofa::Size i = 0; i < x.size(); i++)
     {
         point = DataTypes::getCPos(x[i]);
         points.push_back(point);
diff --git a/src/BeamAdapter/component/constraint/ImplicitSurfaceAdaptiveConstraint.inl b/src/BeamAdapter/component/constraint/ImplicitSurfaceAdaptiveConstraint.inl
index b1960b416..d3777ad82 100644
--- a/src/BeamAdapter/component/constraint/ImplicitSurfaceAdaptiveConstraint.inl
+++ b/src/BeamAdapter/component/constraint/ImplicitSurfaceAdaptiveConstraint.inl
@@ -639,7 +639,7 @@ void ImplicitSurfaceAdaptiveConstraint<DataTypes>::draw(const core::visual::Visu
     const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
     vparams->drawTool()->disableLighting();
 
-    std::vector<sofa::type::Vector3> pointsToDraw;
+    std::vector<sofa::type::Vec3> pointsToDraw;
     std::vector<type::RGBAColor> colors;
 
     typename sofa::type::vector<potentialContact>::iterator it = m_vecPotentialContact.begin();
@@ -664,7 +664,7 @@ void ImplicitSurfaceAdaptiveConstraint<DataTypes>::draw(const core::visual::Visu
     vparams->drawTool()->drawPoints(pointsToDraw, 2, colors);
 
     colors.clear();
-    std::vector<sofa::type::Vector3> linesToDraw;
+    std::vector<sofa::type::Vec3> linesToDraw;
 
     for (unsigned int i=0; i<m_vecPotentialContact.size(); i++)
     {
diff --git a/src/BeamAdapter/component/controller/BeamAdapterActionController.inl b/src/BeamAdapter/component/controller/BeamAdapterActionController.inl
index d573d4b18..21ef7a858 100644
--- a/src/BeamAdapter/component/controller/BeamAdapterActionController.inl
+++ b/src/BeamAdapter/component/controller/BeamAdapterActionController.inl
@@ -140,7 +140,7 @@ void BeamAdapterActionController<DataTypes>::onBeginAnimationStep(const double /
     else
     {
         const type::vector<Real>& times = d_timeSteps.getValue();
-        if (!times.empty() && m_readStep < times.size())
+        if (!times.empty() && m_readStep < int(times.size()))
         {
             const Real& time = times[m_readStep];
 
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index 5b96e4748..ab1b876f9 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -366,10 +366,10 @@ void InterventionalRadiologyController<DataTypes>::onBeginAnimationStep(const do
 template <class DataTypes>
 void InterventionalRadiologyController<DataTypes>::applyAction(sofa::beamadapter::BeamAdapterAction action)
 {
-    int id = d_controlledInstrument.getValue();    
-    if (id >= m_instrumentsList.size())
+    int id = d_controlledInstrument.getValue();
+    if (id >= int(m_instrumentsList.size()))
     {
-        msg_warning() << "Controlled Instument num " << id << " does not exist (size =" << m_instrumentsList.size() << ").";
+        msg_warning() << "Controlled Instrument num " << id << " does not exist (size =" << m_instrumentsList.size() << ").";
         return;
     }
 
@@ -403,7 +403,7 @@ void InterventionalRadiologyController<DataTypes>::applyAction(sofa::beamadapter
     }
     case BeamAdapterAction::SWITCH_NEXT_TOOL:
     {
-        if (id + 1 >= m_instrumentsList.size())
+        if (id + 1 >= int(m_instrumentsList.size()))
             msg_warning() << "Switching to next tool is not possible, no more instrument in list.";
         else
             d_controlledInstrument.setValue(id + 1);
@@ -455,7 +455,7 @@ void InterventionalRadiologyController<DataTypes>::computeInstrumentsCurvAbs(typ
     // Step 2 => add the beams given the sampling parameters
     double maxAbsLength=0.0;
     Real xSampling = 0.0;
-    for (auto i=0; i<m_instrumentsList.size(); i++)
+    for (sofa::Size i=0; i<m_instrumentsList.size(); i++)
     {
         type::vector<Real> xP_noticeable_I;
         type::vector< int > density_I;
diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl
index 7a2a759fd..650bdcd36 100644
--- a/src/BeamAdapter/component/engine/WireRestShape.inl
+++ b/src/BeamAdapter/component/engine/WireRestShape.inl
@@ -149,7 +149,7 @@ bool WireRestShape<DataTypes>::initTopology()
     Real prev_length = 0.0;
     int prev_edges = 0;
     int startPtId = 0; 
-    for (auto i = 0; i < l_sectionMaterials.size(); ++i)
+    for (sofa::Size i = 0; i < l_sectionMaterials.size(); ++i)
     {
         // Add topology of the material 
         int nbrVisuEdges = l_sectionMaterials.get(i)->getNbVisualEdges();
@@ -212,7 +212,7 @@ void WireRestShape<DataTypes>::getCollisionSampling(Real &dx, const Real &x_curv
     }
     
     // Check in which section x_used belongs to and get access to this section material
-    for (auto i = 1; i< keyPts.size(); ++i)
+    for (sofa::Size i = 1; i< keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
@@ -245,7 +245,7 @@ void WireRestShape<DataTypes>::getRestTransformOnX(Transform &global_H_local, co
     }
    
     const type::vector<Real>& keyPts = d_keyPoints.getValue();
-    for (auto i = 1; i < keyPts.size(); ++i)
+    for (sofa::Size i = 1; i < keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
@@ -264,7 +264,7 @@ void WireRestShape<DataTypes>::getYoungModulusAtX(const Real& x_curv, Real& youn
     const type::vector<Real>& keyPts = d_keyPoints.getValue();
 
     // Depending on the position of the beam, determine the corresponding section material and returning its Young modulus
-    for (auto i = 1; i < keyPts.size(); ++i)
+    for (sofa::Size i = 1; i < keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
@@ -283,7 +283,7 @@ void WireRestShape<DataTypes>::getInterpolationParam(const Real& x_curv, Real &_
     const type::vector<Real>& keyPts = d_keyPoints.getValue();
 
     // Check in which section x_used belongs to and get access to this section material
-    for (auto i = 1; i < keyPts.size(); ++i)
+    for (sofa::Size i = 1; i < keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
@@ -306,7 +306,7 @@ template <class DataTypes>
 void WireRestShape<DataTypes>::getNumberOfCollisionSegment(Real &dx, unsigned int &numLines)
 {
     numLines = 0;
-    for (auto i = 0; i < l_sectionMaterials.size(); ++i)
+    for (sofa::Size i = 0; i < l_sectionMaterials.size(); ++i)
     {
         numLines += l_sectionMaterials.get(i)->getNbCollisionEdges();
     }
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
index 918d5cf13..474c5fbf5 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
+++ b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
@@ -178,6 +178,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::computeStiffness(int beamId, Beam
 template<class DataTypes>
 void AdaptiveBeamForceFieldAndMass<DataTypes>::computeMass(int beamId, BeamLocalMatrices& beamLocalMatrix)
 {
+    SOFA_UNUSED(beamId);
     Real L2 = (Real) (beamLocalMatrix._L * beamLocalMatrix._L);
     beamLocalMatrix.m_M00.clear(); beamLocalMatrix.m_M01.clear(); beamLocalMatrix.m_M10.clear(); beamLocalMatrix.m_M11.clear();
 
diff --git a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
index eef8d7c45..b3d8f28cd 100644
--- a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
+++ b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
@@ -666,7 +666,6 @@ void AdaptiveBeamMapping< TIn, TOut>::computeDistribution()
         else
         {
             m_pointBeamDistribution.reserve(points.size());
-            const bool printLog = this->f_printLog.getValue();
             for (unsigned int i=0; i<points.size(); i++)
             {
                 const unsigned int beamId = (int)floor(points[i][0]);
diff --git a/src/BeamAdapter/component/mapping/BeamLengthMapping.inl b/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
index e7801e038..c8e89d8e5 100644
--- a/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
+++ b/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
@@ -122,6 +122,7 @@ void BeamLengthMapping< TIn, TOut>::reset()
 template <class TIn, class TOut>
 void BeamLengthMapping< TIn, TOut>::apply(const MechanicalParams* mparams, Data<VecCoord>& dOut, const Data<InVecCoord>& dIn)
 {
+    SOFA_UNUSED(mparams);
     SCOPED_TIMER("AdaptiveBeamMappingApply");
 
     VecCoord& out = *dOut.beginEdit();
@@ -591,6 +592,7 @@ void BeamLengthMapping< TIn, TOut>::applyDJT(const MechanicalParams* mparams, co
 template <class TIn, class TOut>
 void BeamLengthMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId )
 {
+    SOFA_UNUSED(mparams);
     const unsigned& geometricStiffness = d_geometricStiffness.getValue();
     if( !geometricStiffness ) { K_geom.resize(0,0); return; }
     //helper::ReadAccessor<Data<VecDeriv> > childForce( *childForceId[(const core::State<TOut>*)this->getToModels()[0]].read() );
diff --git a/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl b/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
index ca2a64f27..1b5833e87 100644
--- a/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
+++ b/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
@@ -62,7 +62,7 @@ BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::BeamProjectionDifference
     , m_updateJ(false)
 {
     auto directions = sofa::helper::getWriteAccessor(d_directions);
-    directions.resize(OutDeriv::total_size, true);
+    directions.resize(OutDeriv::total_size);
 }
 
 
@@ -145,7 +145,7 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::computeProjection(c
         Real distMin = std::numeric_limits<Real>::max();
 
         // find the min distance between P and its projection on each edge of xTo
-        for (int e=0; e<edges.size(); e++)
+        for (sofa::Size e=0; e<edges.size(); e++)
         {
             const auto& edge = edges[e];
             In2Coord Q1 = xTo[edge[0]];