diff --git a/SofaGLFW/CMakeLists.txt b/SofaGLFW/CMakeLists.txt
index f4c8831c73..5c18ef7b2c 100644
--- a/SofaGLFW/CMakeLists.txt
+++ b/SofaGLFW/CMakeLists.txt
@@ -82,8 +82,41 @@ if(SofaPython3_FOUND)
     add_subdirectory(bindings)
 endif()
 
+if(TARGET PkgConfig::FFMPEG)
+    target_link_libraries(${PROJECT_NAME} PRIVATE PkgConfig::FFMPEG)
+    set(SOFAGLFW_HAVE_FFMPEG 1)
+endif()
+
 add_definitions("-DSOFAGLFW_RESOURCES_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/resources\"")
 
+# FFMPEG_exec
+sofa_find_package(FFMPEG_exec BOTH_SCOPES)
+# FFMPEG
+if(FFMPEG_EXEC_FOUND)
+    install(PROGRAMS "${FFMPEG_EXEC_FILE}" DESTINATION ${CMAKE_INSTALL_PREFIX}/bin COMPONENT applications)
+endif()
+
+# Create build and install versions of .ini file for resources finding
+## For build tree
+set(FFMPEG_EXEC_PATH "${FFMPEG_EXEC_FILE}") # absolute path for build dir, see .ini file
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/etc/${PROJECT_NAME}.ini.in "${CMAKE_BINARY_DIR}/etc/${PROJECT_NAME}.ini")
+
+## For install tree
+get_filename_component(FFMPEG_EXEC_FILENAME "${FFMPEG_EXEC_FILE}" NAME)
+if(FFMPEG_EXEC_FILENAME)
+    set(FFMPEG_EXEC_PATH "../bin/${FFMPEG_EXEC_FILENAME}")
+else()
+    #If ffmpeg hasn't been found, it'll not be shipped but we still want to offer the possibility for the user to use it
+    #easily by putting the executable alongside runSofa
+    set(FFMPEG_EXEC_PATH "../bin/ffmpeg")
+    if(WIN32)
+        set(FFMPEG_EXEC_PATH "${FFMPEG_EXEC_PATH}.exe")
+    endif()
+endif()
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/etc/${PROJECT_NAME}.ini.in "${CMAKE_BINARY_DIR}/etc/installed${PROJECT_NAME}.ini")
+#Hack relative tree to ../../etc because of Windows:NSIS that doesn't allow absolute install path.
+install(FILES "${CMAKE_BINARY_DIR}/etc/installed${PROJECT_NAME}.ini" DESTINATION ../../etc  RENAME ${PROJECT_NAME}.ini COMPONENT applications)
+
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}
     PACKAGE_VERSION ${Sofa_VERSION}
diff --git a/SofaGLFW/SofaGLFWConfig.cmake.in b/SofaGLFW/SofaGLFWConfig.cmake.in
index 009e4de44a..09b9b4b0f9 100644
--- a/SofaGLFW/SofaGLFWConfig.cmake.in
+++ b/SofaGLFW/SofaGLFWConfig.cmake.in
@@ -3,14 +3,27 @@
 @PACKAGE_GUARD@
 @PACKAGE_INIT@
 
-find_package(Sofa.Config REQUIRED)
-find_package(Sofa.Simulation.Graph REQUIRED)
-find_package(Sofa.GL REQUIRED)
-find_package(Sofa.Component.Visual REQUIRED)
-find_package(Sofa.GUI.Common QUIET)
+find_package(Sofa.Config QUIET REQUIRED)
+find_package(Sofa.Simulation.Graph QUIET REQUIRED)
+find_package(Sofa.GL QUIET REQUIRED)
+find_package(Sofa.Component.Visual QUIET REQUIRED)
+
+if(NOT TARGET glfw)
+    sofa_find_package(glfw3 QUIET REQUIRED)
+endif()
+
+set(SOFAGLFW_HAVE_SOFA_GUI_COMMON @SOFAGLFW_HAVE_SOFA_GUI_COMMON@)
+if(SOFAGLFW_HAVE_SOFA_GUI_COMMON)
+    find_package(Sofa.GUI.Common QUIET REQUIRED)
+endif()
+
+set(SOFAGLFW_HAVE_SOFAPYTHON3 @SOFAGLFW_HAVE_SOFAPYTHON3@)
+if(SOFAGLFW_HAVE_SOFAPYTHON3)
+    find_package(SofaPython3 QUIET REQUIRED)
+endif()
 
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
 endif()
 
-check_required_components(@PROJECT_NAME@)
+check_required_components(@PROJECT_NAME@)
\ No newline at end of file
diff --git a/SofaGLFW/etc/SofaGLFW.ini.in b/SofaGLFW/etc/SofaGLFW.ini.in
new file mode 100644
index 0000000000..b235bf80a0
--- /dev/null
+++ b/SofaGLFW/etc/SofaGLFW.ini.in
@@ -0,0 +1 @@
+FFMPEG_EXEC_PATH=@FFMPEG_EXEC_PATH@
diff --git a/SofaGLFW/src/SofaGLFW/BaseGUIEngine.h b/SofaGLFW/src/SofaGLFW/BaseGUIEngine.h
index f1648162d5..d42b412633 100644
--- a/SofaGLFW/src/SofaGLFW/BaseGUIEngine.h
+++ b/SofaGLFW/src/SofaGLFW/BaseGUIEngine.h
@@ -23,6 +23,9 @@
 #include <SofaGLFW/config.h>
 #include <sofa/simulation/Node.h>
 
+#include <sofa/type/fwd.h>
+#include <vector>
+
 struct GLFWwindow;
 
 namespace sofaglfw
@@ -42,6 +45,7 @@ class SOFAGLFW_API BaseGUIEngine
     virtual void afterDraw() = 0;
     virtual void terminate() = 0;
     virtual bool dispatchMouseEvents() = 0;
+    virtual sofa::type::Vec2i getFrameBufferPixels(std::vector<uint8_t>& pixels) = 0;
 
     virtual void key_callback(GLFWwindow* window, int key, int scancode, int action, int mods) {SOFA_UNUSED(window); SOFA_UNUSED(key); SOFA_UNUSED(scancode); SOFA_UNUSED(action); SOFA_UNUSED(mods);}
 
diff --git a/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp b/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp
index 230015fd57..a3ac2bd21e 100644
--- a/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp
+++ b/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp
@@ -61,4 +61,14 @@ bool NullGUIEngine::dispatchMouseEvents()
     return true;
 }
 
+sofa::type::Vec2i NullGUIEngine::getFrameBufferPixels(std::vector<uint8_t>& pixels)
+{
+    GLint viewport[4];
+    glGetIntegerv(GL_VIEWPORT, viewport);
+    pixels.resize(viewport[2] * viewport[3] * 3);
+    glReadPixels(viewport[0], viewport[1], viewport[2], viewport[3], GL_RGB, GL_UNSIGNED_BYTE, pixels.data());
+
+    return {viewport[2], viewport[3]};
+}
+
 } // namespace sofaglfw
diff --git a/SofaGLFW/src/SofaGLFW/NullGUIEngine.h b/SofaGLFW/src/SofaGLFW/NullGUIEngine.h
index ddcabf5f9c..1b811385e8 100644
--- a/SofaGLFW/src/SofaGLFW/NullGUIEngine.h
+++ b/SofaGLFW/src/SofaGLFW/NullGUIEngine.h
@@ -41,6 +41,7 @@ class NullGUIEngine : public BaseGUIEngine
     void afterDraw() override {}
     void terminate() override;
     bool dispatchMouseEvents() override;
+    sofa::type::Vec2i getFrameBufferPixels(std::vector<uint8_t>& pixels) override;
 };
 
 } // namespace sofaglfw
diff --git a/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp b/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp
index c504d539df..f93f80d6f1 100644
--- a/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp
+++ b/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp
@@ -20,33 +20,40 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 
-#include <sofa/gui/common/PickHandler.h>
-#include <SofaGLFW/SofaGLFWBaseGUI.h>
-
+#include <filesystem>
 #define GLFW_INCLUDE_NONE
 #include <GLFW/glfw3.h>
 
+#include <sofa/gui/common/BaseGUI.h>
+#include <SofaGLFW/SofaGLFWBaseGUI.h>
 #include <SofaGLFW/SofaGLFWWindow.h>
 
-#include <sofa/helper/logging/Messaging.h>
-#include <sofa/helper/AdvancedTimer.h>
+#include <sofa/gui/common/PickHandler.h>
+
+#include <sofa/simulation/SimulationLoop.h>
 #include <sofa/simulation/Node.h>
 #include <sofa/simulation/Simulation.h>
-#include <sofa/core/visual/VisualParams.h>
-#include <sofa/core/objectmodel/BaseClassNameHelper.h>
 
 #include <sofa/component/visual/InteractiveCamera.h>
 #include <sofa/component/visual/VisualStyle.h>
+
 #include <sofa/core/visual/VisualParams.h>
+#include <sofa/core/objectmodel/BaseClassNameHelper.h>
+#include <sofa/core/objectmodel/KeypressedEvent.h>
+#include <sofa/core/objectmodel/KeyreleasedEvent.h>
 
 #include <sofa/helper/io/STBImage.h>
+#include <sofa/helper/logging/Messaging.h>
+#include <sofa/helper/AdvancedTimer.h>
+#include <sofa/helper/system/FileRepository.h>
+#include <sofa/helper/system/SetDirectory.h>
+#include <sofa/helper/system/FileSystem.h>
+#include <sofa/helper/Utils.h>
 
 #include <algorithm>
-#include <sofa/helper/system/FileRepository.h>
-#include <sofa/simulation/SimulationLoop.h>
+#include <map>
+
 
-#include <sofa/core/objectmodel/KeypressedEvent.h>
-#include <sofa/core/objectmodel/KeyreleasedEvent.h>
 using namespace sofa;
 
 namespace sofaglfw
@@ -59,7 +66,7 @@ SofaGLFWBaseGUI::SofaGLFWBaseGUI()
     m_showSelectedObjectBoundingBox = false;
     m_showSelectedObjectPositions = true;
     m_showSelectedObjectSurfaces = true;
-    m_selectionColor = type::RGBAColor::orange();
+    m_selectionColor = type::RGBAColor(0.439, 0.588, 0.702, 1.);
 }
 
 SofaGLFWBaseGUI::~SofaGLFWBaseGUI()
@@ -92,7 +99,7 @@ bool SofaGLFWBaseGUI::init(int nbMSAASamples)
         // max = 32 (MSAA with 32 samples)
         glfwWindowHint(GLFW_SAMPLES, std::clamp(nbMSAASamples, 0, 32) );
         
-        m_glDrawTool = new sofa::gl::DrawToolGL();
+        m_glDrawTool = std::make_unique<sofa::gl::DrawToolGL>();
         m_bGlfwIsInitialized = true;
         return true;
     }
@@ -113,7 +120,7 @@ void SofaGLFWBaseGUI::setSimulation(sofa::simulation::NodeSPtr groot, const std:
     m_groot = groot;
     m_filename = filename;
 
-    sofa::core::visual::VisualParams::defaultInstance()->drawTool() = m_glDrawTool;
+    sofa::core::visual::VisualParams::defaultInstance()->drawTool() = m_glDrawTool.get();
     sofa::core::visual::VisualParams::defaultInstance()->setSupported(sofa::core::visual::API_OpenGL);
     setScene(groot, filename.c_str());
     load();
@@ -451,6 +458,8 @@ std::size_t SofaGLFWBaseGUI::runLoop(std::size_t targetNbIterations)
     bool running = true;
     std::size_t currentNbIterations = 0;
     std::stringstream tmpStr;
+    std::vector<uint8_t> pixels;
+
     while (!s_mapWindows.empty() && running)
     {
         SIMULATION_LOOP_SCOPE
@@ -476,10 +485,17 @@ std::size_t SofaGLFWBaseGUI::runLoop(std::size_t targetNbIterations)
                     m_guiEngine->startFrame(this);
                     m_guiEngine->endFrame();
 
-                    glfwSwapBuffers(glfwWindow);
-
                     m_viewPortHeight = m_vparams->viewport()[3];
                     m_viewPortWidth = m_vparams->viewport()[2];
+
+                    // Read framebuffer
+                    if(this->groot->getAnimate() && this->m_isVideoRecording)
+                    {
+                        const auto [width, height] = this->m_guiEngine->getFrameBufferPixels(pixels);
+                        m_videoRecorderFFMPEG.addFrame(pixels.data(), width, height);
+                    }
+
+                    glfwSwapBuffers(glfwWindow);
                 }
                 else
                 {
@@ -553,7 +569,7 @@ void SofaGLFWBaseGUI::initVisual()
 
 void SofaGLFWBaseGUI::runStep()
 {
-    if(simulationIsRunning())
+    if(simulationIsRunning() && m_guiEngine && m_groot)
     {
         sofa::helper::AdvancedTimer::begin("Animate");
 
@@ -571,7 +587,11 @@ void SofaGLFWBaseGUI::terminate()
     if (!m_bGlfwIsInitialized)
         return;
 
-    m_guiEngine->terminate();
+    if (m_guiEngine)
+        m_guiEngine->terminate();
+
+    if(m_isVideoRecording)
+        m_videoRecorderFFMPEG.finishVideo();
 
     glfwTerminate();
 }
@@ -742,6 +762,15 @@ void SofaGLFWBaseGUI::moveRayPickInteractor(int eventX, int eventY)
     getPickHandler()->updateRay(position, direction);
 }
 
+void SofaGLFWBaseGUI::setMousePos(int xpos, int ypos) {
+    if(m_firstWindow)
+    {
+        glfwSetInputMode(m_firstWindow, GLFW_CURSOR, GLFW_CURSOR_HIDDEN); // Required on Wayland
+        glfwSetCursorPos(m_firstWindow, xpos, ypos);
+        glfwSetInputMode(m_firstWindow, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
+    }
+}
+
 void SofaGLFWBaseGUI::window_pos_callback(GLFWwindow* window, int xpos, int ypos)
 {
     SofaGLFWBaseGUI* gui = static_cast<SofaGLFWBaseGUI*>(glfwGetWindowUserPointer(window));
@@ -1008,4 +1037,97 @@ bool SofaGLFWBaseGUI::centerWindow(GLFWwindow* window)
     return true;
 }
 
+bool SofaGLFWBaseGUI::toggleVideoRecording()
+{
+    if(m_isVideoRecording)
+    {
+        m_isVideoRecording = false;
+        m_videoRecorderFFMPEG.finishVideo();
+    }
+    else
+    {
+        // Initialize recorder with default parameters
+        const int width = std::max(1, m_viewPortWidth);
+        const int height = std::max(1, m_viewPortHeight);
+
+        if(initRecorder(width, height))
+        {
+            m_isVideoRecording = true;
+        }
+        else
+        {
+            msg_error("SofaGLFWBaseGUI") << "Failed to initialize recorder.";
+            return false;
+        }
+    }
+    return true;
+}
+
+bool SofaGLFWBaseGUI::initRecorder(int width,
+                                   int height,
+                                   unsigned int framerate,
+                                   unsigned int bitrate,
+                                   const std::string& codecExtension,
+                                   const std::string& codecName)
+{
+    // Validate parameters
+    if (width <= 0 || height <= 0)
+    {
+        msg_error("SofaGLFWBaseGUI") << "Invalid video dimensions: " << width << "x" << height;
+        return false;
+    }
+
+    std::string ffmpeg_exec_path = "";
+    const std::string ffmpegIniFilePath = sofa::helper::Utils::getSofaPathTo("etc/SofaGLFW.ini");
+    std::map<std::string, std::string> iniFileValues = sofa::helper::Utils::readBasicIniFile(ffmpegIniFilePath);
+    if (iniFileValues.find("FFMPEG_EXEC_PATH") != iniFileValues.end())
+    {
+        // get absolute path of FFMPEG executable
+        ffmpeg_exec_path = sofa::helper::system::SetDirectory::GetRelativeFromProcess(iniFileValues["FFMPEG_EXEC_PATH"].c_str());
+        msg_info("SofaGLFWBaseGUI") << " The file " << ffmpegIniFilePath << " points to " << ffmpeg_exec_path << " for the ffmpeg executable.";
+    }
+    else
+    {
+        msg_warning("SofaGLFWBaseGUI") << " The file " << helper::Utils::getSofaPathPrefix() <<"/etc/SofaGLFW.ini either doesn't exist or doesn't contain the string FFMPEG_EXEC_PATH."
+                                                                                               " The initialization of the FFMPEG video recorder will likely fail."
+                                                                                               " To fix this, provide a valid path to the ffmpeg executable inside this file using the syntax \"FFMPEG_EXEC_PATH=/usr/bin/ffmpeg\".";
+    }
+
+    std::string screenshotPath = sofa::gui::common::BaseGUI::getScreenshotDirectoryPath();
+    m_videoFilePath = m_videoFilename.empty()? generateFilename("video", codecExtension): m_videoFilename;
+    m_videoFilePath = sofa::helper::system::FileSystem::append(screenshotPath, m_videoFilePath);
+    return m_videoRecorderFFMPEG.init(ffmpeg_exec_path, m_videoFilePath, width, height, framerate, bitrate, codecName);
+}
+
+bool SofaGLFWBaseGUI::isVideoRecording() const
+{
+    return m_isVideoRecording;
+}
+
+std::string SofaGLFWBaseGUI::generateFilename(const std::string& prefix, const std::string &extension)
+{
+    std::string filename = getSceneFileName();
+    // Add the date and time to the filename
+    auto now = std::chrono::system_clock::now();
+    auto localTime = std::chrono::system_clock::to_time_t(now);
+    std::stringstream ss;
+
+    if (!prefix.empty())
+        ss << prefix << "_";
+
+    if (!filename.empty())
+    {
+        std::filesystem::path path(filename);
+        ss << path.filename().replace_extension("").string() << "_";
+    }
+
+    ss << std::put_time(std::localtime(&localTime), "%F_%H-%M-%S");
+
+    if (!extension.empty())
+        ss << "." << extension;
+
+    filename = ss.str();
+    return filename;
+}
+
 } // namespace sofaglfw
diff --git a/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.h b/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.h
index 9ebaef17c6..80997c826e 100644
--- a/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.h
+++ b/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.h
@@ -21,16 +21,16 @@
 ******************************************************************************/
 #pragma once
 #include <SofaGLFW/SofaGLFWMouseManager.h>
+#include <SofaGLFW/BaseGUIEngine.h>
+#include <SofaGLFW/NullGUIEngine.h>
 #include <SofaGLFW/config.h>
 
-#include <sofa/simulation/Simulation.h>
 #include <sofa/gl/DrawToolGL.h>
+#include <sofa/gl/VideoRecorderFFMPEG.h>
 #include <GLFW/glfw3.h>
+
 #include <sofa/component/visual/BaseCamera.h>
 #include <sofa/simulation/Node.h>
-
-#include <SofaGLFW/BaseGUIEngine.h>
-#include <SofaGLFW/NullGUIEngine.h>
 #include <sofa/gui/common/BaseViewer.h>
 
 #include <memory>
@@ -72,7 +72,6 @@ class SOFAGLFW_API SofaGLFWBaseGUI : public sofa::gui::common::BaseViewer
     bool centerWindow(GLFWwindow* window = nullptr);
     void updateViewportPosition(float viewportPositionX, float viewportPositionY) ;
 
-
     GLFWmonitor* getCurrentMonitor(GLFWwindow *window);
     void viewAll() override;
     void saveView() override ;
@@ -92,47 +91,34 @@ class SOFAGLFW_API SofaGLFWBaseGUI : public sofa::gui::common::BaseViewer
     void setMouseInteractionEnabled(const bool& enabled) {m_isMouseInteractionEnabled=enabled;}
     bool isMouseInteractionEnabled() {return m_isMouseInteractionEnabled;}
 
-    virtual void setBackgroundColour(float r, float g, float b) override
-    {
-        setWindowBackgroundColor(sofa::type::RGBAColor{r, g, b, 1.0f}, 0);
-    }
-    virtual void setBackgroundImage(std::string imageFileName) override
-    {
-        setWindowBackgroundImage(imageFileName, 0);
-    }
+    virtual void setBackgroundColour(float r, float g, float b) override {setWindowBackgroundColor(sofa::type::RGBAColor{r, g, b, 1.0f}, 0);}
+    virtual void setBackgroundImage(std::string imageFileName) override {setWindowBackgroundImage(imageFileName, 0);}
     sofa::core::sptr<sofa::simulation::Node> getRootNode() const;
     bool hasWindow() const { return m_firstWindow != nullptr; }
 
-    [[nodiscard]] std::string getFilename() const
-    {
-        return m_filename;
-    }
+    [[nodiscard]] std::string getFilename() const {return m_filename;}
 
     sofa::component::visual::BaseCamera::SPtr findCamera(sofa::simulation::NodeSPtr groot);
     void changeCamera(sofa::component::visual::BaseCamera::SPtr newCamera);
     void setWindowIcon(GLFWwindow* glfwWindow);
 
-    void setGUIEngine(std::shared_ptr<BaseGUIEngine> guiEngine)
-    {
-        m_guiEngine = guiEngine;
-    }
-    
-    std::shared_ptr<BaseGUIEngine> getGUIEngine()
-    {
-        return m_guiEngine;
-    }
+    void setGUIEngine(std::shared_ptr<BaseGUIEngine> guiEngine) {m_guiEngine = guiEngine;}
+    std::shared_ptr<BaseGUIEngine> getGUIEngine() {return m_guiEngine;}
 
     void moveRayPickInteractor(int eventX, int eventY) override ;
-    
-    void setMousePos(int xpos, int ypos) {
-        if(m_firstWindow)
-        {
-            glfwSetInputMode(m_firstWindow, GLFW_CURSOR, GLFW_CURSOR_HIDDEN); // Required on Wayland
-            glfwSetCursorPos(m_firstWindow, xpos, ypos);
-            glfwSetInputMode(m_firstWindow, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
-        }
-    }
+    void setMousePos(int xpos, int ypos);
+
+    bool initRecorder(int width, int height,
+                      unsigned int framerate=60, unsigned int bitrate=2000000,
+                      const std::string& codecExtension="mp4", const std::string& codecName="yuv420p");
 
+    bool toggleVideoRecording();
+    bool isVideoRecording() const;
+    const std::string& getVideoFilename() {return m_videoFilename;}
+    void setVideoFilename(const std::string filename) {m_videoFilename = filename;}
+    const std::string& getVideoFilePath() {return m_videoFilePath;}
+
+    std::string generateFilename(const std::string &prefix, const std::string &extension);
 
     const char* getGUINodeName() {return "GUI";}
     sofa::core::objectmodel::Tag getGUITag() {return sofa::core::objectmodel::Tag("createdByGUI");}
@@ -159,18 +145,16 @@ class SOFAGLFW_API SofaGLFWBaseGUI : public sofa::gui::common::BaseViewer
     void makeCurrentContext(GLFWwindow* sofaWindow);
     void runStep();
 
-    // static members
     inline static std::map< GLFWwindow*, SofaGLFWWindow*> s_mapWindows{};
     inline static std::map< GLFWwindow*, SofaGLFWBaseGUI*> s_mapGUIs{};
 
-    //members
     bool m_bGlfwIsInitialized{ false };
     bool m_bGlewIsInitialized{ false };
 
     sofa::simulation::NodeSPtr m_groot{ nullptr };
     bool m_simulationCanRun{ true };
     std::string m_filename;
-    sofa::gl::DrawToolGL* m_glDrawTool{ nullptr };
+    std::unique_ptr<sofa::gl::DrawToolGL> m_glDrawTool;
     sofa::core::visual::VisualParams* m_vparams{ nullptr };
     GLFWwindow* m_firstWindow{ nullptr };
     int m_windowWidth{ 0 };
@@ -188,8 +172,12 @@ class SOFAGLFW_API SofaGLFWBaseGUI : public sofa::gui::common::BaseViewer
     sofa::type::Vec2f m_viewPortPosition;
     sofa::type::Vec2f m_windowPosition;
     
-    std::shared_ptr<sofaglfw::BaseGUIEngine> m_guiEngine;
+    std::string m_videoFilePath;
+    std::string m_videoFilename;
+    bool m_isVideoRecording {false};
+    sofa::gl::VideoRecorderFFMPEG m_videoRecorderFFMPEG;
 
+    std::shared_ptr<sofaglfw::BaseGUIEngine> m_guiEngine;
 };
 
 } // namespace sofaglfw
diff --git a/SofaGLFW/src/SofaGLFW/config.h.in b/SofaGLFW/src/SofaGLFW/config.h.in
index 4cfd1493a6..c2d8818a9c 100644
--- a/SofaGLFW/src/SofaGLFW/config.h.in
+++ b/SofaGLFW/src/SofaGLFW/config.h.in
@@ -24,6 +24,7 @@
 #define SOFAGLFW_VERSION @PROJECT_VERSION@
 
 #cmakedefine01 SOFAGLFW_HAVE_SOFA_GUI_COMMON
+#cmakedefine01 SOFAGLFW_HAVE_FFMPEG
 
 #define SOFAGLFW_HAS_IMGUI @SOFAGLFW_HAS_IMGUI_VALUE@
 
diff --git a/SofaImGui/CMakeLists.txt b/SofaImGui/CMakeLists.txt
index 6757ffa420..beb75bce93 100644
--- a/SofaImGui/CMakeLists.txt
+++ b/SofaImGui/CMakeLists.txt
@@ -120,6 +120,7 @@ set(HEADER_FILES
     ${SOFAIMGUI_SOURCE_DIR}/windows/PluginsWindow.h
     ${SOFAIMGUI_SOURCE_DIR}/windows/ProgramWindow.h
     ${SOFAIMGUI_SOURCE_DIR}/windows/ProfilerWindow.h
+    ${SOFAIMGUI_SOURCE_DIR}/windows/RecordVideoWindow.h
     ${SOFAIMGUI_SOURCE_DIR}/windows/ViewportWindow.h
     ${SOFAIMGUI_SOURCE_DIR}/windows/WindowsSettingsName.h
 
@@ -181,6 +182,7 @@ set(SOURCE_FILES
     ${SOFAIMGUI_SOURCE_DIR}/windows/PluginsWindow.cpp
     ${SOFAIMGUI_SOURCE_DIR}/windows/ProgramWindow.cpp
     ${SOFAIMGUI_SOURCE_DIR}/windows/ProfilerWindow.cpp
+    ${SOFAIMGUI_SOURCE_DIR}/windows/RecordVideoWindow.cpp
     ${SOFAIMGUI_SOURCE_DIR}/windows/ViewportWindow.cpp
 
     ${SOFAIMGUI_SOURCE_DIR}/widgets/ImGuiDataWidget.cpp
diff --git a/SofaImGui/resources/Style.cpp b/SofaImGui/resources/Style.cpp
index 0aab9b7ed4..668e70c632 100644
--- a/SofaImGui/resources/Style.cpp
+++ b/SofaImGui/resources/Style.cpp
@@ -227,4 +227,13 @@ void setStyle(const std::string& style)
     }
 }
 
+ImVec4 blendColor(const ImVec4& color1, const ImVec4& color2, const float& w)
+{
+    return ImVec4((1 - w) * color1.x + w * color2.x,
+                  (1 - w) * color1.y + w * color2.y,
+                  (1 - w) * color1.z + w * color2.z,
+                  (1 - w) * color1.w + w * color2.w
+                  );
+}
+
 }
diff --git a/SofaImGui/resources/Style.h b/SofaImGui/resources/Style.h
index e3886b5c64..e22196670e 100644
--- a/SofaImGui/resources/Style.h
+++ b/SofaImGui/resources/Style.h
@@ -28,5 +28,6 @@ namespace sofaimgui
 {
 
 void setStyle(const std::string& style);
+ImVec4 blendColor(const ImVec4& color1, const ImVec4& color2, const float& w);
 
 }
diff --git a/SofaImGui/src/SofaImGui/FooterStatusBar.cpp b/SofaImGui/src/SofaImGui/FooterStatusBar.cpp
index 00b30d407a..c025df0fab 100644
--- a/SofaImGui/src/SofaImGui/FooterStatusBar.cpp
+++ b/SofaImGui/src/SofaImGui/FooterStatusBar.cpp
@@ -193,20 +193,24 @@ void FooterStatusBar::setTempMessage(const std::string &message, const MessageTy
     m_tempMessagePath = path;
     std::string from = "GUI";
 
+    auto getFullMessage = [this] {
+        return m_tempMessage + m_tempMessagePath;
+    };
+
     switch (type) {
     case MessageType::MWARNING:
     {
-        msg_warning(from) << m_tempMessage;
+        msg_warning(from) << getFullMessage();
         break;
     }
     case MessageType::MERROR:
     {
-        msg_error(from) << m_tempMessage;
+        msg_error(from) << getFullMessage();
         break;
     }
     default:
     {
-        msg_info(from) << m_tempMessage;
+        msg_info(from) << getFullMessage();
         break;
     }
     }
diff --git a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
index 80f8822297..ef8fb65400 100644
--- a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
+++ b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
@@ -27,6 +27,9 @@
 #include <SofaImGui/Workbench.h>
 #include <SofaImGui/AppIniFile.h>
 
+#include <SofaImGui/menus/FileMenu.h>
+#include <SofaImGui/menus/ViewMenu.h>
+
 #include <SofaGLFW/SofaGLFWBaseGUI.h>
 #include <SofaGLFW/SofaGLFWWindow.h>
 
@@ -70,8 +73,6 @@
 #include <DejaVuSans.h>
 #include <Style.h>
 
-#include <SofaImGui/menus/FileMenu.h>
-#include <SofaImGui/menus/ViewMenu.h>
 #include <SofaImGui/Utils.h>
 #include <SofaImGui/widgets/Widgets.h>
 
@@ -288,6 +289,8 @@ void ImGuiGUIEngine::initBackend(GLFWwindow* glfwWindow)
         io.Fonts->AddFontFromMemoryCompressedTTF(FA_SOLID_900_compressed_data, FA_SOLID_900_compressed_size, 12 * yscale, &config, icon_ranges);
         io.Fonts->AddFontFromMemoryCompressedTTF(DejaVuSans_compressed_data, DejaVuSans_compressed_size, 12 * yscale, &configDejaVu, icon_rangesDejaVu);
     }
+
+    glGenBuffers(s_NB_PBOS, m_pbos);
 }
 
 void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
@@ -338,8 +341,9 @@ void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
     m_baseGUI->setSimulationCanRun(workbench != Workbench::SCENE_EDITOR);
     showMainMenuBar(baseGUI);
     showSecondaryMenuBar();
-    m_pluginsWindow.showWindow(baseGUI, ImGuiWindowFlags_None);
-    m_mouseManagerWindow.showWindow(baseGUI, ImGuiWindowFlags_None);
+    m_pluginsWindow.showWindow(baseGUI, ImGuiWindowFlags_NoDocking);
+    m_mouseManagerWindow.showWindow(baseGUI, ImGuiWindowFlags_NoDocking);
+    m_recordVideoWindow.showWindow(baseGUI, ImGuiWindowFlags_NoDocking);
 
     FooterStatusBar::getInstance().showFooterStatusBar();
     FooterStatusBar::getInstance().showTempMessageOnStatusBar();
@@ -364,6 +368,8 @@ void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
         ImGui::UpdatePlatformWindows();
         ImGui::RenderPlatformWindowsDefault();
     }
+
+    m_frameCount++;
 }
 
 void ImGuiGUIEngine::beforeDraw(GLFWwindow*)
@@ -407,6 +413,7 @@ void ImGuiGUIEngine::terminate()
 {
     saveSettings();
     NFD_Quit();
+    glDeleteBuffers(s_NB_PBOS, m_pbos);
 
 #if SOFAIMGUI_FORCE_OPENGL2 == 1
     ImGui_ImplOpenGL2_Shutdown();
@@ -424,6 +431,54 @@ bool ImGuiGUIEngine::dispatchMouseEvents()
     return !ImGui::GetIO().WantCaptureMouse || m_viewportWindow.isMouseOnViewport();
 }
 
+type::Vec2i ImGuiGUIEngine::getFrameBufferPixels(std::vector<uint8_t>& pixels)
+{
+    int readIndex = m_frameCount % s_NB_PBOS;
+    int processIndex = (m_frameCount + 1) % s_NB_PBOS;
+
+    m_fbo->start();
+
+    GLint viewport[4];
+    glGetIntegerv(GL_VIEWPORT, viewport);
+
+    if(m_pboSize[0] != viewport[2] || m_pboSize[1] != viewport[3])
+    {
+        // Size for your frame (e.g., 1920x1080 RGBA)
+        int size = viewport[2] * viewport[3] * 4;
+
+        for (int i = 0; i < s_NB_PBOS; i++) {
+            glBindBuffer(GL_PIXEL_PACK_BUFFER, m_pbos[i]);
+            glBufferData(GL_PIXEL_PACK_BUFFER, size, NULL, GL_STREAM_READ);
+        }
+        glBindBuffer(GL_PIXEL_PACK_BUFFER, 0);
+
+        m_pboSize[0] = viewport[2];
+        m_pboSize[1] = viewport[3];
+    }
+
+    glPixelStorei(GL_PACK_ALIGNMENT, 1);
+
+    // Read to PBO (asynchronous)
+    glBindBuffer(GL_PIXEL_PACK_BUFFER, m_pbos[readIndex]);
+    glReadPixels(0, 0, viewport[2], viewport[3], GL_RGBA, GL_UNSIGNED_BYTE, 0);
+
+    // Map and process previous frame
+    glBindBuffer(GL_PIXEL_PACK_BUFFER, m_pbos[processIndex]);
+    void* data = glMapBuffer(GL_PIXEL_PACK_BUFFER, GL_READ_ONLY);
+    if (data)
+    {
+        int size = viewport[2] * viewport[3] * 4;
+        pixels.resize(size);
+        memcpy(pixels.data(), data, size);
+        glUnmapBuffer(GL_PIXEL_PACK_BUFFER);
+    }
+    glBindBuffer(GL_PIXEL_PACK_BUFFER, 0);
+
+    m_fbo->stop();
+
+    return {viewport[2], viewport[3]};
+}
+
 void ImGuiGUIEngine::initDockSpace(const bool& firstTime)
 {
     ImGuiViewport* viewport = ImGui::GetMainViewport();
@@ -557,131 +612,149 @@ void ImGuiGUIEngine::showMainMenuBar(sofaglfw::SofaGLFWBaseGUI* baseGUI)
 {
     if (ImGui::BeginMainMenuBar())
     {
-        std::string version = "v" + std::string(SOFA_VERSION_STR);
-        menus::FileMenu fileMenu(baseGUI);
-        fileMenu.addMenu();
-        if (fileMenu.m_loadSimulation) {
-            saveProject();
-            loadSimulation(false, fileMenu.getFilename());
-        }
-        if(fileMenu.m_reloadSimulation)
-            loadSimulation(true, fileMenu.getFilename());
-
-        if(fileMenu.m_openPluginsManager)
-            m_pluginsWindow.setOpen(true);
+        { // File menu
+            menus::FileMenu fileMenu = menus::FileMenu(baseGUI);
+            fileMenu.addMenu();
+            if (fileMenu.m_loadSimulation)
+            {
+                saveProject();
+                loadSimulation(false, fileMenu.getFilename());
+            }
+            if(fileMenu.m_reloadSimulation)
+                loadSimulation(true, fileMenu.getFilename());
 
-        if(fileMenu.m_openMouseManager)
-            m_mouseManagerWindow.setOpen(true);
+            if(fileMenu.m_openPluginsManager)
+                m_pluginsWindow.setOpen(true);
 
-        menus::ViewMenu(baseGUI).addMenu(m_currentFBOSize, m_fbo->getColorTexture());
+            if(fileMenu.m_openMouseManager)
+                m_mouseManagerWindow.setOpen(true);
+        }
 
-        ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
-        if (ImGui::BeginMenu("Workbench"))
-        {
-            bool disableWorkbench = Robot::getInstance().getConnection(); // Disable changing workbench if a robot is connected
+        { // View menu
+            menus::ViewMenu viewMenu = menus::ViewMenu(baseGUI);
+            viewMenu.addMenu(m_currentFBOSize, m_fbo->getColorTexture());
 
-            if (disableWorkbench)
-                ImGui::BeginDisabled();
+            if(menus::ViewMenu::openRecordVideoWindow)
+            {
+                m_recordVideoWindow.setOpen(true);
+                menus::ViewMenu::openRecordVideoWindow = false;
+            }
+        }
 
-            ImGui::PopStyleColor();
-            int value = workbench;
-            for (int i=0; i<getWorkbenchCount(); i++)
+        { // Workbench
+            ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
+            if (ImGui::BeginMenu("Workbench"))
             {
-                ImGui::PushID(i);
+                bool disableWorkbench = Robot::getInstance().getConnection(); // Disable changing workbench if a robot is connected
 
-                int j = pow(2, i);
-                if (ImGui::LocalRadioButton(getWorkbenchName(Workbench(j)), &value, j))
-                    changeWorkbench(Workbench(value));
-                ImGui::SetItemTooltip("%s", getWorkbenchDescription(Workbench(j)));
+                if (disableWorkbench)
+                    ImGui::BeginDisabled();
 
-                ImGui::PopID();
-            }
+                ImGui::PopStyleColor();
+                int value = workbench;
+                for (int i=0; i<getWorkbenchCount(); i++)
+                {
+                    ImGui::PushID(i);
 
-            if (disableWorkbench)
-                ImGui::EndDisabled();
+                    int j = pow(2, i);
+                    if (ImGui::LocalRadioButton(getWorkbenchName(Workbench(j)), &value, j))
+                        changeWorkbench(Workbench(value));
+                    ImGui::SetItemTooltip("%s", getWorkbenchDescription(Workbench(j)));
 
-            ImGui::EndMenu();
-        }
-        else
-        {
-            ImGui::PopStyleColor();
-        }
+                    ImGui::PopID();
+                }
 
-        ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
-        if (ImGui::BeginMenu("Windows"))
-        {
-            ImGui::PopStyleColor();
+                if (disableWorkbench)
+                    ImGui::EndDisabled();
 
-            for (auto& window : m_windows) 
+                ImGui::EndMenu();
+            }
+            else
             {
-                auto windowName = window.get().getName();
-
-                bool isViewport = (windowName == m_viewportWindow.getName());
-                if(isViewport)
-                    ImGui::Separator();
-                ImGui::LocalCheckBox(windowName.c_str(), &window.get().isOpen());
-                ImGui::SetItemTooltip("%s", window.get().getDescription().c_str());
-                if (isViewport)
-                    ImGui::Separator();
+                ImGui::PopStyleColor();
             }
-
-            ImGui::EndMenu();
-        }
-        else
-        {
-            ImGui::PopStyleColor();
         }
 
-        static bool isAboutOpen = false;
-        ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
-        if (ImGui::BeginMenu("Help"))
-        {
-            ImGui::PopStyleColor();
+        { // Windows
+            ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
+            if (ImGui::BeginMenu("Windows"))
+            {
+                ImGui::PopStyleColor();
+
+                for (auto& window : m_windows)
+                {
+                    auto windowName = window.get().getName();
+
+                    bool isViewport = (windowName == m_viewportWindow.getName());
+                    if(isViewport)
+                        ImGui::Separator();
+                    ImGui::LocalCheckBox(windowName.c_str(), &window.get().isOpen());
+                    ImGui::SetItemTooltip("%s", window.get().getDescription().c_str());
+                    if (isViewport)
+                        ImGui::Separator();
+                }
 
-            // Manual
-            std::string manualURL = "https://docs-support.compliance-robotics.com/docs/";
-            manualURL += (version.length()>6)? "next": version;
-            manualURL += "/Users/SOFARobotics/GUI-user-manual/";
-            ImGui::LocalTextLinkOpenURL("Sofa Robotics Manual", manualURL.c_str());
+                ImGui::EndMenu();
+            }
+            else
+            {
+                ImGui::PopStyleColor();
+            }
+        }
 
-            // Sofa Robotics GitHub
-            ImGui::LocalTextLinkOpenURL("Sofa Robotics GitHub", "https://github.com/SofaComplianceRobotics/SofaGLFW/tree/robotics");
+        { // Help
+            std::string version = "v" + std::string(SOFA_VERSION_STR);
+            static bool isAboutOpen = false;
+            ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
+            if (ImGui::BeginMenu("Help"))
+            {
+                ImGui::PopStyleColor();
 
-            // Compliance Robotics Website
-            ImGui::LocalTextLinkOpenURL("Compliance Robotics", "https://compliance-robotics.com/");
+                // Manual
+                std::string manualURL = "https://docs-support.compliance-robotics.com/docs/";
+                manualURL += (version.length()>6)? "next": version;
+                manualURL += "/Users/SOFARobotics/GUI-user-manual/";
+                ImGui::LocalTextLinkOpenURL("Sofa Robotics Manual", manualURL.c_str());
 
-            if (ImGui::MenuItem("\t About...", nullptr, false, true))
-                isAboutOpen = true;
-            ImGui::EndMenu();
-        }
-        else
-        {
-            ImGui::PopStyleColor();
-        }
+                // Sofa Robotics GitHub
+                ImGui::LocalTextLinkOpenURL("Sofa Robotics GitHub", "https://github.com/SofaComplianceRobotics/SofaGLFW/tree/robotics");
 
-        if (isAboutOpen)
-        {
-            ImGui::Begin("About##SofaComplianceRobotics", &isAboutOpen, ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_AlwaysAutoResize);
-
-            auto windowWidth = ImGui::GetWindowSize().x;
-            std::vector<std::string> texts = {"\n", "SOFA, Simulation Open-Framework Architecture \n (c) 2006 INRIA, USTL, UJF, CNRS, MGH",
-                                              "&", "(c) Compliance Robotics", "\n",
-                                              version,
-                                              "SOFA is an open-source framework for interactive physics simulation, \n"
-                                              "with an emphasis on soft body dynamics. After years of research and \n"
-                                              "development, the project remains open-source under the LGPL v2.1 license, \n"
-                                              "fostering both research and development."};
-            for (const auto& text : texts)
+                // Compliance Robotics Website
+                ImGui::LocalTextLinkOpenURL("Compliance Robotics", "https://compliance-robotics.com/");
+
+                if (ImGui::MenuItem("\t About...", nullptr, false, true))
+                    isAboutOpen = true;
+                ImGui::EndMenu();
+            }
+            else
             {
-                auto textWidth   = ImGui::CalcTextSize(text.c_str()).x;
-                ImGui::SetCursorPosX((windowWidth - textWidth) * 0.5f);
-                ImGui::Text("%s", text.c_str());
+                ImGui::PopStyleColor();
             }
 
-            // Support SOFA
-            ImGui::LocalTextLinkOpenURL("Support SOFA", "https://www.sofa-framework.org/consortium/support-us/");
+            if (isAboutOpen)
+            {
+                ImGui::Begin("About##SofaComplianceRobotics", &isAboutOpen, ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_AlwaysAutoResize);
+
+                auto windowWidth = ImGui::GetWindowSize().x;
+                std::vector<std::string> texts = {"\n", "SOFA, Simulation Open-Framework Architecture \n (c) 2006 INRIA, USTL, UJF, CNRS, MGH",
+                                                  "&", "(c) Compliance Robotics", "\n",
+                                                  version,
+                                                  "SOFA is an open-source framework for interactive physics simulation, \n"
+                                                  "with an emphasis on soft body dynamics. After years of research and \n"
+                                                  "development, the project remains open-source under the LGPL v2.1 license, \n"
+                                                  "fostering both research and development."};
+                for (const auto& text : texts)
+                {
+                    auto textWidth   = ImGui::CalcTextSize(text.c_str()).x;
+                    ImGui::SetCursorPosX((windowWidth - textWidth) * 0.5f);
+                    ImGui::Text("%s", text.c_str());
+                }
 
-            ImGui::End();
+                // Support SOFA
+                ImGui::LocalTextLinkOpenURL("Support SOFA", "https://www.sofa-framework.org/consortium/support-us/");
+
+                ImGui::End();
+            }
         }
 
         const auto posX = ImGui::GetCursorPosX();
diff --git a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.h b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.h
index 95f8084f5b..7e601b29fb 100644
--- a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.h
+++ b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.h
@@ -41,11 +41,9 @@
 #include <SofaImGui/windows/PlottingWindow.h>
 #include <SofaImGui/windows/ProgramWindow.h>
 #include <SofaImGui/windows/ProfilerWindow.h>
-
+#include <SofaImGui/windows/RecordVideoWindow.h>
 #include <SofaImGui/windows/PluginsWindow.h>
 
-#include <SofaImGui/menus/ViewMenu.h>
-
 #include <SofaImGui/models/IPController.h>
 #include <SofaImGui/models/SimulationState.h>
 
@@ -77,6 +75,7 @@ class SOFAIMGUI_API ImGuiGUIEngine : public sofaglfw::BaseGUIEngine
     void afterDraw() override;
     void terminate() override;
     bool dispatchMouseEvents() override;
+    sofa::type::Vec2i getFrameBufferPixels(std::vector<uint8_t>& pixels) override;
 
     void animateBeginEvent(sofa::simulation::Node* groot) override;
     void animateEndEvent(sofa::simulation::Node* groot) override;
@@ -111,6 +110,7 @@ class SOFAIMGUI_API ImGuiGUIEngine : public sofaglfw::BaseGUIEngine
 
     windows::PluginsWindow      m_pluginsWindow      = windows::PluginsWindow("Plugins Manager", false);
     windows::MouseManagerWindow m_mouseManagerWindow = windows::MouseManagerWindow("Mouse Manager", false);
+    windows::RecordVideoWindow  m_recordVideoWindow  = windows::RecordVideoWindow("Record Video", false);
 
 protected:
 
@@ -157,6 +157,11 @@ class SOFAIMGUI_API ImGuiGUIEngine : public sofaglfw::BaseGUIEngine
     bool m_darkMode{false};
     sofaglfw::SofaGLFWBaseGUI* m_baseGUI{nullptr};
     std::vector<ImGuiID> m_dockIDs;
+
+    std::size_t m_frameCount{0};
+    static inline constexpr int s_NB_PBOS = 2;
+    GLuint m_pbos[s_NB_PBOS];
+    sofa::type::Vec2i m_pboSize;
 };
 
 } // namespace sofaimgui
diff --git a/SofaImGui/src/SofaImGui/Utils.cpp b/SofaImGui/src/SofaImGui/Utils.cpp
index 2b69ce5f9f..6dbfacc3c1 100644
--- a/SofaImGui/src/SofaImGui/Utils.cpp
+++ b/SofaImGui/src/SofaImGui/Utils.cpp
@@ -20,14 +20,17 @@
  * Contact information: contact@sofa-framework.org                             *
  ******************************************************************************/
 
-#include <sofa/core/visual/VisualParams.h>
-#include <SofaImGui/menus/ViewMenu.h>
+#include <sofa/simulation/Simulation.h>
 #include <sofa/helper/system/FileSystem.h>
-#include <SofaImGui/Utils.h>
 #include <sofa/core/behavior/BaseMechanicalState.h>
+#include <sofa/core/visual/VisualParams.h>
 #include <sofa/gui/common/ArgumentParser.h>
+
 #include <SofaGLFW/SofaGLFWWindow.h>
 
+#include <SofaImGui/menus/ViewMenu.h>
+#include <SofaImGui/Utils.h>
+
 namespace sofaimgui::Utils {
 
 using sofaimgui::menus::ViewMenu;
diff --git a/SofaImGui/src/SofaImGui/menus/ViewMenu.cpp b/SofaImGui/src/SofaImGui/menus/ViewMenu.cpp
index 3617d9e6d1..789930926a 100644
--- a/SofaImGui/src/SofaImGui/menus/ViewMenu.cpp
+++ b/SofaImGui/src/SofaImGui/menus/ViewMenu.cpp
@@ -37,12 +37,13 @@
 #include <sofa/gui/common/BaseGUI.h>
 
 #include <nfd.h>
-#include <filesystem>
 #include <SofaImGui/Utils.h>
 #include <SofaImGui/widgets/Widgets.h>
 
 namespace sofaimgui::menus {
 
+bool ViewMenu::openRecordVideoWindow = false;
+
 using sofaglfw::SofaGLFWWindow;
 
 ViewMenu::ViewMenu(sofaglfw::SofaGLFWBaseGUI *baseGUI) : m_baseGUI(baseGUI)
@@ -83,6 +84,7 @@ void ViewMenu::addMenu(const std::pair<unsigned int, unsigned int>& fboSize,
 
         ImGui::Separator();
 
+        addRecordVideoMenuItem();
         addSaveScreenShotMenuItem(fboSize, texture);
 
         ImGui::Separator();
@@ -523,22 +525,9 @@ void ViewMenu::addSaveScreenShotMenuItem(const std::pair<unsigned int, unsigned
     {
         std::string screenshotPath = sofa::gui::common::BaseGUI::getScreenshotDirectoryPath();
         nfdchar_t *outPath;
-        std::array<nfdfilteritem_t, 1> filterItem{ {{"Image", "jpg,png"}} };
+        std::array<nfdfilteritem_t, 1> filterItem{{{"Image", "jpg,png"}}};
 
-        // Add the date and time to the filename
-        auto now = std::chrono::system_clock::now();
-        auto localTime = std::chrono::system_clock::to_time_t(now);
-        std::stringstream ss;
-
-        auto sceneFilename = m_baseGUI->getFilename();
-        if (!sceneFilename.empty())
-        {
-            std::filesystem::path path(sceneFilename);
-            ss << path.filename().replace_extension("").string() << "_" << std::put_time(std::localtime(&localTime), "%F_%H-%M-%S") << ".png";
-        } else {
-            ss << "screenshot_" << std::put_time(std::localtime(&localTime), "%F_%H-%M-%S") << ".png";
-        }
-        sceneFilename = ss.str();
+        auto sceneFilename = m_baseGUI->generateFilename("screenshot", "png");
 
         nfdresult_t result = NFD_SaveDialog(&outPath, filterItem.data(), filterItem.size(), screenshotPath.c_str(), sceneFilename.c_str());
         if (result == NFD_OKAY)
@@ -560,4 +549,15 @@ void ViewMenu::addSaveScreenShotMenuItem(const std::pair<unsigned int, unsigned
     }
 }
 
+void ViewMenu::addRecordVideoMenuItem()
+{
+    if (ImGui::MenuItem("Record Video..."))
+        showRecordVideo();
+}
+
+void ViewMenu::showRecordVideo()
+{
+    openRecordVideoWindow = true;
+}
+
 }
diff --git a/SofaImGui/src/SofaImGui/menus/ViewMenu.h b/SofaImGui/src/SofaImGui/menus/ViewMenu.h
index 3dc1d09642..b21b2d391b 100644
--- a/SofaImGui/src/SofaImGui/menus/ViewMenu.h
+++ b/SofaImGui/src/SofaImGui/menus/ViewMenu.h
@@ -48,9 +48,13 @@ class ViewMenu
     void addRestoreCameraMenuItem();
     void addSaveScreenShotMenuItem(const std::pair<unsigned int, unsigned int>& fboSize,
                                    const GLuint& texture);
+    void addRecordVideoMenuItem();
+    void showRecordVideo();
 
     void addFullScreenMenuItem();
 
+    static bool openRecordVideoWindow;
+
    protected:
 
     void showGrid(const bool& show, const float &squareSize, const float &thickness, const sofa::type::RGBAColor& color);
diff --git a/SofaImGui/src/SofaImGui/widgets/Gizmos.cpp b/SofaImGui/src/SofaImGui/widgets/Gizmos.cpp
index d1a30d9f12..4be5ab7f7e 100644
--- a/SofaImGui/src/SofaImGui/widgets/Gizmos.cpp
+++ b/SofaImGui/src/SofaImGui/widgets/Gizmos.cpp
@@ -29,6 +29,7 @@ SOFTWARE.
 #include <vector>
 #include <algorithm>
 #include <SofaImGui/widgets/Gizmos.h>
+#include <Style.h>
 
 namespace sofaimgui::widget {
 
@@ -163,15 +164,6 @@ bool drawNegativeLine(const ImVec2 center, const ImVec2 axis, const ImVec4 color
     return isHovered;
 }
 
-ImVec4 blendColor(const ImVec4& color1, const ImVec4& color2, const float& w)
-{
-    return ImVec4((1 - w) * color1.x + w * color2.x,
-                 (1 - w) * color1.y + w * color2.y,
-                 (1 - w) * color1.z + w * color2.z,
-                 (1 - w) * color1.w + w * color2.w
-                 );
-}
-
 } // namespace internal
 
 static struct Config {
@@ -237,22 +229,22 @@ void DrawFrameGizmo(float* const viewMatrix, const float* const projectionMatrix
     for (const auto& [fst, snd] : pairs) {
         switch (fst) {
         case 0: // +x axis
-            axisClicked[0] = internal::drawPositiveLine(center, ImVec2{ xAxis.x, -xAxis.y }, internal::blendColor(config.xCircleFrontColor, config.xCircleBackColor, xW), radius, lineThickness, "X");
+            axisClicked[0] = internal::drawPositiveLine(center, ImVec2{ xAxis.x, -xAxis.y }, sofaimgui::blendColor(config.xCircleFrontColor, config.xCircleBackColor, xW), radius, lineThickness, "X");
             continue;
         case 1: // +y axis
-            axisClicked[1] = internal::drawPositiveLine(center, ImVec2{ yAxis.x, -yAxis.y }, internal::blendColor(config.yCircleFrontColor, config.yCircleBackColor, yW), radius, lineThickness, "Y");
+            axisClicked[1] = internal::drawPositiveLine(center, ImVec2{ yAxis.x, -yAxis.y }, sofaimgui::blendColor(config.yCircleFrontColor, config.yCircleBackColor, yW), radius, lineThickness, "Y");
             continue;
         case 2: // +z axis
-            axisClicked[2] = internal::drawPositiveLine(center, ImVec2{ zAxis.x, -zAxis.y }, internal::blendColor(config.zCircleFrontColor, config.zCircleBackColor, zW), radius, lineThickness, "Z");
+            axisClicked[2] = internal::drawPositiveLine(center, ImVec2{ zAxis.x, -zAxis.y }, sofaimgui::blendColor(config.zCircleFrontColor, config.zCircleBackColor, zW), radius, lineThickness, "Z");
             continue;
         case 3: // -x axis
-            axisClicked[3] = internal::drawNegativeLine(center, ImVec2{ xAxis.x, -xAxis.y }, internal::blendColor(config.xCircleBackColor, config.xCircleFrontColor, xW), radius, lineThickness, "-X");
+            axisClicked[3] = internal::drawNegativeLine(center, ImVec2{ xAxis.x, -xAxis.y }, sofaimgui::blendColor(config.xCircleBackColor, config.xCircleFrontColor, xW), radius, lineThickness, "-X");
             continue;
         case 4: // -y axis
-            axisClicked[4] = internal::drawNegativeLine(center, ImVec2{ yAxis.x, -yAxis.y }, internal::blendColor(config.yCircleBackColor, config.yCircleFrontColor, yW), radius, lineThickness, "-Y");
+            axisClicked[4] = internal::drawNegativeLine(center, ImVec2{ yAxis.x, -yAxis.y }, sofaimgui::blendColor(config.yCircleBackColor, config.yCircleFrontColor, yW), radius, lineThickness, "-Y");
             continue;
         case 5: // -z axis
-            axisClicked[5] = internal::drawNegativeLine(center, ImVec2{ zAxis.x, -zAxis.y }, internal::blendColor(config.zCircleBackColor, config.zCircleFrontColor, zW), radius, lineThickness, "-Z");
+            axisClicked[5] = internal::drawNegativeLine(center, ImVec2{ zAxis.x, -zAxis.y }, sofaimgui::blendColor(config.zCircleBackColor, config.zCircleFrontColor, zW), radius, lineThickness, "-Z");
             continue;
         default: break;
         }
diff --git a/SofaImGui/src/SofaImGui/widgets/Gizmos.h b/SofaImGui/src/SofaImGui/widgets/Gizmos.h
index 0c76de1476..308f173cfa 100644
--- a/SofaImGui/src/SofaImGui/widgets/Gizmos.h
+++ b/SofaImGui/src/SofaImGui/widgets/Gizmos.h
@@ -46,8 +46,6 @@ bool drawPositiveLine(const ImVec2 center, const ImVec2 axis, const ImVec4 color
 
 bool drawNegativeLine(const ImVec2 center, const ImVec2 axis, const ImVec4 color, const float radius, const float thickness, const char* text);
 
-ImVec4 blendColor(const ImVec4& color1, const ImVec4& color2, const float& w);
-
 } // namespace internal
 
 /// @brief Set the center and size of the gizmo (square). Should be called before drawing the gizmo. 
diff --git a/SofaImGui/src/SofaImGui/windows/MouseManagerWindow.cpp b/SofaImGui/src/SofaImGui/windows/MouseManagerWindow.cpp
index a5067b6b22..cc3f90a4bc 100644
--- a/SofaImGui/src/SofaImGui/windows/MouseManagerWindow.cpp
+++ b/SofaImGui/src/SofaImGui/windows/MouseManagerWindow.cpp
@@ -52,7 +52,7 @@ void MouseManagerWindow::showWindow(sofaglfw::SofaGLFWBaseGUI *baseGUI, const Im
             ImGuiIO& io = ImGui::GetIO();
             const ImVec2 defaultSize = ImVec2(io.DisplaySize.x * 0.5, io.DisplaySize.y * 0.3);
             ImGui::SetNextWindowSize(defaultSize, ImGuiCond_Once);
-            ImGui::Begin(getName().c_str(), &m_isOpen, windowFlags | ImGuiWindowFlags_NoDocking);
+            ImGui::Begin(getName().c_str(), &m_isOpen, windowFlags);
 
             ImGui::TextDisabled("Mouse interaction with the simulation is enabled by pressing the left shift key.");
 
diff --git a/SofaImGui/src/SofaImGui/windows/PluginsWindow.cpp b/SofaImGui/src/SofaImGui/windows/PluginsWindow.cpp
index e4e65e6975..80abd287d5 100644
--- a/SofaImGui/src/SofaImGui/windows/PluginsWindow.cpp
+++ b/SofaImGui/src/SofaImGui/windows/PluginsWindow.cpp
@@ -64,7 +64,7 @@ void PluginsWindow::showWindow(sofaglfw::SofaGLFWBaseGUI *baseGUI, const ImGuiWi
         static std::string selectedPlugin;
         const auto& pluginMap = sofa::helper::system::PluginManager::getInstance().getPluginMap();
 
-        if (ImGui::Begin(getName().c_str(), &m_isOpen, windowFlags | ImGuiWindowFlags_NoDocking))
+        if (ImGui::Begin(getName().c_str(), &m_isOpen, windowFlags))
         {
             if (ImGui::BeginChild("#LoadedPlugins", ImVec2(ImGui::GetContentRegionAvail().x * 0.5f, ImGui::GetContentRegionAvail().y), ImGuiChildFlags_None))
             {
diff --git a/SofaImGui/src/SofaImGui/windows/RecordVideoWindow.cpp b/SofaImGui/src/SofaImGui/windows/RecordVideoWindow.cpp
new file mode 100644
index 0000000000..ef1d283231
--- /dev/null
+++ b/SofaImGui/src/SofaImGui/windows/RecordVideoWindow.cpp
@@ -0,0 +1,143 @@
+/******************************************************************************
+ *                 SOFA, Simulation Open-Framework Architecture                *
+ *                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+ *                                                                             *
+ * This program is free software; you can redistribute it and/or modify it     *
+ * under the terms of the GNU General Public License as published by the Free  *
+ * Software Foundation; either version 2 of the License, or (at your option)   *
+ * any later version.                                                          *
+ *                                                                             *
+ * This program is distributed in the hope that it will be useful, but WITHOUT *
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for    *
+ * more details.                                                               *
+ *                                                                             *
+ * You should have received a copy of the GNU General Public License along     *
+ * with this program. If not, see <http://www.gnu.org/licenses/>.              *
+ *******************************************************************************
+ * Authors: The SOFA Team and external contributors (see Authors.txt)          *
+ *                                                                             *
+ * Contact information: contact@sofa-framework.org                             *
+ ******************************************************************************/
+#include "IconsFontAwesome6.h"
+#include "Style.h"
+#include <SofaImGui/widgets/Widgets.h>
+#include <sofa/helper/system/FileRepository.h>
+#include <SofaImGui/windows/RecordVideoWindow.h>
+#include <sofa/helper/system/FileSystem.h>
+#include <sofa/gui/common/BaseGUI.h>
+#include <SofaImGui/FooterStatusBar.h>
+#include <nfd.h>
+#include <imgui.h>
+#include <misc/cpp/imgui_stdlib.h>
+
+namespace sofaimgui::windows {
+
+RecordVideoWindow::RecordVideoWindow(const std::string& name,
+                                     const bool& isWindowOpen)
+{
+    m_defaultIsOpen = false;
+    m_name = name;
+    m_isOpen = isWindowOpen;
+}
+
+std::string RecordVideoWindow::getDescription()
+{
+    return "Record video of the simulation.";
+}
+
+void RecordVideoWindow::showWindow(sofaglfw::SofaGLFWBaseGUI *baseGUI, const ImGuiWindowFlags &windowFlags)
+{
+    SOFA_UNUSED(baseGUI);
+
+    if (isOpen())
+    {
+        ImGui::SetNextWindowSize(ImVec2(0., 0.), ImGuiCond_Once);
+        if (ImGui::Begin(getName().c_str(), &m_isOpen, windowFlags))
+        {
+            // float rightPosition = ImGui::GetCursorPosX() + ImGui::GetWindowSize().x - ImGui::GetFrameHeightWithSpacing()*2.;
+
+            static bool record = false;
+            ImVec2 buttonSize(ImGui::GetFrameHeight(), ImGui::GetFrameHeight());
+
+            if (record)
+                ImGui::BeginDisabled();
+
+            // Output file
+            ImGui::AlignTextToFramePadding();
+            ImGui::Text("Output file");
+            ImGui::SameLine();
+            static std::string filename = baseGUI->generateFilename("video", "");
+            ImGui::InputText("##OutputFile", &filename);
+            if (filename.empty())
+                filename = baseGUI->generateFilename("video", "");
+            ImGui::SameLine();
+            ImGui::TextDisabled(".mp4");
+
+            // Interval time
+            ImGui::AlignTextToFramePadding();
+            ImGui::Text("Interval time");
+            ImGui::SameLine();
+
+            static float start_time = 0.;
+            ImGui::LocalInputFloat("##StartTime", &start_time);
+
+            ImGui::SameLine();
+            ImGui::Text("-");
+            ImGui::SameLine();
+
+            static float end_time = std::numeric_limits<float>::infinity();
+            ImGui::LocalInputFloat("##EndTime", &end_time);
+
+            // Current time
+            const auto& current_time = baseGUI->getRootNode()->getTime();
+
+            if (record)
+                ImGui::EndDisabled();
+
+            ImVec4 red = ImVec4(1., 0.3, 0.3, 1.);
+            ImGui::PushStyleColor(ImGuiCol_Button, red);
+            ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sofaimgui::blendColor(red, ImVec4(0.5,0.,0.,1.), 0.1));
+            ImGui::PushStyleColor(ImGuiCol_ButtonActive, sofaimgui::blendColor(red, ImVec4(0.5,0.,0.,1.), 0.3));
+
+            // ImGui::SetCursorPosX(rightPosition); // Set the position to the right of the area
+            static bool clicked = false;
+            if (ImGui::Button(record? ICON_FA_STOP " Stop": "\xE2\xAC\xA4 Record"))
+            {
+                clicked = true;
+                record = !record;
+            }
+            ImGui::SetItemTooltip(record? "Stop recording": "Start recording");
+
+            if ((clicked && current_time >= start_time) || (record && current_time >= end_time))
+            {
+                clicked = false;
+                baseGUI->setVideoFilename(filename + ".mp4");
+                if (baseGUI->toggleVideoRecording())
+                    showRecordingMessage(baseGUI);
+                else
+                    FooterStatusBar::getInstance().setTempMessage("Something went wrong with the video, check the Log Window", FooterStatusBar::MERROR);
+                record = baseGUI->isVideoRecording();
+            }
+
+            ImGui::PopStyleColor(3);
+        }
+        ImGui::End();
+    }
+}
+
+void RecordVideoWindow::showRecordingMessage(sofaglfw::SofaGLFWBaseGUI *baseGUI)
+{
+    bool recording = baseGUI->isVideoRecording();
+    std::string message = recording? "Start": "Finished";
+    message += " recording to:" + (recording? " " + baseGUI->getVideoFilePath() : "");
+
+    FooterStatusBar::getInstance().setTempMessage(message, FooterStatusBar::MINFO, recording ? "" : baseGUI->getVideoFilePath());
+
+    if (!recording && !sofa::helper::system::FileSystem::exists(baseGUI->getVideoFilePath(), true)) // if there is no file after recording
+            FooterStatusBar::getInstance().setTempMessage("Something went wrong with the video, check the Log Window", FooterStatusBar::MERROR);
+
+}
+} // namespace
+
+
diff --git a/SofaImGui/src/SofaImGui/windows/RecordVideoWindow.h b/SofaImGui/src/SofaImGui/windows/RecordVideoWindow.h
new file mode 100644
index 0000000000..7e62a85b6f
--- /dev/null
+++ b/SofaImGui/src/SofaImGui/windows/RecordVideoWindow.h
@@ -0,0 +1,48 @@
+/******************************************************************************
+ *                 SOFA, Simulation Open-Framework Architecture                *
+ *                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+ *                                                                             *
+ * This program is free software; you can redistribute it and/or modify it     *
+ * under the terms of the GNU General Public License as published by the Free  *
+ * Software Foundation; either version 2 of the License, or (at your option)   *
+ * any later version.                                                          *
+ *                                                                             *
+ * This program is distributed in the hope that it will be useful, but WITHOUT *
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for    *
+ * more details.                                                               *
+ *                                                                             *
+ * You should have received a copy of the GNU General Public License along     *
+ * with this program. If not, see <http://www.gnu.org/licenses/>.              *
+ *******************************************************************************
+ * Authors: The SOFA Team and external contributors (see Authors.txt)          *
+ *                                                                             *
+ * Contact information: contact@sofa-framework.org                             *
+ ******************************************************************************/
+#pragma once
+
+#include <SofaImGui/menus/ViewMenu.h>
+#include <SofaImGui/windows/BaseWindow.h>
+#include <imgui.h>
+#include <implot.h>
+#include <implot_internal.h>
+
+namespace sofaimgui::windows {
+
+class SOFAIMGUI_API RecordVideoWindow : public BaseWindow
+{
+public:
+
+    RecordVideoWindow(const std::string& name, const bool& isWindowOpen);
+    ~RecordVideoWindow() = default;
+
+    void showWindow(sofaglfw::SofaGLFWBaseGUI *baseGUI, const ImGuiWindowFlags &windowFlags) override;
+    std::string getDescription() override;
+
+protected:
+    void showRecordingMessage(sofaglfw::SofaGLFWBaseGUI *baseGUI);
+};
+
+}
+
+
diff --git a/SofaImGui/src/SofaImGui/windows/ViewportWindow.cpp b/SofaImGui/src/SofaImGui/windows/ViewportWindow.cpp
index 4e11f376d3..d69e905e3c 100644
--- a/SofaImGui/src/SofaImGui/windows/ViewportWindow.cpp
+++ b/SofaImGui/src/SofaImGui/windows/ViewportWindow.cpp
@@ -19,7 +19,9 @@
  *                                                                             *
  * Contact information: contact@sofa-framework.org                             *
  ******************************************************************************/
+#define IMGUI_DEFINE_MATH_OPERATORS // import math operators
 
+#include <Style.h>
 #include <SofaGLFW/SofaGLFWWindow.h>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/component/visual/BaseCamera.h>
@@ -31,7 +33,7 @@
 #include <GLFW/glfw3.h>
 #include <SofaImGui/windows/WindowsSettingsName.h>
 #include <SofaImGui/Workbench.h>
-
+#include <SofaImGui/FooterStatusBar.h>
 
 namespace sofaimgui::windows {
 
@@ -54,9 +56,7 @@ void ViewportWindow::showWindow(sofaglfw::SofaGLFWBaseGUI* baseGUI,
 {
     if (isOpen())
     {
-        if (baseGUI)
-            m_viewmenu.m_baseGUI = baseGUI;
-        else
+        if (!baseGUI)
             return;
 
         auto groot = baseGUI->getRootNode().get();
@@ -91,7 +91,10 @@ void ViewportWindow::showWindow(sofaglfw::SofaGLFWBaseGUI* baseGUI,
                 }
 
                 addCameraButtons(baseGUI, groot);
-                addContextMenu(texture);
+                ImVec4 red = ImVec4(1., 0.3, 0.3, 1.); // TODO create a stylesheet
+                if(baseGUI->isVideoRecording())
+                    addRecordingStatus(red);
+                addContextMenu(baseGUI, texture);
             }
             ImGui::EndChild();
         }
@@ -260,7 +263,7 @@ void ViewportWindow::addCameraButtons(sofaglfw::SofaGLFWBaseGUI* baseGUI, sofa::
             { // 3D view display options
                 if (ImGui::BeginPopup("##DisplayOptions"))
                 {
-                    m_viewmenu.addShowIn3DViewMenuItems();
+                    menus::ViewMenu(baseGUI).addShowIn3DViewMenuItems();
                     ImGui::EndPopup();
                 }
 
@@ -444,16 +447,18 @@ void ViewportWindow::addCameraButtons(sofaglfw::SofaGLFWBaseGUI* baseGUI, sofa::
     ImGui::EndChild();
 }
 
-void ViewportWindow::addContextMenu(const ImTextureID& texture)
+void ViewportWindow::addContextMenu(sofaglfw::SofaGLFWBaseGUI *baseGUI, const ImTextureID& texture)
 {
     if (ImGui::BeginPopup("##ViewportContextMenu"))
     {
-        m_viewmenu.addSaveCameraMenuItem();
-        m_viewmenu.addRestoreCameraMenuItem();
+        menus::ViewMenu viewMenu(baseGUI);
+        viewMenu.addSaveCameraMenuItem();
+        viewMenu.addRestoreCameraMenuItem();
 
         ImGui::Separator();
 
-        m_viewmenu.addSaveScreenShotMenuItem(std::pair<unsigned int, unsigned int>(m_windowSize.first, m_windowSize.second), texture);
+        viewMenu.addRecordVideoMenuItem();
+        viewMenu.addSaveScreenShotMenuItem(std::pair<unsigned int, unsigned int>(m_windowSize.first, m_windowSize.second), texture);
         ImGui::EndPopup();
     }
 
@@ -468,6 +473,7 @@ void ViewportWindow::addContextMenu(const ImTextureID& texture)
     }
 }
 
+
 bool ViewportWindow::addAnimateButton(bool *animate, const float &shift_x)
 {
     ImVec2 buttonSize = ImVec2(ImGui::GetFrameHeight(), ImGui::GetFrameHeight());
@@ -493,7 +499,6 @@ bool ViewportWindow::addAnimateButton(bool *animate, const float &shift_x)
             if (ImGui::Begin("ViewportChildMiddleButtons", &m_isOpen, ImGuiWindowFlags_ChildWindow | ImGuiWindowFlags_AlwaysAutoResize |
                                                                       ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoMove))
             {
-                // ImGui::SameLine();
                 ImGui::Button(*animate ? ICON_FA_PAUSE : ICON_FA_PLAY, buttonSize);
                 ImGui::SetItemTooltip(*animate ? "Stop simulation" : "Start simulation");
 
@@ -503,10 +508,11 @@ bool ViewportWindow::addAnimateButton(bool *animate, const float &shift_x)
                     isItemClicked = true;
                 }
             }
-            ImGui::EndChild();
 
             ImGui::PopStyleColor(2);
             ImGui::PopStyleVar();
+
+            ImGui::EndChild();
         }
         ImGui::End();
     }
@@ -611,5 +617,34 @@ void ViewportWindow::addSimulationTimeAndFPS(sofa::simulation::Node* groot)
     }
 }
 
+void ViewportWindow::addRecordingStatus(const ImVec4& red)
+{
+    if (m_isOpen)
+    {
+        if (ImGui::Begin(getLabel().c_str(), &m_isOpen))
+        {
+            if(ImGui::BeginChild("Render"))
+            {
+                // Recording
+                std::string icon = ICON_FA_CIRCLE_DOT;
+                std::string text = " Recording";
+                auto position = ImGui::GetWindowWidth() - ImGui::CalcTextSize((icon+text).c_str()).x - ImGui::GetFrameHeight() * 0.5f;
+                ImGui::SetCursorPosX(position);
+                ImGui::SetCursorPosY(ImGui::GetStyle().ItemSpacing.y);
+                ImGui::PushStyleColor(ImGuiCol_Text, red);
+                ImGui::Text("%s", icon.c_str());
+                ImGui::PopStyleColor();
+                ImGui::SameLine(0.f, 0.f);
+                ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 1.f, 1.f, 1.f));
+                ImGui::Text("%s", text.c_str());
+                ImGui::PopStyleColor();
+
+                ImGui::EndChild();
+            }
+        }
+        ImGui::End();
+    }
+}
+
 }
 
diff --git a/SofaImGui/src/SofaImGui/windows/ViewportWindow.h b/SofaImGui/src/SofaImGui/windows/ViewportWindow.h
index 4cddf22fcb..81904d37a5 100644
--- a/SofaImGui/src/SofaImGui/windows/ViewportWindow.h
+++ b/SofaImGui/src/SofaImGui/windows/ViewportWindow.h
@@ -39,7 +39,7 @@ class SOFAIMGUI_API ViewportWindow : public BaseWindow
     std::string getDescription() override;
 
     void addCameraButtons(sofaglfw::SofaGLFWBaseGUI *baseGUI, sofa::simulation::Node *groot);
-    bool addAnimateButton(bool *animate, const float& shift_x);
+    bool addAnimateButton(bool *animate, const float &shift_x);
     bool addStepButton();
     bool addDrivingTabCombo(int *mode, const char *listModes[], const int &sizeListModes);
 
@@ -50,7 +50,6 @@ class SOFAIMGUI_API ViewportWindow : public BaseWindow
 
    protected:
 
-    menus::ViewMenu m_viewmenu = menus::ViewMenu(nullptr);
     std::shared_ptr<StateWindow> m_stateWindow;
     float m_fps{0.f};
 
@@ -61,8 +60,9 @@ class SOFAIMGUI_API ViewportWindow : public BaseWindow
 
     void addStateWindow(sofaglfw::SofaGLFWBaseGUI *baseGUI, const ImGuiWindowFlags &windowFlags);
     void addSimulationTimeAndFPS(sofa::simulation::Node *groot);
+    void addRecordingStatus(const ImVec4 &red);
     bool checkCamera(sofa::simulation::Node* groot);
-    void addContextMenu(const ImTextureID& texture);
+    void addContextMenu(sofaglfw::SofaGLFWBaseGUI *baseGUI, const ImTextureID& texture);
 };
 
 }