diff --git a/CMakeLists.txt b/CMakeLists.txt
index 17e824e4b08..28b626f0338 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,18 +22,30 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
 endif()
 
-# Output Directories definition
-set(ARCHIVE_OUTPUT_DIRECTORY lib)
-set(RUNTIME_OUTPUT_DIRECTORY bin)
-if(WIN32)
-    set(LIBRARY_OUTPUT_DIRECTORY ${RUNTIME_OUTPUT_DIRECTORY})
-else()
-    set(LIBRARY_OUTPUT_DIRECTORY ${ARCHIVE_OUTPUT_DIRECTORY})
-endif()
+
 ## Set the output directories globally
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${RUNTIME_OUTPUT_DIRECTORY})
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${LIBRARY_OUTPUT_DIRECTORY})
+if(NOT DEFINED CMAKE_ARCHIVE_OUTPUT_DIRECTORY)
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+endif()
+
+if(NOT DEFINED CMAKE_RUNTIME_OUTPUT_DIRECTORY)
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+endif()
+
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} )
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} )
+
+if(NOT DEFINED CMAKE_LIBRARY_OUTPUT_DIRECTORY)
+    if(WIN32)
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+    else()
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_ARCHIVE_OUTPUT_DIRECTORY})
+    endif()
+endif()
+
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY} )
+
+
 
 # Option for packaging
 option(SOFA_BUILD_RELEASE_PACKAGE "Run package specific configure" OFF)
@@ -76,7 +88,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
 # Remove generated CMake files, this prevents CMake from finding packages that
 # were disabled (like, unchecked in cmake-gui) after being built once.
 file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/cmake)
-file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/lib/cmake)
+file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake)
 # Remove generated SofaPython configuration files, to prevent SofaPython from
 # adding paths to disabled plugins.
 file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/etc/sofa/python.d)
@@ -92,7 +104,7 @@ install(FILES
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/macdeployqt.cmake"
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/windeployqt.cmake"
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/FindTinyXML2.cmake"
-    DESTINATION lib/cmake/Modules
+    DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Modules
     COMPONENT headers
     )
 
@@ -108,15 +120,15 @@ if(UNIX)
 
     # see https://cmake.org/Wiki/CMake_RPATH_handling for $ORIGIN doc
     set(CMAKE_INSTALL_RPATH
-        "$ORIGIN/../lib"
-        "$$ORIGIN/../lib"
+        "$ORIGIN/../${ARCHIVE_OUTPUT_DIRECTORY}"
+        "$$ORIGIN/../${ARCHIVE_OUTPUT_DIRECTORY}"
         )
 
     if(APPLE)
         set(CMAKE_MACOSX_RPATH ON)
         list(APPEND CMAKE_INSTALL_RPATH
-            "@loader_path/../lib"
-            "@executable_path/../lib"
+            "@loader_path/../${ARCHIVE_OUTPUT_DIRECTORY}"
+            "@executable_path/../${ARCHIVE_OUTPUT_DIRECTORY}"
             "@loader_path/../../Frameworks"
             "@executable_path/../../Frameworks"
             )
diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt
index 13d079ae39e..74882bd1e05 100644
--- a/Sofa/framework/Config/CMakeLists.txt
+++ b/Sofa/framework/Config/CMakeLists.txt
@@ -3,7 +3,7 @@ project(Sofa.Config LANGUAGES CXX)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
-list(APPEND CMAKE_PREFIX_PATH "${CMAKE_BINARY_DIR}/lib/cmake")
+list(APPEND CMAKE_PREFIX_PATH "${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake")
 
 include(SofaMacros)
 
@@ -324,14 +324,14 @@ set_target_properties(${PROJECT_NAME} PROPERTIES SOFA_VERSION "${SOFA_VERSION}")
 set_target_properties(${PROJECT_NAME} PROPERTIES SOFA_URL "${SOFA_URL}")
 
 # CMakeParseLibraryList.cmake
-configure_file(cmake/CMakeParseLibraryList.cmake ${CMAKE_BINARY_DIR}/lib/cmake/CMakeParseLibraryList.cmake COPYONLY)
-install(FILES cmake/CMakeParseLibraryList.cmake DESTINATION lib/cmake/${PROJECT_NAME} COMPONENT headers)
+configure_file(cmake/CMakeParseLibraryList.cmake ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/CMakeParseLibraryList.cmake COPYONLY)
+install(FILES cmake/CMakeParseLibraryList.cmake DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${PROJECT_NAME} COMPONENT headers)
 
 # SofaMacros*.cmake
 set(macro_files SofaMacros.cmake SofaMacrosConfigure.cmake SofaMacrosInstall.cmake SofaMacrosPython.cmake SofaMacrosUtils.cmake)
 foreach(macro_file ${macro_files})
-    configure_file(cmake/${macro_file} ${CMAKE_BINARY_DIR}/lib/cmake/${macro_file} COPYONLY)
-    install(FILES cmake/${macro_file} DESTINATION lib/cmake/${PROJECT_NAME} COMPONENT headers)
+    configure_file(cmake/${macro_file} ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${macro_file} COPYONLY)
+    install(FILES cmake/${macro_file} DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${PROJECT_NAME} COMPONENT headers)
 endforeach()
 
 sofa_create_package_with_targets(
diff --git a/Sofa/framework/Config/Sofa.ConfigConfig.cmake.in b/Sofa/framework/Config/Sofa.ConfigConfig.cmake.in
index e6c96943433..93b3f07cbaf 100644
--- a/Sofa/framework/Config/Sofa.ConfigConfig.cmake.in
+++ b/Sofa/framework/Config/Sofa.ConfigConfig.cmake.in
@@ -7,9 +7,9 @@ set(Sofa_VERSION @Sofa_VERSION@)
 set(SOFA_USE_DEPENDENCY_PACK @SOFA_USE_DEPENDENCY_PACK@)
 
 # Setup CMAKE_MODULE_PATH, CMAKE_PREFIX_PATH, CMAKE_INCLUDE_PATH
-string(REGEX REPLACE "/lib/cmake/?.*" "" SOFA_ROOT "${CMAKE_CURRENT_LIST_DIR}")
+string(REGEX REPLACE "/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/?.*" "" SOFA_ROOT "${CMAKE_CURRENT_LIST_DIR}")
 list(APPEND CMAKE_MODULE_PATH  "${CMAKE_CURRENT_LIST_DIR}") # Needed to do: include(SofaMacros)
-list(APPEND CMAKE_MODULE_PATH  "${SOFA_ROOT}/lib/cmake/Modules") # Needed to do: find_package(Eigen3)
+list(APPEND CMAKE_MODULE_PATH  "${SOFA_ROOT}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Modules") # Needed to do: find_package(Eigen3)
 if(SOFA_USE_DEPENDENCY_PACK)
     list(APPEND CMAKE_INCLUDE_PATH "${SOFA_ROOT}/include/extlibs/WinDepPack") # Needed to do: #include <zlib.h>
 endif()
diff --git a/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake b/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake
index f07fe9a27d8..9914bed509f 100644
--- a/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake
+++ b/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake
@@ -125,9 +125,9 @@ endmacro()
 #   - ${CMAKE_BINARY_DIR}/cmake/FooConfig.cmake
 #   - ${CMAKE_BINARY_DIR}/cmake/FooConfigVersion.cmake
 # - In the install tree:
-#   - lib/cmake/Foo/FooConfigVersion.cmake
-#   - lib/cmake/Foo/FooConfig.cmake
-#   - lib/cmake/Foo/FooTargets.cmake
+#   - ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Foo/FooConfigVersion.cmake
+#   - ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Foo/FooConfig.cmake
+#   - ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Foo/FooTargets.cmake
 #
 # This macro factorizes boilerplate CMake code for the different
 # packages in Sofa.  It assumes that there is a FooConfig.cmake.in
@@ -172,7 +172,7 @@ macro(sofa_create_package)
         #   by sofa_create_package_with_targets
         #   or sofa_create_component_in_package_with_targets
         install(EXPORT ${ARG_PACKAGE_NAME}Targets
-            DESTINATION "lib/cmake/${package_install_dir}"
+            DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${package_install_dir}"
             NAMESPACE "${package_namespace}"
             COMPONENT headers)
     endif()
@@ -186,23 +186,23 @@ macro(sofa_create_package)
         )
     if(ARG_RELOCATABLE)
         string(CONCAT PACKAGE_GUARD ${PACKAGE_GUARD}
-            "list(APPEND CMAKE_LIBRARY_PATH \"\${CMAKE_CURRENT_LIST_DIR}/../../../bin\")" "\n"
-            "list(APPEND CMAKE_LIBRARY_PATH \"\${CMAKE_CURRENT_LIST_DIR}/../../../lib\")" "\n"
+            "list(APPEND CMAKE_LIBRARY_PATH \"\${CMAKE_CURRENT_LIST_DIR}/../../../${RUNTIME_OUTPUT_DIRECTORY}\")" "\n"
+            "list(APPEND CMAKE_LIBRARY_PATH \"\${CMAKE_CURRENT_LIST_DIR}/../../../${ARCHIVE_OUTPUT_DIRECTORY}\")" "\n"
             )
     endif()
     string(CONCAT PACKAGE_GUARD ${PACKAGE_GUARD}
         "################################################################"
         )
-    configure_file("${CMAKE_CURRENT_BINARY_DIR}/${filename}" "${CMAKE_BINARY_DIR}/lib/cmake/${filename}" COPYONLY)
-    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${filename}" DESTINATION "lib/cmake/${package_install_dir}" COMPONENT headers)
+    configure_file("${CMAKE_CURRENT_BINARY_DIR}/${filename}" "${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${filename}" COPYONLY)
+    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${filename}" DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${package_install_dir}" COMPONENT headers)
 
     # <package_name>Config.cmake
     configure_package_config_file(
         ${ARG_PACKAGE_NAME}Config.cmake.in
-        "${CMAKE_BINARY_DIR}/lib/cmake/${ARG_PACKAGE_NAME}Config.cmake"
-        INSTALL_DESTINATION "lib/cmake/${package_install_dir}"
+        "${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${ARG_PACKAGE_NAME}Config.cmake"
+        INSTALL_DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${package_install_dir}"
         )
-    install(FILES "${CMAKE_BINARY_DIR}/lib/cmake/${ARG_PACKAGE_NAME}Config.cmake" DESTINATION "lib/cmake/${package_install_dir}" COMPONENT headers)
+    install(FILES "${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${ARG_PACKAGE_NAME}Config.cmake" DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${package_install_dir}" COMPONENT headers)
 
     if(ARG_RELOCATABLE)
         sofa_set_project_install_relocatable(${package_install_dir} ${CMAKE_CURRENT_BINARY_DIR} ${ARG_RELOCATABLE})
@@ -542,18 +542,18 @@ macro(sofa_auto_set_target_rpath)
                     if(ARG_RELOCATABLE)
                         # current target is relocatable
                         list(APPEND target_rpath
-                            "$ORIGIN/../../../${dep_reloc_install_dir}/lib"
-                            "$$ORIGIN/../../../${dep_reloc_install_dir}/lib"
-                            "@loader_path/../../../${dep_reloc_install_dir}/lib"
-                            "@executable_path/../../../${dep_reloc_install_dir}/lib"
+                            "$ORIGIN/../../../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "$$ORIGIN/../../../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "@loader_path/../../../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "@executable_path/../../../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
                             )
                     else()
                         # current target is NOT relocatable
                         list(APPEND target_rpath
-                            "$ORIGIN/../${dep_reloc_install_dir}/lib"
-                            "$$ORIGIN/../${dep_reloc_install_dir}/lib"
-                            "@loader_path/../${dep_reloc_install_dir}/lib"
-                            "@executable_path/../${dep_reloc_install_dir}/lib"
+                            "$ORIGIN/../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "$$ORIGIN/../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "@loader_path/../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "@executable_path/../${dep_reloc_install_dir}/${ARCHIVE_OUTPUT_DIRECTORY}"
                             )
                     endif()
                 else()
@@ -561,10 +561,10 @@ macro(sofa_auto_set_target_rpath)
                     if(ARG_RELOCATABLE)
                         # current target is relocatable
                         list(APPEND target_rpath
-                            "$ORIGIN/../../../lib"
-                            "$$ORIGIN/../../../lib"
-                            "@loader_path/../../../lib"
-                            "@executable_path/../../../lib"
+                            "$ORIGIN/../../../${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "$$ORIGIN/../../../${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "@loader_path/../../../${ARCHIVE_OUTPUT_DIRECTORY}"
+                            "@executable_path/../../../${ARCHIVE_OUTPUT_DIRECTORY}"
                             )
                     endif()
                 endif()
@@ -601,9 +601,9 @@ macro(sofa_install_targets_in_package)
 
     install(TARGETS ${ARG_TARGETS}
             EXPORT ${ARG_PACKAGE_NAME}Targets
-            RUNTIME DESTINATION "bin" COMPONENT applications
-            LIBRARY DESTINATION "lib" COMPONENT libraries
-            ARCHIVE DESTINATION "lib" COMPONENT libraries
+            RUNTIME DESTINATION "${RUNTIME_OUTPUT_DIRECTORY}" COMPONENT applications
+            LIBRARY DESTINATION "${LIBRARY_OUTPUT_DIRECTORY}" COMPONENT libraries
+            ARCHIVE DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}" COMPONENT libraries
             PUBLIC_HEADER DESTINATION "include/${ARG_INCLUDE_INSTALL_DIR}" COMPONENT headers
 
             # [MacOS] install runSofa above the already populated runSofa.app (see CMAKE_INSTALL_PREFIX)
@@ -850,7 +850,7 @@ function(sofa_install_libraries)
             get_target_property(is_framework ${target} FRAMEWORK)
             if(APPLE AND is_framework)
                 get_filename_component(target_location ${target_location} DIRECTORY) # parent dir
-                install(DIRECTORY ${target_location} DESTINATION "lib" COMPONENT applications)
+                install(DIRECTORY ${target_location} DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}" COMPONENT applications)
             else()
                 list(APPEND lib_paths "${target_location}")
             endif()
@@ -903,12 +903,9 @@ function(sofa_install_libraries)
                 )
 
             # Install the libs
-            if(WIN32)
-                install(FILES ${SHARED_LIBS} DESTINATION "bin" COMPONENT applications)
-            else()
-                install(FILES ${SHARED_LIBS} DESTINATION "lib" COMPONENT applications)
-            endif()
-            install(FILES ${STATIC_LIBS} DESTINATION "lib" COMPONENT libraries)
+
+            install(FILES ${SHARED_LIBS} DESTINATION "${LIBRARY_OUTPUT_DIRECTORY}" COMPONENT applications)
+            install(FILES ${STATIC_LIBS} DESTINATION "${ARCHIVE_OUTPUT_DIRECTORY}" COMPONENT libraries)
 
             # Copy the libs (Windows only)
             if(WIN32 AND NOT no_copy)
@@ -1107,9 +1104,9 @@ endfunction()
 #   - ${CMAKE_BINARY_DIR}/cmake/FooConfig.cmake
 #   - ${CMAKE_BINARY_DIR}/cmake/FooConfigVersion.cmake
 # - In the install tree:
-#   - lib/cmake/Foo/FooConfigVersion.cmake
-#   - lib/cmake/Foo/FooConfig.cmake
-#   - lib/cmake/Foo/FooTargets.cmake
+#   - ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Foo/FooConfigVersion.cmake
+#   - ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Foo/FooConfig.cmake
+#   - ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Foo/FooTargets.cmake
 #
 # This macro factorizes boilerplate CMake code for the different
 # packages in Sofa.  It assumes that there is a FooConfig.cmake.in
diff --git a/Sofa/framework/Helper/src/sofa/helper/config.h.in b/Sofa/framework/Helper/src/sofa/helper/config.h.in
index 69368c79b44..2bb68615195 100644
--- a/Sofa/framework/Helper/src/sofa/helper/config.h.in
+++ b/Sofa/framework/Helper/src/sofa/helper/config.h.in
@@ -27,7 +27,7 @@
 #cmakedefine01 SOFA_HELPER_HAVE_BOOST_THREAD
 #cmakedefine01 SOFA_HELPER_HAVE_BOOST_FILESYSTEM
 
-// DEPRECATED since v21.06
+//  DEPRECATED since v21.06
 // will be removed at v21.12
 #define SOFAHELPER_HAVE_BOOST = @SOFA_HELPER_HAVE_BOOST@;
 #define SOFAHELPER_HAVE_BOOST_THREAD = @SOFA_HELPER_HAVE_BOOST_THREAD@;
@@ -40,7 +40,12 @@
 #  define SOFA_HELPER_API SOFA_IMPORT_DYNAMIC_LIBRARY
 #endif
 
-
+namespace sofa::helper
+{
+    static constexpr auto SOFAArchiveDir =  "@ARCHIVE_OUTPUT_DIRECTORY@";
+    static constexpr auto SOFARuntimeDir =  "@RUNTIME_OUTPUT_DIRECTORY@";
+    static constexpr auto SOFALibraryDir =  "@LIBRARY_OUTPUT_DIRECTORY@";
+}
 
 #define SOFA_ATTRIBUTE_DISABLED__PLUGIN_GETCOMPONENTLIST() \
     SOFA_ATTRIBUTE_DISABLED("v24.12", "v25.06",  \
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp
index dfd888f7de4..b7d4eefe115 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp
@@ -93,8 +93,8 @@ FileRepository PluginRepository(
 FileRepository PluginRepository(
     "SOFA_PLUGIN_PATH",
     {
-        Utils::getSofaPathTo("lib"),
-        Utils::getSofaPathTo("plugins"),
+        Utils::getSofaPathTo(SOFARuntimeDir),
+        Utils::getSofaPathTo(SOFAArchiveDir),
     }
 );
 #endif
diff --git a/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp b/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp
index d09b31e693a..2884c5c827c 100644
--- a/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp
+++ b/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp
@@ -505,8 +505,8 @@ std::string PluginManager::findPlugin(const std::string& pluginName, const std::
         const std::array<std::string, 4> paths = {
             FileSystem::append(prefix, libName),
             FileSystem::append(prefix, pluginName, libName),
-            FileSystem::append(prefix, pluginName, "bin", libName),
-            FileSystem::append(prefix, pluginName, "lib", libName)
+            FileSystem::append(prefix, pluginName, SOFAArchiveDir, libName),
+            FileSystem::append(prefix, pluginName, SOFARuntimeDir, libName)
         };
         for (const auto & path : paths) {
             if (FileSystem::isFile(path)) {
diff --git a/applications/plugins/CImgPlugin/CMakeLists.txt b/applications/plugins/CImgPlugin/CMakeLists.txt
index 4273ac3c28d..ebd76034837 100644
--- a/applications/plugins/CImgPlugin/CMakeLists.txt
+++ b/applications/plugins/CImgPlugin/CMakeLists.txt
@@ -17,8 +17,8 @@ sofa_find_package(Sofa.DefaultType REQUIRED)
 
 # add FindCImg.cmake
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindCImg.cmake ${CMAKE_BINARY_DIR}/lib/cmake/FindCImg.cmake COPYONLY)
-install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindCImg.cmake DESTINATION lib/cmake/${PROJECT_NAME} COMPONENT headers)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindCImg.cmake ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake/FindCImg.cmake COPYONLY)
+install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindCImg.cmake DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/${PROJECT_NAME} COMPONENT headers)
 
 sofa_find_package(CImg QUIET)
 
@@ -118,7 +118,7 @@ sofa_create_package_with_targets(
 
 install(FILES
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindCImg.cmake"
-    DESTINATION lib/cmake/Modules
+    DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY}/cmake/Modules
     COMPONENT headers
     )
 
diff --git a/applications/plugins/Haption/CMakeLists.txt b/applications/plugins/Haption/CMakeLists.txt
index e3db3247644..0e98dc62bb7 100644
--- a/applications/plugins/Haption/CMakeLists.txt
+++ b/applications/plugins/Haption/CMakeLists.txt
@@ -37,8 +37,8 @@ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/..")
 install(TARGETS ${PROJECT_NAME}
         COMPONENT Haption_libraries
         EXPORT HaptionTargets
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        RUNTIME DESTINATION ${RUNTIME_OUTPUT_DIRECTORY}
+        LIBRARY DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}
+        ARCHIVE DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY})
 
 install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME})
diff --git a/applications/plugins/HeadlessRecorder/CMakeLists.txt b/applications/plugins/HeadlessRecorder/CMakeLists.txt
index df5f84a280c..ee5297fb7b5 100644
--- a/applications/plugins/HeadlessRecorder/CMakeLists.txt
+++ b/applications/plugins/HeadlessRecorder/CMakeLists.txt
@@ -42,7 +42,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC ${X11_LIBRARIES})
 set(FFMPEG_EXEC_PATH "${FFMPEG_EXEC_FILE}") # FFMPEG_EXEC_FILE is set by FindFFMEG_exec.cmake
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/etc/${PROJECT_NAME}.ini.in "${CMAKE_BINARY_DIR}/etc/${PROJECT_NAME}.ini")
 get_filename_component(FFMPEG_EXEC_FILENAME "${FFMPEG_EXEC_FILE}" NAME)
-set(FFMPEG_EXEC_PATH "../bin/${FFMPEG_EXEC_FILENAME}") # relative path for install dir, see .ini file
+set(FFMPEG_EXEC_PATH "../${RUNTIME_OUTPUT_DIRECTORY}/${FFMPEG_EXEC_FILENAME}") # relative path for install dir, see .ini file
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/etc/${PROJECT_NAME}.ini.in "${CMAKE_BINARY_DIR}/etc/installed${PROJECT_NAME}.ini")
 install(FILES "${CMAKE_BINARY_DIR}/etc/installed${PROJECT_NAME}.ini" DESTINATION etc RENAME ${PROJECT_NAME}.ini COMPONENT applications)
 
diff --git a/applications/plugins/PersistentContact/CMakeLists.txt b/applications/plugins/PersistentContact/CMakeLists.txt
index b481c04837b..11eece2e3d5 100644
--- a/applications/plugins/PersistentContact/CMakeLists.txt
+++ b/applications/plugins/PersistentContact/CMakeLists.txt
@@ -41,9 +41,9 @@ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/..")
 install(TARGETS ${PROJECT_NAME}
         COMPONENT PersistentContact_libraries
         EXPORT PersistentContactTargets
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
+        RUNTIME DESTINATION ${RUNTIME_OUTPUT_DIRECTORY}
+        LIBRARY DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}
+        ARCHIVE DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY}
         PUBLIC_HEADER DESTINATION "include/${PROJECT_NAME}")
 
 install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME})
diff --git a/applications/plugins/Sensable/CMakeLists.txt b/applications/plugins/Sensable/CMakeLists.txt
index d994bd39bd3..f69f976f6c6 100644
--- a/applications/plugins/Sensable/CMakeLists.txt
+++ b/applications/plugins/Sensable/CMakeLists.txt
@@ -32,8 +32,8 @@ target_link_libraries(${PROJECT_NAME} SofaHaptics SofaOpenglVisual ${OPENHAPTICS
 install(TARGETS ${PROJECT_NAME}
         COMPONENT Sensable_libraries
         EXPORT SensableTargets
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        RUNTIME DESTINATION ${RUNTIME_OUTPUT_DIRECTORY}
+        LIBRARY DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}
+        ARCHIVE DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY})
 
 install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME})
diff --git a/applications/plugins/Xitact/CMakeLists.txt b/applications/plugins/Xitact/CMakeLists.txt
index 200e7e7182c..64223d9017b 100644
--- a/applications/plugins/Xitact/CMakeLists.txt
+++ b/applications/plugins/Xitact/CMakeLists.txt
@@ -30,8 +30,8 @@ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/..")
 install(TARGETS ${PROJECT_NAME}
         COMPONENT Xitact_libraries
         EXPORT XitactTargets
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        RUNTIME DESTINATION ${RUNTIME_OUTPUT_DIRECTORY}
+        LIBRARY DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}
+        ARCHIVE DESTINATION ${ARCHIVE_OUTPUT_DIRECTORY})
 
 install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME})
diff --git a/applications/projects/runSofa/CMakeLists.txt b/applications/projects/runSofa/CMakeLists.txt
index aeffe5209db..3ab8233bf12 100644
--- a/applications/projects/runSofa/CMakeLists.txt
+++ b/applications/projects/runSofa/CMakeLists.txt
@@ -11,13 +11,10 @@ endif()
 ###################################
 # Generate plugin_list.conf.default
 include(cmake/GeneratePluginConfig.cmake)
-if(MSVC)
-    # plugins are located in bin/
-    set(_pluginLocation "bin")
-else()
-    # plugins are located in lib/
-    set(_pluginLocation "lib")
-endif()
+
+# plugins are located in bin/
+set(_pluginLocation "${LIBRARY_OUTPUT_DIRECTORY}")
+
 
 set(_configPluginFileName plugin_list.conf)
 set(_defaultConfigPluginFileName "${_configPluginFileName}.default")
diff --git a/applications/projects/runSofa/cmake/GeneratePluginConfig.cmake b/applications/projects/runSofa/cmake/GeneratePluginConfig.cmake
index dc75641fdd4..f58df238112 100644
--- a/applications/projects/runSofa/cmake/GeneratePluginConfig.cmake
+++ b/applications/projects/runSofa/cmake/GeneratePluginConfig.cmake
@@ -43,8 +43,8 @@ macro(sofa_generate_plugin_config config_filename)
         # With Win/MVSC, we can only know $CONFIG at build time
         if (MSVC)
             add_custom_target(do_always ALL
-                COMMAND if exist "${CMAKE_BINARY_DIR}/bin/$<CONFIG>/" # does not exist if using MSVC without Visual Studio IDE
-                "${CMAKE_COMMAND}" -E copy "${config_filename}" "${CMAKE_BINARY_DIR}/bin/$<CONFIG>/"
+                COMMAND if exist "${CMAKE_BINARY_DIR}/${RUNTIME_OUTPUT_DIRECTORY}/$<CONFIG>/" # does not exist if using MSVC without Visual Studio IDE
+                "${CMAKE_COMMAND}" -E copy "${config_filename}" "${CMAKE_BINARY_DIR}/${RUNTIME_OUTPUT_DIRECTORY}/$<CONFIG>/"
                 )
         endif(MSVC)
     endif()
diff --git a/cmake/Modules/windeployqt.cmake b/cmake/Modules/windeployqt.cmake
index d8f08f36c87..296228fef06 100644
--- a/cmake/Modules/windeployqt.cmake
+++ b/cmake/Modules/windeployqt.cmake
@@ -66,7 +66,7 @@ function(windeployqt target build_dir install_dir)
         foreach(CONFIG ${CMAKE_CONFIGURATION_TYPES})
             install(
                 DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/windeployqt/"
-                DESTINATION bin/${CONFIG}
+                DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}/${CONFIG}
                 OPTIONAL
                 COMPONENT applications
                 PATTERN "resources" EXCLUDE
@@ -76,7 +76,7 @@ function(windeployqt target build_dir install_dir)
     else()
         install(
             DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/windeployqt/"
-            DESTINATION bin
+            DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}
             COMPONENT applications
             PATTERN "resources" EXCLUDE
             PATTERN "translations" EXCLUDE
@@ -107,7 +107,7 @@ function(windeployqt target build_dir install_dir)
         foreach(CONFIG ${CMAKE_CONFIGURATION_TYPES})
             install(
                 PROGRAMS ${CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS}
-                DESTINATION bin/${CONFIG}
+                DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}/${CONFIG}
                 OPTIONAL
                 COMPONENT applications
             )
@@ -115,7 +115,7 @@ function(windeployqt target build_dir install_dir)
     else()
         install(
             PROGRAMS ${CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS}
-            DESTINATION bin
+            DESTINATION ${LIBRARY_OUTPUT_DIRECTORY}
             COMPONENT applications
         )
     endif()
diff --git a/tools/postinstall-fixup/CMakeLists.txt b/tools/postinstall-fixup/CMakeLists.txt
index 5c90cd7509a..1af3666c6ad 100644
--- a/tools/postinstall-fixup/CMakeLists.txt
+++ b/tools/postinstall-fixup/CMakeLists.txt
@@ -21,8 +21,8 @@ endif()
 
 if(CMAKE_SYSTEM_NAME STREQUAL Linux)
     install(CODE "file(WRITE
-        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/qt.conf\"
-        \"[Paths]\\n  Prefix = ..\\n  Plugins = bin\\n  LibraryExecutables = bin\"
+        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${RUNTIME_OUTPUT_DIRECTORY}/qt.conf\"
+        \"[Paths]\\n  Prefix = ..\\n  Plugins = ${RUNTIME_OUTPUT_DIRECTORY}\\n  LibraryExecutables = ${RUNTIME_OUTPUT_DIRECTORY}\"
         )"
         COMPONENT resources)
     install(CODE "execute_process(COMMAND /bin/bash
@@ -60,8 +60,8 @@ elseif(CMAKE_SYSTEM_NAME STREQUAL Darwin)
     endif()
 elseif(CMAKE_SYSTEM_NAME STREQUAL Windows)
     install(CODE "file(WRITE
-        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/qt.conf\"
-        \"[Paths]\\n  Prefix = ..\\n  Plugins = bin\\n  LibraryExecutables = bin\"
+        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${RUNTIME_OUTPUT_DIRECTORY}/qt.conf\"
+        \"[Paths]\\n  Prefix = ..\\n  Plugins = ${RUNTIME_OUTPUT_DIRECTORY}\\n  LibraryExecutables = ${RUNTIME_OUTPUT_DIRECTORY}\"
         )"
         COMPONENT resources)
     install(CODE "execute_process(COMMAND bash