  #include <QToolBar>
  
  #include <gepetto/gui/plugin-interface.hh>
+diff --git plugins/hppmanipulationwidgetsplugin/linkwidget.hh plugins/hppmanipulationwidgetsplugin/linkwidget.hh
+index 08a5fa3..c0e7afe 100644
+--- plugins/hppmanipulationwidgetsplugin/linkwidget.hh
++++ plugins/hppmanipulationwidgetsplugin/linkwidget.hh
+@@ -6,6 +6,7 @@
+ #ifndef HPP_GUI_LINKWIDGET_HH
+ #define LINKWIDGET_HH
+ 
++#include <QOpenGLContext>
+ #include <QWidget>
+ 
+ #include <hpp/corbaserver/manipulation/client.hh>
+diff --git plugins/hppmanipulationwidgetsplugin/roadmap.hh plugins/hppmanipulationwidgetsplugin/roadmap.hh
+index 4953c26..9d897cb 100644
+--- plugins/hppmanipulationwidgetsplugin/roadmap.hh
++++ plugins/hppmanipulationwidgetsplugin/roadmap.hh
+@@ -6,6 +6,8 @@
+ #ifndef HPP_GUI_MANIPULATION_ROADMAP_HH
+ #define HPP_GUI_MANIPULATION_ROADMAP_HH
+ 
++#include <QOpenGLContext>
++
+ #include <gepetto/gui/color-map.hh>
+ #include <hppmanipulationwidgetsplugin/hppmanipulationwidgetsplugin.hh>
+ #include <hppwidgetsplugin/roadmap.hh>
+diff --git plugins/hppwidgetsplugin/configurationlist.hh plugins/hppwidgetsplugin/configurationlist.hh
+index 588a273..9547e9f 100644
+--- plugins/hppwidgetsplugin/configurationlist.hh
++++ plugins/hppwidgetsplugin/configurationlist.hh
+@@ -6,6 +6,7 @@
+ #ifndef CONFIGURATIONLIST_HH
+ #define CONFIGURATIONLIST_HH
+ 
++#include <QOpenGLContext>
+ #include <QListWidget>
+ 
+ namespace hpp {
+diff --git plugins/hppwidgetsplugin/configurationlistwidget.hh plugins/hppwidgetsplugin/configurationlistwidget.hh
+index 9479127..8b52492 100644
+--- plugins/hppwidgetsplugin/configurationlistwidget.hh
++++ plugins/hppwidgetsplugin/configurationlistwidget.hh
+@@ -6,6 +6,7 @@
+ #ifndef HPP_GUI_CONFIGURATIONLISTWIDGET_HH
+ #define HPP_GUI_CONFIGURATIONLISTWIDGET_HH
+ 
++#include <QOpenGLContext>
+ #include <QWidget>
+ 
+ #include "gepetto/gui/fwd.hh"
+diff --git plugins/hppwidgetsplugin/constraintwidget.hh plugins/hppwidgetsplugin/constraintwidget.hh
+index 1b989f2..4ec8d1d 100644
+--- plugins/hppwidgetsplugin/constraintwidget.hh
++++ plugins/hppwidgetsplugin/constraintwidget.hh
+@@ -6,6 +6,7 @@
+ #ifndef HPP_GUI_CONSTRAINTWIDGET_HH
+ #define HPP_GUI_CONSTRAINTWIDGET_HH
+ 
++#include <QOpenGLContext>
+ #include <QWidget>
+ 
+ #include "hppwidgetsplugin/iconstraint.hh"
+diff --git plugins/hppwidgetsplugin/conversions.hh plugins/hppwidgetsplugin/conversions.hh
+index a9f6c4f..5f5ae56 100644
+--- plugins/hppwidgetsplugin/conversions.hh
++++ plugins/hppwidgetsplugin/conversions.hh
+@@ -6,6 +6,8 @@
+ #ifndef HPP_GUI_CONVERSIONS_HH
+ #define HPP_GUI_CONVERSIONS_HH
+ 
++#include <QOpenGLContext>
++
+ #include <gepetto/gui/windows-manager.hh>
+ 
+ namespace hpp {
 diff --git plugins/hppwidgetsplugin/hppwidgetsplugin.hh plugins/hppwidgetsplugin/hppwidgetsplugin.hh
 index 9265a0d..92a72a5 100644
 --- plugins/hppwidgetsplugin/hppwidgetsplugin.hh

 #include <gepetto/gui/plugin-interface.hh>
 #include <gepetto/gui/omniorb/omniorbthread.hh>
 
diff --git plugins/hppfcl/plugin.hh plugins/hppfcl/plugin.hh
index 0c1e434..e28ecee 100644
--- plugins/hppfcl/plugin.hh

 #include <gepetto/gui/plugin-interface.hh>
 #include <gepetto/gui/windows-manager.hh>
 #include <hpp/corbaserver/client.hh>
diff --git plugins/hppwidgetsplugin/iconstraint.hh plugins/hppwidgetsplugin/iconstraint.hh
index 1579e02..8ba9c83 100644
--- plugins/hppwidgetsplugin/iconstraint.hh
+++ plugins/hppwidgetsplugin/iconstraint.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_ICONSTRAINT_HH
 #define HPP_GUI_ICONSTRAINT_HH
 
+#include <QOpenGLContext>
 #include <QObject>
 
 namespace hpp {
diff --git plugins/hppwidgetsplugin/joint-action.hh plugins/hppwidgetsplugin/joint-action.hh
index 3728e67..3a764f6 100644
--- plugins/hppwidgetsplugin/joint-action.hh
+++ plugins/hppwidgetsplugin/joint-action.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_JOINT_ACTION_HH
 #define HPP_GUI_JOINT_ACTION_HH
 
+#include <QOpenGLContext>
 #include <QAction>
 
 namespace hpp {
diff --git plugins/hppwidgetsplugin/joint-tree-item.hh plugins/hppwidgetsplugin/joint-tree-item.hh
index d6ec512..c77630a 100644
--- plugins/hppwidgetsplugin/joint-tree-item.hh
+++ plugins/hppwidgetsplugin/joint-tree-item.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_JOINTTREEITEM_HH
 #define HPP_GUI_JOINTTREEITEM_HH
 
+#include <QOpenGLContext>
 #include <QItemDelegate>
 #include <QSlider>
 #include <QStandardItem>
diff --git plugins/hppwidgetsplugin/jointbounddialog.cc plugins/hppwidgetsplugin/jointbounddialog.cc
index d8308c3..c80e40a 100644
--- plugins/hppwidgetsplugin/jointbounddialog.cc
+++ plugins/hppwidgetsplugin/jointbounddialog.cc
@@ -3,9 +3,10 @@
 // Authors: Joseph Mirabel
 //
 
-#include <omniORB4/CORBA.h>
 #include "hppwidgetsplugin/jointbounddialog.hh"
 
+#include <omniORB4/CORBA.h>
+
 #include <QHBoxLayout>
 #include <QVBoxLayout>
 #include <QDialogButtonBox>
diff --git plugins/hppwidgetsplugin/jointbounddialog.hh plugins/hppwidgetsplugin/jointbounddialog.hh
index 25b54d1..384f49d 100644
--- plugins/hppwidgetsplugin/jointbounddialog.hh
+++ plugins/hppwidgetsplugin/jointbounddialog.hh
@@ -6,11 +6,13 @@
 #ifndef HPP_GUI_JOINTBOUNDDIALOG_HH
 #define HPP_GUI_JOINTBOUNDDIALOG_HH
 
-#include <hpp/common-idl.hh>
+#include <QOpenGLContext>
 #include <QDialog>
 #include <QLabel>
 #include <QDoubleSpinBox>
 
+#include <hpp/common-idl.hh>
+
 namespace hpp {
   namespace gui {
     class JointBoundDialog : public QDialog
diff --git plugins/hppwidgetsplugin/jointtreewidget.cc plugins/hppwidgetsplugin/jointtreewidget.cc
index aec669e..30dbb9f 100644
--- plugins/hppwidgetsplugin/jointtreewidget.cc
+++ plugins/hppwidgetsplugin/jointtreewidget.cc
@@ -3,13 +3,13 @@
 // Authors: Joseph Mirabel and Heidy Dallard
 //
 
+#include "hppwidgetsplugin/jointtreewidget.hh"
+#include "hppwidgetsplugin/ui_jointtreewidget.h"
+
 #include <omniORB4/CORBA.h>
 
 #include <QMenu>
 
-#include "hppwidgetsplugin/jointtreewidget.hh"
-#include "hppwidgetsplugin/ui_jointtreewidget.h"
-
 #include <gepetto/viewer/group-node.h>
 
 #include <gepetto/gui/mainwindow.hh>
diff --git plugins/hppwidgetsplugin/jointtreewidget.hh plugins/hppwidgetsplugin/jointtreewidget.hh
index 960e838..83e43aa 100644
--- plugins/hppwidgetsplugin/jointtreewidget.hh
+++ plugins/hppwidgetsplugin/jointtreewidget.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_JOINTTREEWIDGET_HH
 #define HPP_GUI_JOINTTREEWIDGET_HH
 
+#include <QOpenGLContext>
 #include <QWidget>
 
 #include <hppwidgetsplugin/hppwidgetsplugin.hh>
diff --git plugins/hppwidgetsplugin/listjointconstraint.hh plugins/hppwidgetsplugin/listjointconstraint.hh
index 0161105..da2869f 100644
--- plugins/hppwidgetsplugin/listjointconstraint.hh
+++ plugins/hppwidgetsplugin/listjointconstraint.hh
@@ -6,6 +6,8 @@
 #ifndef LISTJOINTCONSTRAINT_HH
 #define LISTJOINTCONSTRAINT_HH
 
+#include <QOpenGLContext>
+
 #include "iconstraint.hh"
 #include "hppwidgetsplugin.hh"
 
diff --git plugins/hppwidgetsplugin/numericalconstraintpicker.hh plugins/hppwidgetsplugin/numericalconstraintpicker.hh
index c4d32dc..4b3d32b 100644
--- plugins/hppwidgetsplugin/numericalconstraintpicker.hh
+++ plugins/hppwidgetsplugin/numericalconstraintpicker.hh
@@ -6,6 +6,7 @@
 #ifndef NUMERICALCONSTRAINTPICKER_HH
 #define NUMERICALCONSTRAINTPICKER_HH
 
+#include <QOpenGLContext>
 #include <QWidget>
 #include <QListWidgetItem>
 
diff --git plugins/hppwidgetsplugin/pathplayer.hh plugins/hppwidgetsplugin/pathplayer.hh
index 8aa51ef..829ac3a 100644
--- plugins/hppwidgetsplugin/pathplayer.hh
+++ plugins/hppwidgetsplugin/pathplayer.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_PATHPLAYER_HH
 #define HPP_GUI_PATHPLAYER_HH
 
+#include <QOpenGLContext>
 #include <QWidget>
 
 #include <gepetto/gui/fwd.hh>
diff --git plugins/hppwidgetsplugin/roadmap.hh plugins/hppwidgetsplugin/roadmap.hh
index 72ab9d1..b4e9ab0 100644
--- plugins/hppwidgetsplugin/roadmap.hh
+++ plugins/hppwidgetsplugin/roadmap.hh
@@ -6,6 +6,8 @@
 #ifndef HPP_GUI_ROADMAP_HH
 #define HPP_GUI_ROADMAP_HH
 
+#include <QOpenGLContext>
+
 #include <hpp/common-idl.hh>
 #include <gepetto/gui/color-map.hh>
 #include <gepetto/gui/windows-manager.hh>
diff --git plugins/hppwidgetsplugin/solverwidget.hh plugins/hppwidgetsplugin/solverwidget.hh
index 3bbf1b1..1838154 100644
--- plugins/hppwidgetsplugin/solverwidget.hh
+++ plugins/hppwidgetsplugin/solverwidget.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_SOLVERWIDGET_HH
 #define HPP_GUI_SOLVERWIDGET_HH
 
+#include <QOpenGLContext>
 #include <QWidget>
 
 #include "gepetto/gui/fwd.hh"
diff --git plugins/hppwidgetsplugin/transformconstraintwidget.cc plugins/hppwidgetsplugin/transformconstraintwidget.cc
index 721a2a5..d256da9 100644
--- plugins/hppwidgetsplugin/transformconstraintwidget.cc
+++ plugins/hppwidgetsplugin/transformconstraintwidget.cc
@@ -3,9 +3,10 @@
 // Authors: Heidy Dallard
 //
 
+#include "hppwidgetsplugin/transformconstraintwidget.hh"
+
 #include <limits>
 
-#include "hppwidgetsplugin/transformconstraintwidget.hh"
 #include "hppwidgetsplugin/ui_transformconstraintwidget.h"
 
 namespace hpp {
diff --git plugins/hppwidgetsplugin/transformconstraintwidget.hh plugins/hppwidgetsplugin/transformconstraintwidget.hh
index e44a822..5329e53 100644
--- plugins/hppwidgetsplugin/transformconstraintwidget.hh
+++ plugins/hppwidgetsplugin/transformconstraintwidget.hh
@@ -6,6 +6,7 @@
 #ifndef HPP_GUI_TRANSFORMCONSTRAINTWIDGET_HH
 #define HPP_GUI_TRANSFORMCONSTRAINTWIDGET_HH
 
+#include <QOpenGLContext>
 #include <QWidget>
 
 #include "hppwidgetsplugin/hppwidgetsplugin.hh"
diff --git plugins/hppwidgetsplugin/transformwidget.hh plugins/hppwidgetsplugin/transformwidget.hh
index b760780..06328ae 100644
--- plugins/hppwidgetsplugin/transformwidget.hh
+++ plugins/hppwidgetsplugin/transformwidget.hh
@@ -8,6 +8,7 @@
 
 #include <string>
 
+#include <QOpenGLContext>
 #include <QDialog>
 #include <QDoubleSpinBox>
 #include <QVector3D>
diff --git plugins/hppwidgetsplugin/twojointsconstraint.hh plugins/hppwidgetsplugin/twojointsconstraint.hh
index 1c7cf4e..17013b0 100644
--- plugins/hppwidgetsplugin/twojointsconstraint.hh
+++ plugins/hppwidgetsplugin/twojointsconstraint.hh
@@ -6,6 +6,8 @@
 #ifndef HPP_GUI_TWOJOINTSCONSTRAINT_HH
 #define HPP_GUI_TWOJOINTSCONSTRAINT_HH
 
+#include <QOpenGLContext>
+
 #include "hppwidgetsplugin/hppwidgetsplugin.hh"
 #include "iconstraint.hh"
 
diff --git plugins/remoteimuplugin/remoteimuplugin.hh plugins/remoteimuplugin/remoteimuplugin.hh
index 67f1cfc..480cb12 100644
--- plugins/remoteimuplugin/remoteimuplugin.hh
