diff --git a/src/cpp/plantgl/algo/modelling/pglturtledrawer.cpp b/src/cpp/plantgl/algo/modelling/pglturtledrawer.cpp
index 3ebfae6b..baa677cd 100644
--- a/src/cpp/plantgl/algo/modelling/pglturtledrawer.cpp
+++ b/src/cpp/plantgl/algo/modelling/pglturtledrawer.cpp
@@ -145,34 +145,54 @@ AppearancePtr PglTurtle::getCurrentInitialMaterial() const{
 }
 */
 
-void PglTurtleDrawer::customGeometry(const GeometryPtr smb, real_t scale)
+void PglTurtleDrawer::customGeometry(const Vector3& position, 
+                                     const Vector3& heading, 
+                                     const Vector3& left, 
+                                     const Vector3& up, 
+                                     const Vector3& scaling, 
+                                     const uint_t id,
+                                     AppearancePtr appearance,
+                                     const GeometryPtr smb)
 {
-    if( FABS(scale) > GEOM_EPSILON){
-    PlanarModelPtr _2Dtest = dynamic_pointer_cast<PlanarModel>(smb);
-    if (is_valid_ptr(_2Dtest) && __params->screenCoordinates)
-      _addToScene(transform(GeometryPtr(new Scaled(getScale()*scale,GeometryPtr(new Oriented(Vector3(0,1,0),Vector3(0,0,1),smb)))),false));
-    else _addToScene(transform(GeometryPtr(new Scaled(getScale()*scale,smb)),false));
-  }
+    if( FABS(norm(scaling)) > GEOM_EPSILON){
+        PlanarModelPtr _2Dtest = dynamic_pointer_cast<PlanarModel>(smb);
+        if (is_valid_ptr(_2Dtest) && __params->screenCoordinates)
+            _addToScene(transform(position, heading, left, up scaling, GeometryPtr(new Oriented(Vector3(0,1,0),Vector3(0,0,1),smb))));
+        else _addToScene(transform(position, heading, left, up scaling, smb));
+    }
 }
 
 GeometryPtr
-PglTurtleDrawer::transform(const GeometryPtr& o, bool scaled) const{
-  GeometryPtr obj = o;
-  if ( scaled && getScale() !=  Vector3(1,1,1) &&
-      (getScale().x() != getScale().y() ||
-       getScale().y() != getScale().z() ))
-       obj = GeometryPtr(new Scaled(getScale(),obj));
-  if ( getUp() != Vector3::OX ||
-       getLeft()   != -Vector3::OY )
-       obj = GeometryPtr(new Oriented(getUp(),-getLeft(),obj));
-  if ( getPosition() != Vector3::ORIGIN )
-       obj = GeometryPtr(new Translated(getPosition(),obj));
+PglTurtleDrawer::transform(const Vector3& position, 
+                           const Vector3& heading, 
+                           const Vector3& left, 
+                           const Vector3& up, 
+                           const GeometryPtr& obj) const {
+  if ( up != Vector3::OX ||
+       left   != -Vector3::OY )
+       obj = GeometryPtr(new Oriented(up,-left,obj));
+  if ( position != Vector3::ORIGIN )
+       obj = GeometryPtr(new Translated(position,obj));
   return obj;
 }
 
+GeometryPtr
+PglTurtleDrawer::transform_n_scale(const Vector3& position, 
+                                   const Vector3& heading, 
+                                   const Vector3& left, 
+                                   const Vector3& up, 
+                                   const Vector3& scaling,
+                                   const GeometryPtr& obj) const {
+   if ( scaling !=  Vector3(1,1,1) &&
+      (scaling.x() != scaling.y() ||
+       scaling.y() != scaling.z() ))
+       obj = GeometryPtr(new Scaled(scaling,obj));
+   return transform(position, heading, left, up, obj);
+}
+
 
 
-void PglTurtleDrawer::addToScene(const GeometryPtr geom, bool custompid, AppearancePtr app, bool projection)
+void PglTurtleDrawer::addToScene(const GeometryPtr geom, const uint_t id, AppearancePtr app, bool projection)
 {
   GeometryPtr mgeom = geom;
   if (projection && getParameters().screenCoordinates)
@@ -228,7 +248,16 @@ void PglTurtleDrawer::frustum(real_t length, real_t topradius){
   }
 }
 
-void PglTurtleDrawer::cylinder(real_t length){
+void PglTurtleDrawer::void cylinder(const Vector3& position, 
+                          const Vector3& heading, 
+                          const Vector3& left, 
+                          const Vector3& up, 
+                          const Vector3& scaling, 
+                          const uint_t id,
+                          AppearancePtr appearance,
+                          real_t length,
+                          real_t radius,
+                          uint_t sectionResolution){
   if (fabs(length) > GEOM_EPSILON) {
       real_t width = getWidth();
       if(FABS(width) < GEOM_EPSILON){
diff --git a/src/cpp/plantgl/algo/modelling/pglturtledrawer.h b/src/cpp/plantgl/algo/modelling/pglturtledrawer.h
index 8a5d7d25..ce12f3ff 100644
--- a/src/cpp/plantgl/algo/modelling/pglturtledrawer.h
+++ b/src/cpp/plantgl/algo/modelling/pglturtledrawer.h
@@ -68,45 +68,127 @@ class ALGO_API PglTurtleDrawer : public TurtleDrawer {
     const ScenePtr& getScene() const
     { return __scene;  }
 
-    virtual void cylinder(const TurtleParam * params, real_t length, real_t radius);
-
-    virtual void frustum(const TurtleParam * params, real_t length, real_t baseradius, real_t topradius);
-
-    virtual void generalizedCylinder(const TurtleParam * params,
+    virtual void cylinder(const Vector3& position, 
+                          const Vector3& heading, 
+                          const Vector3& left, 
+                          const Vector3& up, 
+                          const Vector3& scaling, 
+                          const uint_t id,
+                          AppearancePtr appearance,
+                          real_t length,
+                          real_t radius,
+                          uint_t sectionResolution){}
+
+    virtual void frustum(const Vector3& position, 
+                          const Vector3& heading, 
+                          const Vector3& left, 
+                          const Vector3& up, 
+                          const Vector3& scaling, 
+                          const uint_t id,
+                          AppearancePtr appearance,
+                          real_t length, 
+                          real_t baseradius, 
+                          real_t topradius, 
+                          uint_t sectionResolution){}
+
+    virtual void generalizedCylinder(const uint_t id,
+                                     AppearancePtr appearance,
                                      const Point3ArrayPtr& points,
                                      const std::vector<Vector3>& left,
                                      const std::vector<real_t>& radius,
                                      const Curve2DPtr& crossSection,
-                                      bool crossSectionCCW,
-                                      bool currentcolor = false);
-
-    virtual void sphere(const TurtleParam * params, real_t radius);
-
-    virtual void circle(const TurtleParam * params, real_t radius);
-
-    virtual void box(const TurtleParam * params, real_t radius, real_t botradius, real_t topradius);
-
-    virtual void quad(const TurtleParam * params, real_t radius, real_t botradius, real_t topradius);
-
-    virtual void polygon(const TurtleParam * params, const Point3ArrayPtr& points, bool concavetest = false);
-
-    virtual void vector(const TurtleParam * params, real_t heigth, real_t cap_heigth_ratio, real_t cap_radius_ratio, real_t color, real_t transparency);
-
-    virtual void label(const TurtleParam * params, const std::string& text, int size = -1);
-
-    virtual void customGeometry(const GeometryPtr smb, real_t scale = 1.0);
+                                     bool crossSectionCCW){}
+
+    virtual void sphere(const Vector3& position, 
+                        const Vector3& heading, 
+                        const Vector3& left, 
+                        const Vector3& up, 
+                        const Vector3& scaling, 
+                        const uint_t id,
+                        AppearancePtr appearance,
+                        real_t radius){}
+
+    virtual void circle(const Vector3& position, 
+                        const Vector3& heading, 
+                        const Vector3& left, 
+                        const Vector3& up, 
+                        const Vector3& scaling, 
+                        const uint_t id,
+                        AppearancePtr appearance,
+                        real_t radius){}
+
+    virtual void box(const Vector3& position, 
+                    const Vector3& heading, 
+                    const Vector3& left, 
+                    const Vector3& up, 
+                    const Vector3& scaling, 
+                    const uint_t id,
+                    AppearancePtr appearance,
+                    real_t length, 
+                    real_t botradius, 
+                    real_t topradius){}
+
+    virtual void quad(const Vector3& position, 
+                      const Vector3& heading, 
+                      const Vector3& left, 
+                      const Vector3& up, 
+                      const Vector3& scaling, 
+                      const uint_t id,
+                      AppearancePtr appearance,
+                      real_t length, 
+                      real_t botradius, 
+                      real_t topradius){}
+
+    virtual void polygon(const uint_t id,
+                         AppearancePtr appearance,
+                         const Point3ArrayPtr& points,
+                         const Index3ArrayPtr& indices){}
+
+    virtual void arrow(const Vector3& position, 
+                       const Vector3& heading, 
+                       const Vector3& left, 
+                       const Vector3& up, 
+                       const Vector3& scaling, 
+                       const uint_t id,
+                       AppearancePtr appearance
+                       real_t heigth, 
+                       real_t cap_heigth_ratio, 
+                       real_t cap_radius_ratio,
+                       Color4 color) { }
+
+    virtual void label(const Vector3& position, 
+                       const uint_t id,
+                       AppearancePtr appearance, 
+                       const std::string& text, 
+                       int size = -1){}
+
+    virtual void customGeometry(const Vector3& position, 
+                       const Vector3& heading, 
+                       const Vector3& left, 
+                       const Vector3& up, 
+                       const Vector3& scaling, 
+                       const uint_t id,
+                       AppearancePtr appearance,
+                       const GeometryPtr smb);
 protected:
 
-    AppearancePtr getCurrentMaterial() const;
-
-    AppearancePtr getCurrentInitialMaterial() const;
-
     GeometryPtr getCircle(real_t radius) const;
 
-    GeometryPtr transform(const GeometryPtr& obj, bool scaled = true) const;
+    GeometryPtr transform(const Vector3& position, 
+                          const Vector3& heading, 
+                          const Vector3& left, 
+                          const Vector3& up, 
+                          const Vector3& scaling,
+                          const GeometryPtr& obj) const;
+
+    GeometryPtr transform_n_scale(const Vector3& position, 
+                                  const Vector3& heading, 
+                                  const Vector3& left, 
+                                  const Vector3& up, 
+                                  const GeometryPtr& obj) const;
 
 
-    void _addToScene(const TurtleParam * params, const GeometryPtr geom, bool customid = false, AppearancePtr app = NULL, bool projection = true);
+    void _addToScene(const GeometryPtr geom, const uint_t id, AppearancePtr app = NULL, bool projection = true);
 
     ScenePtr __scene;
 
diff --git a/src/cpp/plantgl/algo/modelling/turtledrawer.h b/src/cpp/plantgl/algo/modelling/turtledrawer.h
index 92ef0195..d4cfc3fb 100644
--- a/src/cpp/plantgl/algo/modelling/turtledrawer.h
+++ b/src/cpp/plantgl/algo/modelling/turtledrawer.h
@@ -53,81 +53,92 @@ PGL_BEGIN_NAMESPACE
 class ALGO_API TurtleDrawer : public RefCountObject {
 public:
 
+    struct FrameInfo {
+        const Vector3& position;
+        const Vector3& heading;
+        const Vector3& left;
+        const Vector3& up;
+        const Vector3& scaling; 
+        bool screenprojection;              
+    };
+
 
     TurtleDrawer();
 
     virtual ~TurtleDrawer();
 
-    virtual void cylinder(const Vector3& position, 
-                          const Vector3& heading, 
-                          const Vector3& left, 
-                          const Vector3& up, 
-                          const Vector3& scaling, 
-                          const uint_t id,
+    virtual void cylinder(const uint_t id,
                           AppearancePtr appearance,
+                          const FrameInfo& frameinfo, 
                           real_t length,
                           real_t radius,
                           uint_t sectionResolution){}
 
-    virtual void frustum(const Vector3& position, 
-                          const Vector3& heading, 
-                          const Vector3& left, 
-                          const Vector3& up, 
-                          const Vector3& scaling, 
-                          const uint_t id,
+    virtual void frustum( const uint_t id,
                           AppearancePtr appearance,
+                          const FrameInfo& frameinfo, 
                           real_t length, 
                           real_t baseradius, 
-                          real_t topradius, uint_t sectionResolution){}
+                          real_t topradius, 
+                          uint_t sectionResolution){}
 
     virtual void generalizedCylinder(const uint_t id,
                                      AppearancePtr appearance,
+                                     bool screenprojection,
                                      const Point3ArrayPtr& points,
                                      const std::vector<Vector3>& left,
                                      const std::vector<real_t>& radius,
                                      const Curve2DPtr& crossSection,
-                                     bool crossSectionCCW,
-                                     bool currentcolor = false){}
-
-    virtual void sphere(const Vector3& position, 
-                        const Vector3& heading, 
-                        const Vector3& left, 
-                        const Vector3& up, 
-                        const Vector3& scaling, 
-                        const uint_t id,
+                                     bool crossSectionCCW){}
+
+    virtual void sphere(const uint_t id,
                         AppearancePtr appearance,
+                        const FrameInfo& frameinfo, 
                         real_t radius){}
 
-    virtual void circle(const Vector3& position, 
-                        const Vector3& heading, 
-                        const Vector3& left, 
-                        const Vector3& up, 
-                        const Vector3& scaling, 
-                        const uint_t id,
+    virtual void circle(const uint_t id,
                         AppearancePtr appearance,
+                        const FrameInfo& frameinfo, 
                         real_t radius){}
 
-    virtual void box(const Vector3& position, 
-                    const Vector3& heading, 
-                    const Vector3& left, 
-                    const Vector3& up, 
-                    const Vector3& scaling, 
-                    const uint_t id,
-                    AppearancePtr appearance,
+    virtual void box(const uint_t id,
+                     AppearancePtr appearance,
+                     const FrameInfo& frameinfo, 
                     real_t length, 
                     real_t botradius, 
                     real_t topradius){}
 
-    virtual void quad(const TurtleParam * params, real_t length, real_t botradius, real_t topradius){}
-
-    virtual void polygon(const TurtleParam * params, const Point3ArrayPtr& points, bool concavetest = false){}
-
-    virtual void arrow(const TurtleParam * params, real_t heigth, real_t cap_heigth_ratio, real_t cap_radius_ratio, 
-                                                    real_t color, real_t transparency) { }
-
-    virtual void label(const TurtleParam * params, const std::string& text, int size = -1){}
-
-    virtual void customGeometry(const GeometryPtr smb, real_t scale = 1.0);
+    virtual void quad(const uint_t id,
+                      AppearancePtr appearance,
+                      const FrameInfo& frameinfo, 
+                      real_t length, 
+                      real_t botradius, 
+                      real_t topradius){}
+
+    virtual void polygon(const uint_t id,
+                         AppearancePtr appearance,
+                         bool screenprojection,
+                         const Point3ArrayPtr& points,
+                         const Index3ArrayPtr& indices){}
+
+    virtual void arrow(const FrameInfo& frameinfo, 
+                       real_t heigth, 
+                       real_t cap_heigth_ratio, 
+                       real_t cap_radius_ratio,
+                       Color4 color) { }
+
+    virtual void label(const Vector3& position, 
+                       bool screenprojection,
+                       const uint_t id,
+                       AppearancePtr appearance, 
+                       const std::string& text, 
+                       int size = -1){}
+
+    virtual void customGeometry(const uint_t id,
+                                AppearancePtr appearance
+                                const FrameInfo& frameinfo, 
+                                const GeometryPtr smb, 
+                                real_t scale = 1.0);
 };
 
 typedef RCPtr<TurtleDrawer> TurtleDrawerPtr;
diff --git a/src/cpp/plantgl/algo/modelling/turtleparam.h b/src/cpp/plantgl/algo/modelling/turtleparam.h
index 302678f3..eeec71a9 100644
--- a/src/cpp/plantgl/algo/modelling/turtleparam.h
+++ b/src/cpp/plantgl/algo/modelling/turtleparam.h
@@ -153,6 +153,14 @@ class ALGO_API TurtleParam  : public TurtleDrawParameter {
       return position ;
     }
 
+    void forward(real_t l);
+
+    void left(real_t angle);
+
+    void up(real_t angle);
+
+    void rollR(real_t angle);
+
 public:
 
   Vector3 position;
@@ -164,16 +172,16 @@ class ALGO_API TurtleParam  : public TurtleDrawParameter {
 
   real_t width;
 
-  Point3ArrayPtr pointList;
-  std::vector<Vector3> leftList;
-  std::vector<real_t> radiusList;
-
   uint_t customId;
   uint_t customParentId;
   uint_t lastId;
 
   uint_t sectionResolution;
 
+  Point3ArrayPtr pointList;
+  std::vector<Vector3> leftList;
+  std::vector<real_t> radiusList;
+
   TurtleDrawParameter initial;
 
   Vector3 tropism;