diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
index d6fa4539d685..8af23081c2c0 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
+++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp
@@ -138,19 +138,19 @@ IncrSAP::IncrSAP()
 
 IncrSAP::~IncrSAP()
 {
-    for(int i = 0 ; i < 3 ; ++i)
-        for(EndPointList::iterator it = _end_points[i].begin() ; it != _end_points[i].end() ; ++it)
+    for(auto& _end_point : _end_points)
+        for(EndPointList::iterator it = _end_point.begin() ; it != _end_point.end() ; ++it)
             delete (*it);
 }
 
 
 
 void IncrSAP::purge(){
-    for(int i = 0 ; i < 3 ; ++i){
-        for(EndPointList::iterator it = _end_points[i].begin() ; it != _end_points[i].end() ; ++it)
+    for(auto& _end_point : _end_points){
+        for(EndPointList::iterator it = _end_point.begin() ; it != _end_point.end() ; ++it)
             delete (*it);
 
-        _end_points[i].clear();
+        _end_point.clear();
     }
 
     _boxes.clear();
@@ -209,8 +209,8 @@ inline void IncrSAP::addCollisionModel(core::CollisionModel *cm)
 
         EndPointID * endPts[6];
         for(Size i = 0 ; i < cube_model->getSize() ; ++i){
-            for(int j = 0 ; j < 6 ; ++j)
-                endPts[j] = new EndPointID;
+            for(auto& endPt : endPts)
+                endPt = new EndPointID;
 
             ISAPBox & new_box = _boxes[old_size + i];
             new_box.cube = Cube(cube_model,i);
@@ -269,9 +269,9 @@ void IncrSAP::updateEndPoints(){
 
 
 void IncrSAP::setEndPointsID(){
-    for(int dim = 0 ; dim < 3 ; ++dim){
+    for(auto& _end_point : _end_points){
         int ID = 0;
-        for(EndPointList::iterator it = _end_points[dim].begin() ; it != _end_points[dim].end() ; ++it){
+        for(EndPointList::iterator it = _end_point.begin() ; it != _end_point.end() ; ++it){
             (**it).ID = ID;
             ++ID;
         }
@@ -282,8 +282,8 @@ void IncrSAP::setEndPointsID(){
 void IncrSAP::reinitDetection(){
     _colliding_elems.clear();
     const CompPEndPoint comp;
-    for(int j = 0 ; j < 3 ; ++j){
-        std::sort(_end_points[j].begin(),_end_points[j].end(),comp);
+    for(auto& _end_point : _end_points){
+        std::sort(_end_point.begin(),_end_point.end(),comp);
     }
     setEndPointsID();
 }
@@ -293,8 +293,8 @@ void IncrSAP::reinitDetection(){
 void IncrSAP::showEndPoints()const{
     for(int j = 0 ; j < 3 ; ++j){
         msg_info() <<"dimension "<<j<<"===========" ;
-        for(EndPointList::const_iterator it = _end_points[j].begin() ; it != _end_points[j].end() ; ++it){
-            const EndPointID & end_pt = (**it);
+        for(const auto it : _end_points[j]){
+            const EndPointID & end_pt = (*it);
             end_pt.show();
         }
     }
@@ -302,8 +302,7 @@ void IncrSAP::showEndPoints()const{
 
 
 void IncrSAP::showBoxes()const{
-    for(size_t i = 0 ; i < _boxes.size() ; ++i){
-        const ISAPBox & box = _boxes[i];
+    for(const auto & box : _boxes){
         std::stringstream tmp;
 
         tmp <<"collision model "<<box.cube.getCollisionModel()->getLast()<<" index "<<box.cube.getExternalChildren().first.getIndex()<<msgendl ;
@@ -388,9 +387,9 @@ void IncrSAP::boxPrune(){
         else{ // we encounter a min possible intersection between it and active_boxes
             int new_box = (**it).boxID();
 
-            for(unsigned int i = 0 ; i < active_boxes.size() ; ++i){
+            for(const int active_box : active_boxes){
 
-                addIfCollide(new_box,active_boxes[i],axis1,axis2);
+                addIfCollide(new_box,active_box,axis1,axis2);
             }
             active_boxes.push_back(new_box);
         }
@@ -496,15 +495,15 @@ bool IncrSAP::assertion_inferior(EndPointList::iterator begin_it,const EndPointL
 bool IncrSAP::assertion_end_points_sorted() const{
     const CompPEndPoint inferior;
     int n = 0;
-    for(int dim = 0 ; dim < 3 ; ++dim){
+    for(const auto& _end_point : _end_points){
         [[maybe_unused]] int ID = 0;
         EndPointList::const_iterator next_it2;
-        for(EndPointList::const_iterator it2 = _end_points[dim].begin() ; it2 != _end_points[dim].end() ; ++it2){
+        for(EndPointList::const_iterator it2 = _end_point.begin() ; it2 != _end_point.end() ; ++it2){
             assert((**it2).ID == ID);
 
             next_it2 = it2;
             ++next_it2;
-            if(next_it2 != _end_points[dim].end()){
+            if(next_it2 != _end_point.end()){
                 assert((**next_it2).ID == ID + 1);
 
                 if(!inferior(*it2,*next_it2)){
@@ -620,8 +619,7 @@ void IncrSAP::updateMovingBoxes(){
     EndPointID updated_min;
     EndPointID updated_max;
 
-    for(unsigned int i = 0 ; i < _boxes.size() ; ++i){
-        ISAPBox & cur_box = _boxes[i];
+    for(auto& cur_box : _boxes){
         for(int dim = 0 ; dim < 3 ; ++dim){
             min_updated = false;
             max_updated = false;
diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
index 582162efb278..cfa95a913ef1 100644
--- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
+++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
@@ -1205,9 +1205,8 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
     const auto& edgesAroundVertex = topology->getEdgesAroundVertex(p.getIndex());
     Vec3 nMean;
 
-    for (unsigned int i=0; i<trianglesAroundVertex.size(); i++)
+    for (unsigned int t : trianglesAroundVertex)
     {
-        const unsigned int t = trianglesAroundVertex[i];
         const auto& ptr = topology->getTriangle(t);
         Vec3 nCur = (x[ptr[1]]-x[ptr[0]]).cross(x[ptr[2]]-x[ptr[0]]);
         nCur.normalize();
@@ -1216,9 +1215,8 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
 
     if (trianglesAroundVertex.empty())
     {
-        for (unsigned int i=0; i<edgesAroundVertex.size(); i++)
+        for (unsigned int e : edgesAroundVertex)
         {
-            const unsigned int e = edgesAroundVertex[i];
             const auto& ped = topology->getEdge(e);
             Vec3 l = (pt - x[ped[0]]) + (pt - x[ped[1]]);
             l.normalize();
@@ -1240,9 +1238,8 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
         }
     }
 
-    for (unsigned int i=0; i<edgesAroundVertex.size(); i++)
+    for (unsigned int e : edgesAroundVertex)
     {
-        const unsigned int e = edgesAroundVertex[i];
         const auto& ped = topology->getEdge(e);
         Vec3 l = (pt - x[ped[0]]) + (pt - x[ped[1]]);
         l.normalize();
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
index bdbbdeeb612f..8ea907fdd5c5 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModelInRegularGrid.cpp
@@ -74,12 +74,12 @@ void TriangleModelInRegularGrid::init()
     while ( found )
     {
         found = false;
-        for ( vector<TopologicalMapping*>::iterator it = topoVec.begin(); it != topoVec.end(); ++it )
+        for (const auto& v : topoVec)
         {
-            if ( ( *it )->getTo() == _higher_topo )
+            if ( v->getTo() == _higher_topo )
             {
                 found = true;
-                _topoMapping = *it;
+                _topoMapping = v;
                 _higher_topo = _topoMapping->getFrom();
                 if ( !_higher_topo ) break;
                 const sofa::simulation::Node* node = static_cast< sofa::simulation::Node* > ( _higher_topo->getContext() );
diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp
index 60da4e262b75..bedad7b2cbf2 100644
--- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp
+++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp
@@ -104,14 +104,14 @@ void TriangleOctreeModel::computeBoundingTree(int maxDepth)
         t.n() = cross(*pt[1]-*pt[0],*pt[2]-*pt[0]);
         t.n().normalize();
 
-        for (int p=0; p<3; p++)
+        for (auto& p : pt)
         {
 
 
             for(int c=0; c<3; c++)
             {
-                if ((*pt[p])[c] > maxElem[c]) maxElem[c] = (*pt[p])[c];
-                if ((*pt[p])[c] < minElem[c]) minElem[c] = (*pt[p])[c];
+                if ((*p)[c] > maxElem[c]) maxElem[c] = (*p)[c];
+                if ((*p)[c] < minElem[c]) minElem[c] = (*p)[c];
 
             }
         }
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
index 6384fd8e0fa3..c31ea4aef72a 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
@@ -144,16 +144,15 @@ void CollisionResponse::createNewContacts(const core::collision::ContactManager:
 {
     std::stringstream errorStream;
 
-    for (DetectionOutputMap::const_iterator outputsIt = outputsMap.begin(),
-        outputsItEnd = outputsMap.end(); outputsIt != outputsItEnd ; ++outputsIt)
+    for (const auto& [models, output] : outputsMap)
     {
-        const auto contactInsert = contactMap.insert(ContactMap::value_type(outputsIt->first, core::collision::Contact::SPtr()));
+        const auto contactInsert = contactMap.insert(ContactMap::value_type(models, core::collision::Contact::SPtr()));
         const ContactMap::iterator contactIt = contactInsert.first;
         if (contactInsert.second) //insertion success
         {
             // new contact
-            core::CollisionModel* model1 = outputsIt->first.first;
-            core::CollisionModel* model2 = outputsIt->first.second;
+            core::CollisionModel* model1 = models.first;
+            core::CollisionModel* model2 = models.second;
 
             dmsg_error_when(model1 == nullptr || model2 == nullptr) << "Contact found with an invalid collision model";
 
@@ -182,7 +181,7 @@ void CollisionResponse::createNewContacts(const core::collision::ContactManager:
                     setContactTags(model1, model2, contact);
                     contact->f_printLog.setValue(notMuted());
                     contact->init();
-                    contact->setDetectionOutputs(outputsIt->second);
+                    contact->setDetectionOutputs(output);
                     ++nbContact;
                 }
             }
@@ -190,7 +189,7 @@ void CollisionResponse::createNewContacts(const core::collision::ContactManager:
         else
         {
             // pre-existing and still active contact
-            contactIt->second->setDetectionOutputs(outputsIt->second);
+            contactIt->second->setDetectionOutputs(output);
             ++nbContact;
         }
     }
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp
index 02704f64c0b6..bad0827f8b68 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp
@@ -43,11 +43,9 @@ RuleBasedContactManager::RuleBasedContactManager()
 
 RuleBasedContactManager::~RuleBasedContactManager()
 {
-    for(std::map<std::string,Data<std::string>*>::iterator it = variablesData.begin(),
-        itend = variablesData.end(); it != itend; ++it)
+    for(const auto& d : variablesData)
     {
-        //this->removeData(it->second);
-        delete it->second;
+        delete d.second;
     }
 }
 
@@ -125,11 +123,11 @@ std::string RuleBasedContactManager::getContactResponse(core::CollisionModel* mo
     if (!response1.empty()) return response1;
     else if (!response2.empty()) return response2;
 
-    const type::vector<Rule>& r = rules.getValue();
-    for (type::vector<Rule>::const_iterator it = r.begin(), itend = r.end(); it != itend; ++it)
+    const type::vector<Rule>& rulesValue = rules.getValue();
+    for (const auto& rule : rulesValue)
     {
-        if (it->match(model1, model2) || it->match(model2, model1))
-            return replaceVariables(it->response); // rule it matched
+        if (rule.match(model1, model2) || rule.match(model2, model1))
+            return replaceVariables(rule.response); // rule it matched
     }
     // no rule matched
     return replaceVariables(CollisionResponse::getContactResponse(model1, model2));
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
index f2317f710a71..842cb08c3dcd 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
@@ -339,9 +339,8 @@ void LCPConstraintSolver::build_Coarse_Compliance(std::vector<int> &constraint_m
     dmsg_error_when(sizeCoarseSystem==0) <<"no constraint" ;
 
     _Wcoarse.resize(sizeCoarseSystem,sizeCoarseSystem);
-    for (unsigned int i=0; i<l_constraintCorrections.size(); i++)
+    for (const auto& cc : l_constraintCorrections)
     {
-        core::behavior::BaseConstraintCorrection* cc = l_constraintCorrections[i];
         cc->getComplianceWithConstraintMerge(&_Wcoarse, constraint_merge);
     }
 }
@@ -752,9 +751,8 @@ int LCPConstraintSolver::nlcp_gaussseidel_unbuilt(SReal *dfree, SReal *f, std::v
     }
 
 
-    for (unsigned int i=0; i<l_constraintCorrections.size(); i++)
+    for (const auto& cc : l_constraintCorrections)
     {
-        core::behavior::BaseConstraintCorrection* cc = l_constraintCorrections[i];
         cc->resetForUnbuiltResolution(f, contact_sequence);
     }
 
@@ -1009,9 +1007,8 @@ int LCPConstraintSolver::lcp_gaussseidel_unbuilt(SReal *dfree, SReal *f, std::ve
     }
 
 
-    for (unsigned int i=0; i<l_constraintCorrections.size(); i++)
+    for (const auto& cc : l_constraintCorrections)
     {
-        core::behavior::BaseConstraintCorrection* cc = l_constraintCorrections[i];
         cc->resetForUnbuiltResolution(f, contact_sequence);
     }
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
index c622b3d4724a..f52609b7bbdf 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
@@ -77,20 +77,24 @@ void FixedProjectiveConstraint<Rigid3Types>::draw(const core::visual::VisualPara
 
     if (d_fixAll.getValue())
     {
-        for (unsigned i = 0; i < x.size(); i++)
-            points.push_back(x[i].getCenter());
+        for (const auto& xi : x)
+            points.push_back(xi.getCenter());
     }
     else
     {
         if( x.size() < indices.size() )
         {
             for (unsigned i=0; i<x.size(); i++ )
+            {
                 points.push_back(x[indices[i]].getCenter());
+            }
         }
         else
         {
-            for (SetIndex::const_iterator it = indices.begin(); it != indices.end(); ++it)
-                points.push_back(x[*it].getCenter());
+            for (const unsigned int index : indices)
+            {
+                points.push_back(x[index].getCenter());
+            }
         }
     }
 
@@ -121,13 +125,13 @@ void FixedProjectiveConstraint<Rigid2Types>::draw(const core::visual::VisualPara
 
     if(d_fixAll.getValue())
     {
-        for (unsigned i=0; i<x.size(); i++ )
-            vertices.emplace_back(x[i].getCenter()[0], x[i].getCenter()[1], 0.0);
+        for (const auto& xi : x)
+            vertices.emplace_back(xi.getCenter()[0], xi.getCenter()[1], 0.0);
     }
     else
     {
-        for (SetIndex::const_iterator it = indices.begin(); it != indices.end(); ++it)
-            vertices.emplace_back(x[*it].getCenter()[0], x[*it].getCenter()[1], 0.0);
+        for (const unsigned int index : indices)
+            vertices.emplace_back(x[index].getCenter()[0], x[index].getCenter()[1], 0.0);
     }
 
     vparams->drawTool()->drawPoints(vertices, 10, color);
diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp
index 42be64c93891..4afa0f905d4c 100644
--- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp
+++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.cpp
@@ -92,10 +92,10 @@ void MeshTetraStuffing::doUpdate()
     {
         // triangulate quads
         inT.reserve(inQ.size()*2);
-        for (unsigned int i=0; i < inQ.size(); ++i)
+        for (const auto& quad : inQ)
         {
-            inT.push_back(Triangle(inQ[i][0], inQ[i][1], inQ[i][2]));
-            inT.push_back(Triangle(inQ[i][0], inQ[i][2], inQ[i][3]));
+            inT.push_back(Triangle(quad[0], quad[1], quad[2]));
+            inT.push_back(Triangle(quad[0], quad[2], quad[3]));
         }
     }
     SeqPoints inTN;
@@ -335,15 +335,14 @@ void MeshTetraStuffing::doUpdate()
         do
         {
             nwraps = 0;
-            for (std::set<int>::const_iterator it = violatedOutsidePoints.begin(), itend = violatedOutsidePoints.end(); it != itend; ++it)
+            for (const int violatedOutsidePoint : violatedOutsidePoints)
             {
-                int p = *it;
-                if (pInside[p] == 0) continue; // point already wrapped
+                if (pInside[violatedOutsidePoint] == 0) continue; // point already wrapped
                 Real minDist = 0;
                 int minEdge = -1;
                 for (int e=0; e<EDGESHELL; ++e)
                 {
-                    int p2 = getEdgePoint2(p,e);
+                    int p2 = getEdgePoint2(violatedOutsidePoint,e);
                     if (p2 == -1) continue;
                     bool in2 = (pInside[p2] > 0);
                     if (in2 || pViolated[p2]) continue; // only move towards unviolated points
@@ -352,8 +351,8 @@ void MeshTetraStuffing::doUpdate()
                         alpha = alphaLong;
                     else
                         alpha = alphaShort;
-                    if (eBDist[p][e] == 0.0 || eBDist[p][e] >= alpha) continue; // this edge is not violated
-                    Real dist = eBDist[p][e] * eBDist[p][e] * getEdgeSize2(e);
+                    if (eBDist[violatedOutsidePoint][e] == 0.0 || eBDist[violatedOutsidePoint][e] >= alpha) continue; // this edge is not violated
+                    Real dist = eBDist[violatedOutsidePoint][e] * eBDist[violatedOutsidePoint][e] * getEdgeSize2(e);
                     if (minEdge == -1 || dist < minDist)
                     {
                         minEdge = e;
@@ -362,18 +361,18 @@ void MeshTetraStuffing::doUpdate()
                 }
                 if (minEdge == -1) continue; // no violated edge toward an unviolated point
                 int e = minEdge;
-                int p2 = getEdgePoint2(p,e);
+                int p2 = getEdgePoint2(violatedOutsidePoint,e);
                 // Wrap p toward p2
-                msg_info() << "Wrapping outside point " << p << " toward " << p2 << " by " << eBDist[p][e];
-                outP[p] += (outP[p2]-outP[p]) * (eBDist[p][e]);
-                snaps.push_back(outP[p]);
+                msg_info() << "Wrapping outside point " << violatedOutsidePoint << " toward " << p2 << " by " << eBDist[violatedOutsidePoint][e];
+                outP[violatedOutsidePoint] += (outP[p2]-outP[violatedOutsidePoint]) * (eBDist[violatedOutsidePoint][e]);
+                snaps.push_back(outP[violatedOutsidePoint]);
                 ++nwraps;
-                pInside[p] = 0; // p is now on the surface
-                pViolated[p] = false; // and now longer violated
+                pInside[violatedOutsidePoint] = 0; // p is now on the surface
+                pViolated[violatedOutsidePoint] = false; // and now longer violated
                 for (int e=0; e<EDGESHELL; ++e)
                 {
-                    eBDist[p][e] = 0; // remove all cut points from p
-                    int p2 = getEdgePoint2(p,e);
+                    eBDist[violatedOutsidePoint][e] = 0; // remove all cut points from p
+                    int p2 = getEdgePoint2(violatedOutsidePoint,e);
                     if (p2 == -1) continue;
                     eBDist[p2][e^1] = 0; // remove all cut points toward p
                     if (pViolated[p2] && pInside[p2] > 0)
@@ -405,19 +404,18 @@ void MeshTetraStuffing::doUpdate()
         }
         while (nwraps > 0);
         // then order remaining violated inside points
-        for (std::set<int>::const_iterator it = violatedInsidePoints.begin(), itend = violatedInsidePoints.end(); it != itend; ++it)
+        for (const int violatedOutsidePoint : violatedInsidePoints)
         {
-            int p = *it;
-            if (pInside[p] == 0)
+            if (pInside[violatedOutsidePoint] == 0)
             {
-                msg_error() << "Inside point " << p << " already wrapped.";
+                msg_error() << "Inside point " << violatedOutsidePoint << " already wrapped.";
                 continue;
             }
             Real minDist = 0;
             int minEdge = -1;
             for (int e=0; e<EDGESHELL; ++e)
             {
-                int p2 = getEdgePoint2(p,e);
+                int p2 = getEdgePoint2(violatedOutsidePoint,e);
                 if (p2 == -1) continue;
                 if (pInside[p2] >= 0) continue; // only move towards outside points
                 Real alpha;
@@ -425,8 +423,8 @@ void MeshTetraStuffing::doUpdate()
                     alpha = alphaLong;
                 else
                     alpha = alphaShort;
-                if (eBDist[p][e] == 0.0 || eBDist[p][e] >= alpha) continue; // this edges is not violated
-                Real dist = eBDist[p][e] * eBDist[p][e] * getEdgeSize2(e);
+                if (eBDist[violatedOutsidePoint][e] == 0.0 || eBDist[violatedOutsidePoint][e] >= alpha) continue; // this edges is not violated
+                Real dist = eBDist[violatedOutsidePoint][e] * eBDist[violatedOutsidePoint][e] * getEdgeSize2(e);
                 if (minEdge == -1 || dist < minDist)
                 {
                     minEdge = e;
@@ -435,21 +433,21 @@ void MeshTetraStuffing::doUpdate()
             }
             if (minEdge == -1) // no violated edge
             {
-                msg_error() << "Inside point " << p << " has no violated edges.";
+                msg_error() << "Inside point " << violatedOutsidePoint << " has no violated edges.";
                 continue;
             }
             int e = minEdge;
-            int p2 = getEdgePoint2(p,e);
+            int p2 = getEdgePoint2(violatedOutsidePoint,e);
             // Wrap p toward p2
-            msg_info() << "Wrapping inside point " << p << " toward " << p2 << " by " << eBDist[p][e];
-            outP[p] += (outP[p2]-outP[p]) * (eBDist[p][e]);
-            snaps.push_back(outP[p]);
-            pInside[p] = 0; // p is now on the surface
-            pViolated[p] = false; // and now longer violated
+            msg_info() << "Wrapping inside point " << violatedOutsidePoint << " toward " << p2 << " by " << eBDist[violatedOutsidePoint][e];
+            outP[violatedOutsidePoint] += (outP[p2]-outP[violatedOutsidePoint]) * (eBDist[violatedOutsidePoint][e]);
+            snaps.push_back(outP[violatedOutsidePoint]);
+            pInside[violatedOutsidePoint] = 0; // p is now on the surface
+            pViolated[violatedOutsidePoint] = false; // and now longer violated
             for (int e=0; e<EDGESHELL; ++e)
             {
-                eBDist[p][e] = 0; // remove all cut points from p
-                int p2 = getEdgePoint2(p,e);
+                eBDist[violatedOutsidePoint][e] = 0; // remove all cut points from p
+                int p2 = getEdgePoint2(violatedOutsidePoint,e);
                 if (p2 == -1) continue;
                 eBDist[p2][e^1] = 0; // remove all cut points toward p
             }
@@ -525,9 +523,9 @@ void MeshTetraStuffing::doUpdate()
     // compress output points to remove unused ones
     vector<int> newPid;
     newPid.resize(outP.size());
-    for (unsigned int t=0; t<outT.size(); ++t)
+    for (const auto& t : outT)
         for (int i=0; i<4; ++i)
-            newPid[outT[t][i]] = 1;
+            newPid[t[i]] = 1;
     nbp = 0;
     for (unsigned int p=0; p<newPid.size(); ++p)
     {
@@ -549,9 +547,9 @@ void MeshTetraStuffing::doUpdate()
     pInside.resize(nbp);
     eBDist.clear();
 
-    for (unsigned int t=0; t<outT.size(); ++t)
+    for (auto& t : outT)
         for (int i=0; i<4; ++i)
-            outT[t][i] = newPid[outT[t][i]];
+            t[i] = newPid[t[i]];
 
     std::set<Triangle> triSet;
 
diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp
index 7efcaf68acf2..f44b1ecea319 100644
--- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp
+++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp
@@ -60,26 +60,26 @@ void MeshBoundaryROI::doUpdate()
     indices.clear();
 
     std::map<PointPair, unsigned int> edgeCount;
-    for(size_t i=0;i<triangles.size();i++)
+    for(const auto& triangle : triangles)
     {
-        if(inROI(triangles[i][0]) && inROI(triangles[i][1]) && inROI(triangles[i][2]))
+        if(inROI(triangle[0]) && inROI(triangle[1]) && inROI(triangle[2]))
         {
             for(unsigned int j=0;j<3;j++)
             {
-                PointPair edge(triangles[i][j],triangles[i][(j==2)?0:j+1]);
+                PointPair edge(triangle[j],triangle[(j==2)?0:j+1]);
                 // increment the number of elements (triangles) associated to the edge.
                 this->countEdge(edgeCount,edge);
             }
         }
     }
     
-    for(size_t i=0;i<quads.size();i++)
+    for(const auto& quad : quads)
     {
-        if(inROI(quads[i][0]) && inROI(quads[i][1]) && inROI(quads[i][2]) && inROI(quads[i][3]))
+        if(inROI(quad[0]) && inROI(quad[1]) && inROI(quad[2]) && inROI(quad[3]))
         {
             for(unsigned int j=0;j<4;j++)
             {
-                PointPair edge(quads[i][j],quads[i][(j==3)?0:j+1]);
+                PointPair edge(quad[j],quad[(j==3)?0:j+1]);
                 // increment the number of elements (quad) associated to the edge.
                 this->countEdge(edgeCount,edge);
             }
@@ -87,13 +87,13 @@ void MeshBoundaryROI::doUpdate()
     }
 
     std::set<PointID> indexset; // enforce uniqueness since SetIndex is not a set..
-    for(auto it=edgeCount.begin();it!=edgeCount.end();++it)
+    for(const auto & [pointPair, count] : edgeCount)
     {
         // consider edge only if it is on the boundary
-        if(it->second==1)
+        if (count == 1)
         {
-            indexset.insert(it->first.first);
-            indexset.insert(it->first.second);
+            indexset.insert(pointPair.first);
+            indexset.insert(pointPair.second);
         }
     }
     indices.wref().insert(indices.end(), indexset.begin(), indexset.end());
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.cpp
index 14700c8f86f2..bb08ba1712fd 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.cpp
@@ -145,8 +145,8 @@ bool GridMeshCreator::doLoad()
         }
 
     auto my_edges = getWriteOnlyAccessor(d_edges);
-    for( std::set<Edge>::const_iterator it=uniqueEdges.begin(),itEnd=uniqueEdges.end(); it!=itEnd; ++it )
-        my_edges.push_back( *it );
+    for (const auto& uniqueEdge : uniqueEdges)
+        my_edges.push_back( uniqueEdge );
 
     return true;
 }
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp
index 79bb56941f90..0d922b25e32e 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp
@@ -128,9 +128,9 @@ void MeshGmshLoader::doClearBuffers()
 }
 
 void MeshGmshLoader::addInGroup(type::vector< sofa::core::loader::PrimitiveGroup>& group,int tag,int /*eid*/) {
-    for (unsigned i=0;i<group.size();i++) {
-        if (tag == group[i].p0) {
-            group[i].nbp++;
+    for (auto& group_i : group) {
+        if (tag == group_i.p0) {
+            group_i.nbp++;
             return;
         }
     }
@@ -144,9 +144,9 @@ void MeshGmshLoader::addInGroup(type::vector< sofa::core::loader::PrimitiveGroup
 
 void MeshGmshLoader::normalizeGroup(type::vector< sofa::core::loader::PrimitiveGroup>& group) {
     int start = 0;
-    for (unsigned i=0;i<group.size();i++) {
-        group[i].p0 = start;
-        start += group[i].nbp;
+    for (auto& group_i : group) {
+        group_i.p0 = start;
+        start += group_i.nbp;
     }
 }
 
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOBJLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOBJLoader.cpp
index ec2dcce51c24..b94374ae9159 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOBJLoader.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOBJLoader.cpp
@@ -418,9 +418,9 @@ bool MeshOBJLoader::readOBJ (std::ifstream &file, const char* filename)
                     vNormals[pi] += my_normals[ni];
             }
         }
-        for (size_t i=0; i<vNormals.size(); ++i)
+        for (auto& vNormal : vNormals)
         {
-            vNormals[i].normalize();
+            vNormal.normalize();
         }
     }
     else
@@ -554,9 +554,9 @@ bool MeshOBJLoader::readOBJ (std::ifstream &file, const char* filename)
                     addTriangle(my_triangles.wref(), Triangle(nodes[0], nodes[j-1], nodes[j]));
             }
         }
-        for (size_t i=0; i<vnormals.size(); ++i)
+        for (auto& vnormal : vnormals)
         {
-            vnormals[i].normalize();
+            vnormal.normalize();
         }
     }
 
@@ -575,7 +575,7 @@ bool MeshOBJLoader::readOBJ (std::ifstream &file, const char* filename)
                     out.push_back(f);
             }
         }
-        for (int ft = 0; ft < NBFACETYPE; ++ft)
+        for (const auto& materialFace : materialFaces)
         {
             std::string fname;
             switch (faceType)
@@ -585,10 +585,8 @@ bool MeshOBJLoader::readOBJ (std::ifstream &file, const char* filename)
             case MeshOBJLoader::QUAD:     fname = "quad"; break;
             default: break;
             }
-            for (std::map< std::string, type::vector<unsigned int> >::const_iterator it = materialFaces[ft].begin(), itend = materialFaces[ft].end(); it != itend; ++it)
+            for (const auto& [materialName, faces] : materialFace)
             {
-                std::string materialName = it->first;
-                const type::vector<unsigned>& faces = it->second;
                 if (faces.empty()) continue;
                 std::ostringstream oname;
                 oname << "material_" << materialName << "_" << fname << "Indices";
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp
index 7a79d41ed965..c5324ce59b0a 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp
@@ -532,21 +532,21 @@ bool MeshVTKLoader::setInputsMesh()
 bool MeshVTKLoader::setInputsData()
 {
     ///Point Data
-    for (size_t i = 0 ; i < reader->inputPointDataVector.size() ; i++)
+    for (const auto& inputPointData : reader->inputPointDataVector)
     {
-        const char* dataname = reader->inputPointDataVector[i]->name.c_str();
+        const char* dataname = inputPointData->name.c_str();
 
-        BaseData* basedata = reader->inputPointDataVector[i]->createSofaData();
+        BaseData* basedata = inputPointData->createSofaData();
         this->addData(basedata, dataname);
         addOutputsToCallback("filename", {basedata});
 
     }
 
     ///Cell Data
-    for (size_t i = 0 ; i < reader->inputCellDataVector.size() ; i++)
+    for (const auto& inputCellData : reader->inputCellDataVector)
     {
-        const char* dataname = reader->inputCellDataVector[i]->name.c_str();
-        BaseData* basedata = reader->inputCellDataVector[i]->createSofaData();
+        const char* dataname = inputCellData->name.c_str();
+        BaseData* basedata = inputCellData->createSofaData();
         this->addData(basedata, dataname);
         addOutputsToCallback("filename", {basedata});
     }
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp
index ec119db8075c..6d40a8d70227 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp
@@ -137,24 +137,24 @@ bool STLExporter::writeSTL(bool autonumbering)
     }
     if(!triangleIndices.empty())
     {
-        for(unsigned int i=0;i<triangleIndices.size();i++)
+        for(const auto& triangleIndex : triangleIndices)
         {
-            vecTri.push_back(triangleIndices[i]);
+            vecTri.push_back(triangleIndex);
         }
     }
     else if(!quadIndices.empty())
     {
         BaseMeshTopology::Triangle tri;
-        for(unsigned int i=0;i<quadIndices.size();i++)
+        for(const auto& quadIndex : quadIndices)
         {
             for(int j=0;j<3;j++)
             {
-                tri[j] = quadIndices[i][j];
+                tri[j] = quadIndex[j];
             }
             vecTri.push_back(tri);
-            tri[0] = quadIndices[i][0];
-            tri[1] = quadIndices[i][2];
-            tri[2] = quadIndices[i][3];
+            tri[0] = quadIndex[0];
+            tri[1] = quadIndex[2];
+            tri[2] = quadIndex[3];
             vecTri.push_back(tri);
         }
     }
@@ -226,24 +226,24 @@ bool STLExporter::writeSTLBinary(bool autonumbering)
     }
     if(!triangleIndices.empty())
     {
-        for(unsigned int i=0;i<triangleIndices.size();i++)
+        for(const auto& triangleIndex : triangleIndices)
         {
-            vecTri.push_back(triangleIndices[i]);
+            vecTri.push_back(triangleIndex);
         }
     }
     else if(!quadIndices.empty())
     {
         BaseMeshTopology::Triangle tri;
-        for(unsigned int i=0;i<quadIndices.size();i++)
+        for(const auto& quadIndex : quadIndices)
         {
             for(int j=0;j<3;j++)
             {
-                tri[j] = quadIndices[i][j];
+                tri[j] = quadIndex[j];
             }
             vecTri.push_back(tri);
-            tri[0] = quadIndices[i][0];
-            tri[1] = quadIndices[i][2];
-            tri[2] = quadIndices[i][3];
+            tri[0] = quadIndex[0];
+            tri[1] = quadIndex[2];
+            tri[2] = quadIndex[3];
             vecTri.push_back(tri);
         }
     }
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp
index ec24016b7e18..d708a930dd59 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp
@@ -99,9 +99,8 @@ void VTKExporter::init()
 
 void VTKExporter::fetchDataFields(const type::vector<std::string>& strData, type::vector<std::string>& objects, type::vector<std::string>& fields, type::vector<std::string>& names)
 {
-    for (unsigned int i=0 ; i<strData.size() ; i++)
+    for (auto str : strData)
     {
-        std::string str = strData[i];
         std::string name, objectName, dataFieldName;
         std::string::size_type loc = str.find_first_of('=');
         if (loc != std::string::npos)
diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.cpp
index 234089e27e2c..b7a0800a5c20 100644
--- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.cpp
+++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.cpp
@@ -433,9 +433,8 @@ void VoxelGridLoader::createSegmentation3DTexture( unsigned char **textureData,
     const unsigned char *data = getData();
     const type::vector<unsigned int>& _idxInRegularGrid = idxInRegularGrid.getValue();
     // for all "active" data voxels
-    for(unsigned i=0; i<_idxInRegularGrid.size(); ++i)
+    for(const unsigned int idxData : _idxInRegularGrid)
     {
-        const int idxData = _idxInRegularGrid[i];
         const int I = idxData % resol[0];
         const int J = (idxData/resol[0]) % resol[1];
         const int K = idxData / (resol[0] * resol[1]);
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp
index 212bd8a786f6..6204d94946cd 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp
@@ -80,10 +80,8 @@ void BarycentricMapperHexahedronSetTopology<defaulttype::Vec3Types, defaulttype:
             {
                 type::vector<MappingData>& mapData = *(d_map.beginEdit());
 
-                for ( auto iter = m_invalidIndex.cbegin();
-                        iter != m_invalidIndex.cend(); ++iter )
+                for (const int j : m_invalidIndex)
                 {
-                    const int j = *iter;
                     if ( mapData[j].in_index == sofa::InvalidID ) // compute new mapping
                     {
                         sofa::type::Vec3 coefs;
@@ -135,10 +133,9 @@ void BarycentricMapperHexahedronSetTopology<defaulttype::Vec3Types, defaulttype:
             const auto &hexahedra =
                     ( static_cast< const sofa::core::topology::HexahedraRemoved *> ( *changeIt ) )->getArray();
 
-            for ( unsigned int i=0; i<hexahedra.size(); ++i )
+            for (const unsigned int cubeId : hexahedra)
             {
                 // remove all references to the removed cubes from the mapping data
-                const unsigned int cubeId = hexahedra[i];
                 for ( unsigned int j=0; j<d_map.getValue().size(); ++j )
                 {
                     if ( d_map.getValue()[j].in_index == cubeId ) // invalidate mapping
diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp
index d4f4add06126..78700c244502 100644
--- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp
+++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SimpleTesselatedTetraTopologicalMapping.cpp
@@ -262,9 +262,9 @@ void SimpleTesselatedTetraTopologicalMapping::removeOutputPoints( const sofa::ty
 
     int last = (int)pointSourceData.size() -1;
 
-    for (unsigned int i = 0; i < index.size(); ++i)
+    for (const unsigned int index_i : index)
     {
-        swapOutputPoints( index[i], last );
+        swapOutputPoints( index_i, last );
         const int source = pointSourceData[last];
         if (source > 0)
         {
@@ -330,9 +330,9 @@ void SimpleTesselatedTetraTopologicalMapping::removeOutputTetrahedra( const sofa
     type::vector<Index>& tetraSourceData = *(tetraSource.beginEdit());
 
     Index last = tetraSourceData.size() -1;
-    for (unsigned int i = 0; i < index.size(); ++i)
+    for (const unsigned int index_i : index)
     {
-        swapOutputTetrahedra( index[i], last );
+        swapOutputTetrahedra( index_i, last );
         Index source = tetraSourceData[last];
         if (source != sofa::InvalidID)
         {
@@ -467,9 +467,9 @@ void SimpleTesselatedTetraTopologicalMapping::removeInputPoints( const sofa::typ
 
     Index last = pointMappedFromPointData.size() -1;
 
-    for (unsigned int i = 0; i < index.size(); ++i)
+    for (const unsigned int index_i : index)
     {
-        swapInputPoints( index[i], last );
+        swapInputPoints( index_i, last );
         const Index map = pointMappedFromPointData[last];
         if (map != sofa::InvalidID)
             pointSourceData[map] = 0;
@@ -516,9 +516,9 @@ void SimpleTesselatedTetraTopologicalMapping::removeInputEdges( const sofa::type
 
     Index last = pointMappedFromEdgeData.size() -1;
 
-    for (unsigned int i = 0; i < index.size(); ++i)
+    for (const unsigned int index_i : index)
     {
-        swapInputEdges( index[i], last );
+        swapInputEdges( index_i, last );
         const Index map = pointMappedFromEdgeData[last];
         if (map != sofa::InvalidID)
             pointSourceData[map] = 0;
@@ -556,9 +556,9 @@ void SimpleTesselatedTetraTopologicalMapping::removeInputTetrahedra( const sofa:
 
     Index last = (int)tetrahedraMappedFromTetraData.size() -1;
 
-    for (unsigned int i = 0; i < index.size(); ++i)
+    for (const unsigned int index_i : index)
     {
-        swapInputTetrahedra( index[i], last );
+        swapInputTetrahedra( index_i, last );
         const fixed_array<Index, 8>& map = tetrahedraMappedFromTetraData[last];
         for (int j=0; j<8; ++j)
             if (map[j] != sofa::InvalidID)
diff --git a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
index 4d652ee10aa8..d4cc864b3d11 100644
--- a/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
+++ b/Sofa/Component/Mass/src/sofa/component/mass/UniformMass.cpp
@@ -215,10 +215,10 @@ void UniformMass<RigidTypes>::drawRigid2DImpl(const VisualParams* vparams)
     len[0] = len[1] = sqrt(d_vertexMass.getValue().inertiaMatrix);
     len[2] = 0;
 
-    for (unsigned int i=0; i<indices.size(); i++)
+    for (const unsigned int index : indices)
     {
-        Quatd orient(Vec3d(0,0,1), x[indices[i]].getOrientation());
-        Vec3d center; center = x[indices[i]].getCenter();
+        Quatd orient(Vec3d(0,0,1), x[index].getOrientation());
+        Vec3d center; center = x[index].getCenter();
 
         vparams->drawTool()->drawFrame(center, orient, len*d_showAxisSize.getValue() );
     }
@@ -250,21 +250,21 @@ void UniformMass<RigidTypes>::drawRigid3DImpl(const VisualParams* vparams)
     len[1] = sqrt(m00+m22-m11);
     len[2] = sqrt(m00+m11-m22);
 
-    for (unsigned int i=0; i<indices.size(); i++)
+    for (const unsigned int index : indices)
     {
         if (getContext()->isSleeping())
-            vparams->drawTool()->drawFrame(x[indices[i]].getCenter(), x[indices[i]].getOrientation(), len*d_showAxisSize.getValue(), sofa::type::RGBAColor::gray());
+            vparams->drawTool()->drawFrame(x[index].getCenter(), x[index].getOrientation(), len*d_showAxisSize.getValue(), sofa::type::RGBAColor::gray());
         else
-            vparams->drawTool()->drawFrame(x[indices[i]].getCenter(), x[indices[i]].getOrientation(), len*d_showAxisSize.getValue() );
-        gravityCenter += (x[indices[i]].getCenter());
+            vparams->drawTool()->drawFrame(x[index].getCenter(), x[index].getOrientation(), len*d_showAxisSize.getValue() );
+        gravityCenter += (x[index].getCenter());
     }
 
     if (d_showInitialCenterOfGravity.getValue())
     {
         const VecCoord& x0 = mstate->read(core::ConstVecCoordId::restPosition())->getValue();
 
-        for (unsigned int i=0; i<indices.size(); i++)
-            vparams->drawTool()->drawFrame(x0[indices[i]].getCenter(), x0[indices[i]].getOrientation(), len*d_showAxisSize.getValue());
+        for (const unsigned int index : indices)
+            vparams->drawTool()->drawFrame(x0[index].getCenter(), x0[index].getOrientation(), len*d_showAxisSize.getValue());
     }
 
     if(d_showCenterOfGravity.getValue())
@@ -336,12 +336,12 @@ Vec6 UniformMass<RigidTypes>::getMomentumRigid3DImpl( const MechanicalParams*,
 
     type::Vec6d momentum;
 
-    for ( unsigned int i=0 ; i<indices.size() ; i++ )
+    for (const unsigned int index : indices)
     {
-        typename RigidTypes::Vec3 linearMomentum = m*v[indices[i]].getLinear();
+        typename RigidTypes::Vec3 linearMomentum = m*v[index].getLinear();
         for( int j=0 ; j< 3 ; ++j ) momentum[j] += linearMomentum[j];
 
-        typename RigidTypes::Vec3 angularMomentum = cross( x[indices[i]].getCenter(), linearMomentum ) + ( I * v[indices[i]].getAngular() );
+        typename RigidTypes::Vec3 angularMomentum = cross( x[index].getCenter(), linearMomentum ) + ( I * v[index].getAngular() );
         for( int j=0 ; j< 3 ; ++j ) momentum[3+j] += angularMomentum[j];
     }
 
@@ -361,12 +361,12 @@ Vec6 UniformMass<Vec3Types>::getMomentumVec3DImpl ( const MechanicalParams*,
     const MassType& m = d_vertexMass.getValue();
     type::Vec6d momentum;
 
-    for ( unsigned int i=0 ; i<indices.size() ; i++ )
+    for (const unsigned int index : indices)
     {
-        Deriv linearMomentum = m*v[indices[i]];
+        Deriv linearMomentum = m*v[index];
         for( int j=0 ; j<3 ; ++j ) momentum[j] += linearMomentum[j];
 
-        Deriv angularMomentum = cross( x[indices[i]], linearMomentum );
+        Deriv angularMomentum = cross( x[index], linearMomentum );
         for( int j=0 ; j<3 ; ++j ) momentum[3+j] += angularMomentum[j];
     }
 
@@ -384,8 +384,10 @@ SReal UniformMass<VecTypes>::getPotentialEnergyRigidImpl(const core::MechanicalP
     const ReadAccessor<Data<SetIndexArray > > indices = d_indices;
 
     typename Coord::Pos g ( getContext()->getGravity() );
-    for (unsigned int i=0; i<indices.size(); i++)
-        e -= g*d_vertexMass.getValue().mass*x[indices[i]].getCenter();
+    for (const unsigned int index : indices)
+    {
+        e -= g * d_vertexMass.getValue().mass * x[index].getCenter();
+    }
 
     return e;
 }
@@ -404,14 +406,16 @@ void UniformMass<VecTypes>::addMDxToVectorVecImpl(linearalgebra::BaseVector *res
 
     const SReal* g = getContext()->getGravity().ptr();
 
-    for (unsigned int i=0; i<indices.size(); i++)
-        for (unsigned int j=0; j<derivDim; j++)
+    for (const unsigned int index : indices)
+    {
+        for (unsigned int j = 0; j < derivDim; j++)
         {
             if (dx != nullptr)
-                resVect->add(offset + indices[i] * derivDim + j, mFact * m * g[j] * (*dx)[indices[i]][0]);
+                resVect->add(offset + index * derivDim + j, mFact * m * g[j] * (*dx)[index][0]);
             else
-                resVect->add(offset + indices[i] * derivDim + j, mFact * m * g[j]);
+                resVect->add(offset + index * derivDim + j, mFact * m * g[j]);
         }
+    }
 }
 
 
diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp
index f0b2cab56cb3..dedd25d0729b 100644
--- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp
+++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp
@@ -55,8 +55,8 @@ void EulerImplicitSolver::init()
         msg_info() << "EulerImplicitSolver: responsible for the following objects with tags " << this->getTags() << " :";
         type::vector<core::objectmodel::BaseObject*> objs;
         this->getContext()->get<core::objectmodel::BaseObject>(&objs,this->getTags(),sofa::core::objectmodel::BaseContext::SearchDown);
-        for (unsigned int i=0; i<objs.size(); ++i)
-            msg_info() << "  " << objs[i]->getClassName() << ' ' << objs[i]->getName();
+        for (const auto* obj : objs)
+            msg_info() << "  " << obj->getClassName() << ' ' << obj->getName();
     }
     sofa::core::behavior::OdeSolver::init();
 }
diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp
index 3ebae89c8599..9759e95ccd7a 100644
--- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp
+++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.cpp
@@ -59,8 +59,8 @@ void VariationalSymplecticSolver::init()
         type::vector<core::objectmodel::BaseObject*> objs;
         this->getContext()->get<core::objectmodel::BaseObject>(&objs,this->getTags(),sofa::core::objectmodel::BaseContext::SearchDown);
         std::stringstream tmp;
-        for (unsigned int i=0;i<objs.size();++i)
-            tmp << "  " << objs[i]->getClassName() << ' ' << objs[i]->getName() << msgendl;
+        for (const auto* obj : objs)
+            tmp << "  " << obj->getClassName() << ' ' << obj->getName() << msgendl;
 
         msg_info() << "Responsible for the following objects with tags " << this->getTags() << " :" << tmp.str();
     }
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/ReadState.cpp b/Sofa/Component/Playback/src/sofa/component/playback/ReadState.cpp
index a949dcf4bb96..b433e6f6c827 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/ReadState.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/ReadState.cpp
@@ -86,8 +86,10 @@ void ReadStateCreator::addReadState(sofa::core::behavior::BaseMechanicalState *m
         {
             rs = sofa::core::objectmodel::New<ReadState>();
             gnode->addObject(rs);
-            for (core::objectmodel::TagSet::iterator it=this->subsetsToManage.begin(); it != this->subsetsToManage.end(); ++it)
-                rs->addTag(*it);
+            for (const auto& subset : this->subsetsToManage)
+            {
+                rs->addTag(subset);
+            }
         }
 
         std::ostringstream ofilename;
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp
index cf50a2f72d3a..739af276e228 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.cpp
@@ -82,8 +82,10 @@ void ReadTopologyCreator::addReadTopology(core::topology::BaseMeshTopology* topo
         {
             rt = sofa::core::objectmodel::New<ReadTopology>();
             gnode->addObject(rt);
-            for (core::objectmodel::TagSet::iterator it=this->subsetsToManage.begin(); it != this->subsetsToManage.end(); ++it)
-                rt->addTag(*it);
+            for (const auto& subset : this->subsetsToManage)
+            {
+                rt->addTag(subset);
+            }
         }
 
         std::ostringstream ofilename;
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/WriteState.cpp b/Sofa/Component/Playback/src/sofa/component/playback/WriteState.cpp
index 7cfa8f6c7445..06ab7863b864 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/WriteState.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/WriteState.cpp
@@ -96,9 +96,10 @@ void WriteStateCreator::addWriteState(sofa::core::behavior::BaseMechanicalState
             ws->d_writeX.setValue(recordX);
             ws->d_writeV.setValue(recordV);
             ws->d_writeF.setValue(recordF);
-            for (core::objectmodel::TagSet::iterator it=this->subsetsToManage.begin(); it != this->subsetsToManage.end(); ++it)
-                ws->addTag(*it);
-
+            for (const auto& subset : this->subsetsToManage)
+            {
+                ws->addTag(subset);
+            }
         }
         std::ostringstream ofilename;
         ofilename << sceneName << "_" << counterWriteState << "_" << ms->getName()  << "_mstate" << extension ;
diff --git a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp
index 2b94bcbf9308..7bb4d3600966 100644
--- a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp
+++ b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.cpp
@@ -94,8 +94,10 @@ void WriteTopologyCreator::addWriteTopology(core::topology::BaseMeshTopology* to
             gnode->addObject(wt);
             wt->f_writeContainers.setValue(recordContainers);
             wt->f_writeShellContainers.setValue(recordShellContainers);
-            for (core::objectmodel::TagSet::iterator it=this->subsetsToManage.begin(); it != this->subsetsToManage.end(); ++it)
-                wt->addTag(*it);
+            for (const auto& subset : this->subsetsToManage)
+            {
+                wt->addTag(subset);
+            }
         }
 
         std::ostringstream ofilename;
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl
index 29742f59754f..01d44928705b 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl
@@ -466,9 +466,9 @@ void HexahedralFEMForceField<DataTypes>::accumulateForceLarge( WDataRefVecDeriv&
     Displacement D;
     for(int k=0 ; k<8 ; ++k )
     {
-        const int indice = k*3;
+        const int index = k*3;
         for(int j=0 ; j<3 ; ++j )
-            D[indice+j] = hexahedronInf[i].rotatedInitialElements[k][j] - deformed[k][j];
+            D[index+j] = hexahedronInf[i].rotatedInitialElements[k][j] - deformed[k][j];
     }
 
     Displacement F; //forces
@@ -567,9 +567,9 @@ void HexahedralFEMForceField<DataTypes>::accumulateForcePolar(WDataRefVecDeriv&
     Displacement D;
     for(int k=0 ; k<8 ; ++k )
     {
-        const int indice = k*3;
+        const int index = k*3;
         for(int j=0 ; j<3 ; ++j )
-            D[indice+j] = hexahedronInf[i].rotatedInitialElements[k][j] - deformed[k][j];
+            D[index+j] = hexahedronInf[i].rotatedInitialElements[k][j] - deformed[k][j];
     }
 
     //forces
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl
index a07b0a395745..a82e6df7406e 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl
@@ -233,9 +233,9 @@ void HexahedralFEMForceFieldAndMass<DataTypes>::addMDx(const core::MechanicalPar
 
             for(int k=0 ; k<8 ; ++k )
             {
-                const int indice = k*3;
+                const int index = k*3;
                 for(int j=0 ; j<3 ; ++j )
-                    actualDx[indice+j] = _dx[hexahedra[i][k]][j];
+                    actualDx[index+j] = _dx[hexahedra[i][k]][j];
             }
 
             actualF = _elementMasses.getValue()[i] * actualDx;
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
index 0cf9f338b260..989bc6a7876e 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl
@@ -775,9 +775,9 @@ void HexahedronFEMForceField<DataTypes>::accumulateForceSmall ( WDataRefVecDeriv
     Displacement D;
     for(int k=0 ; k<8 ; ++k )
     {
-        const int indice = k*3;
+        const int index = k*3;
         for(int j=0 ; j<3 ; ++j )
-            D[indice+j] = _rotatedInitialElements[i][k][j] - nodes[k][j];
+            D[index+j] = _rotatedInitialElements[i][k][j] - nodes[k][j];
     }
 
     auto& stiffnesses = *sofa::helper::getWriteOnlyAccessor(_elementStiffnesses);
@@ -878,9 +878,9 @@ void HexahedronFEMForceField<DataTypes>::accumulateForceLarge( WDataRefVecDeriv
     Displacement D;
     for(int k=0 ; k<8 ; ++k )
     {
-        const int indice = k*3;
+        const int index = k*3;
         for(int j=0 ; j<3 ; ++j )
-            D[indice+j] = _rotatedInitialElements[i][k][j] - deformed[k][j];
+            D[index+j] = _rotatedInitialElements[i][k][j] - deformed[k][j];
     }
 
     auto& stiffnesses = *sofa::helper::getWriteOnlyAccessor(_elementStiffnesses);
@@ -1073,9 +1073,9 @@ void HexahedronFEMForceField<DataTypes>::accumulateForcePolar( WDataRefVecDeriv
     Displacement D;
     for(int k=0 ; k<8 ; ++k )
     {
-        const int indice = k*3;
+        const int index = k*3;
         for(int j=0 ; j<3 ; ++j )
-            D[indice+j] = _rotatedInitialElements[i][k][j] - deformed[k][j];
+            D[index+j] = _rotatedInitialElements[i][k][j] - deformed[k][j];
     }
 
     //forces
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl
index b2ae4ec2ba53..326f6ff8dda1 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl
@@ -192,9 +192,9 @@ void HexahedronFEMForceFieldAndMass<DataTypes>::addMDx(const core::MechanicalPar
 
             for(int k=0 ; k<8 ; ++k )
             {
-                const int indice = k*3;
+                const int index = k*3;
                 for(int j=0 ; j<3 ; ++j )
-                    actualDx[indice+j] = _dx[(*it)[k]][j];
+                    actualDx[index+j] = _dx[(*it)[k]][j];
 
             }
 
diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl
index d36a55713dea..a0f73d9b64c8 100644
--- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl
+++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl
@@ -959,9 +959,9 @@ void NonUniformHexahedralFEMForceFieldAndMass<DataTypes>::addMBKdx(const core::M
             {
                 Deriv x_2 = Ret * dx[hexahedra[i][k]];
 
-                const int indice = k*3;
+                const int index = k*3;
                 for(int j=0 ; j<3 ; ++j )
-                    rdx[indice+j] = x_2[j];
+                    rdx[index+j] = x_2[j];
             }
 
             rdf = this->_elementMasses.getValue()[i] * rdx * mFactor - hexahedronInf[i].stiffness * rdx * kFactor;
diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp
index 4ad26ec6ffb3..8de57022975c 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp
@@ -57,10 +57,10 @@ void MechanicalObject<defaulttype::Rigid3Types>::applyRotation (const type::Quat
 {
     helper::WriteAccessor< Data<VecCoord> > x = *this->write(core::VecCoordId::position());
 
-    for (unsigned int i = 0; i < x.size(); i++)
+    for (RigidCoord<3, SReal>& xi : x)
     {
-        x[i].getCenter() = q.rotate(x[i].getCenter());
-        x[i].getOrientation() = q * x[i].getOrientation();
+        xi.getCenter() = q.rotate(xi.getCenter());
+        xi.getOrientation() = q * xi.getOrientation();
     }
 }
 
diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
index 9d79657dd649..a8616acbe7ee 100644
--- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
+++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp
@@ -74,15 +74,14 @@ void MeshTopology::EdgeUpdate::updateFromVolume()
     unsigned int edgeIndex;
 
     const SeqTetrahedra& tetrahedra = topology->getTetrahedra(); // do not use seqTetrahedra directly as it might not be up-to-date
-    for (unsigned int i = 0; i < tetrahedra.size(); ++i)
+    for (const auto& t : tetrahedra)
     {
-        const Tetra &t=tetrahedra[i];
         std::map<Edge,unsigned int>::iterator ite;
         Edge e;
-        for (unsigned int j=0; j<6; ++j)
+        for (const auto j : edgesInTetrahedronArray)
         {
-            unsigned int v1=t[edgesInTetrahedronArray[j][0]];
-            unsigned int v2=t[edgesInTetrahedronArray[j][1]];
+            unsigned int v1 = t[j[0]];
+            unsigned int v2 = t[j[1]];
             // sort vertices in lexicographics order
             if (v1<v2)
                 e=Edge(v1,v2);
@@ -112,15 +111,14 @@ void MeshTopology::EdgeUpdate::updateFromVolume()
     // create a temporary map to find redundant edges
 
     /// create the m_edge array at the same time than it fills the m_edgesInHexahedron array
-    for (unsigned int i = 0; i < hexahedra.size(); ++i)
+    for (const auto& h : hexahedra)
     {
-        const Hexa &h=hexahedra[i];
         std::map<Edge,unsigned int>::iterator ite;
         Edge e;
-        for (unsigned int j=0; j<12; ++j)
+        for (const auto j : edgesInHexahedronArray)
         {
-            unsigned int v1=h[edgesInHexahedronArray[j][0]];
-            unsigned int v2=h[edgesInHexahedronArray[j][1]];
+            unsigned int v1 = h[j[0]];
+            unsigned int v2 = h[j[1]];
             // sort vertices in lexicographics order
             if (v1<v2)
                 e=Edge(v1,v2);
@@ -159,9 +157,8 @@ void MeshTopology::EdgeUpdate::updateFromSurface()
     SeqEdges& seqEdges = *topology->seqEdges.beginEdit();
     seqEdges.clear();
     const SeqTriangles& triangles = topology->getTriangles(); // do not use seqTriangles directly as it might not be up-to-date
-    for (unsigned int i = 0; i < triangles.size(); ++i)
+    for (const auto& t : triangles)
     {
-        const Triangle &t=triangles[i];
         std::map<Edge,unsigned int>::iterator ite;
         Edge e;
         for (unsigned int j=0; j<3; ++j)
@@ -192,9 +189,8 @@ void MeshTopology::EdgeUpdate::updateFromSurface()
     }
 
     const SeqQuads& quads = topology->getQuads(); // do not use seqQuads directly as it might not be up-to-date
-    for (unsigned int i = 0; i < quads.size(); ++i)
+    for (const auto& t : quads)
     {
-        const Quad &t=quads[i];
         std::map<Edge,unsigned int>::iterator ite;
         Edge e;
         for (unsigned int j=0; j<4; ++j)
@@ -252,10 +248,10 @@ void MeshTopology::TriangleUpdate::doUpdate()
     for (unsigned int i = 0; i < tetrahedra.size(); ++i)
     {
         const Tetra &t=topology->seqTetrahedra.getValue()[i];
-        for (TriangleID j=0; j<4; ++j)
+        for (const auto j : sofa::core::topology::trianglesOrientationInTetrahedronArray)
         {
             for (PointID k=0; k<3; ++k)
-                v[k] = t[sofa::core::topology::trianglesOrientationInTetrahedronArray[j][k]];
+                v[k] = t[j[k]];
 
             // sort v such that v[0] is the smallest one
             while ((v[0]>v[1]) || (v[0]>v[2]))
@@ -307,10 +303,8 @@ void MeshTopology::QuadUpdate::doUpdate()
     unsigned int v[4],val;
     unsigned int quadIndex;
     /// create the m_edge array at the same time than it fills the m_edgesInHexahedron array
-    for (unsigned int i = 0; i < hexahedra.size(); ++i)
+    for (const auto& h : hexahedra)
     {
-        const Hexa &h=hexahedra[i];
-
         // Quad 0 :
         v[0]=h[0]; v[1]=h[3]; v[2]=h[2]; v[3]=h[1];
         // sort v such that v[0] is the smallest one
@@ -2445,17 +2439,17 @@ const sofa::type::vector<Index> MeshTopology::getConnectedElement(Index elem)
         elemNextFront = this->getElementAroundElements(elemOnFront); // for each elementID on the propagation front
 
         // Second Step - Avoid backward direction
-        for (unsigned int i = 0; i<elemNextFront.size(); ++i)
+        for (unsigned int id : elemNextFront)
         {
             bool find = false;
-            unsigned int id = elemNextFront[i];
-
-            for (unsigned int j = 0; j<elemAll.size(); ++j)
-                if (id == elemAll[j])
+            for (const unsigned int j : elemAll)
+            {
+                if (id == j)
                 {
                     find = true;
                     break;
                 }
+            }
 
             if (!find)
             {
@@ -2537,16 +2531,14 @@ const sofa::type::vector<Index> MeshTopology::getElementAroundElement(Index elem
             elemAV = this->getEdgesAroundVertex(getEdge(elem)[i]);
 
 
-        for (unsigned int j = 0; j<elemAV.size(); ++j) // for each element around the node
+        for (const unsigned int id : elemAV) // for each element around the node
         {
             bool find = false;
-            unsigned int id = elemAV[j];
-
             if (id == elem)
                 continue;
 
-            for (unsigned int k = 0; k<elems.size(); ++k) // check no redundancy
-                if (id == elems[k])
+            for (const unsigned int elem : elems) // check no redundancy
+                if (id == elem)
                 {
                     find = true;
                     break;
@@ -2593,20 +2585,18 @@ const sofa::type::vector<Index> MeshTopology::getElementAroundElements(sofa::typ
     }
 
 
-    for (unsigned int i = 0; i <elems.size(); ++i) // for each elementID of input vector
+    for (const unsigned int elem : elems) // for each elementID of input vector
     {
-        sofa::type::vector<Index> elemTmp2 = this->getElementAroundElement(elems[i]);
+        sofa::type::vector<Index> elemTmp2 = this->getElementAroundElement(elem);
 
         elemTmp.insert(elemTmp.end(), elemTmp2.begin(), elemTmp2.end());
     }
 
-    for (unsigned int i = 0; i<elemTmp.size(); ++i) // for each elementID found
+    for (const unsigned int id : elemTmp) // for each elementID found
     {
         bool find = false;
-        unsigned int id = elemTmp[i];
-
-        for (unsigned int j = 0; j<elems.size(); ++j) // check no redundancy with input vector
-            if (id == elems[j])
+        for (const unsigned int elem : elems) // check no redundancy with input vector
+            if (id == elem)
             {
                 find = true;
                 break;
@@ -2614,8 +2604,8 @@ const sofa::type::vector<Index> MeshTopology::getElementAroundElements(sofa::typ
 
         if (!find)
         {
-            for (unsigned int j = 0; j<elemAll.size(); ++j) // check no redundancy in output vector
-                if (id == elemAll[j])
+            for (const unsigned int j : elemAll) // check no redundancy in output vector
+                if (id == j)
                 {
                     find = true;
                     break;
diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp
index f7c20fee830a..1d1abc3c98b5 100644
--- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp
+++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.cpp
@@ -98,9 +98,9 @@ void DynamicSparseGridTopologyContainer::init()
     viirg.resize( dataSize);
     //for( int i = 0; i < dataSize; i++)
     //  viirg[i] = data[i];
-    for( unsigned int i = 0; i < iirg.size(); ++i)
+    for(const unsigned int hexaId : iirg)
     {
-        viirg[iirg[i]] = 255;
+        viirg[hexaId] = 255;
     }
 
     // init values in topo. (pas dense).
diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.inl b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.inl
index dc49ac067014..c3e014fc7ffc 100644
--- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.inl
+++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.inl
@@ -170,9 +170,9 @@ void ParallelHexahedronFEMForceField<DataTypes>::computeTaskForceLarge(RDataRefV
     sofa::type::Vec<24, Real> D;
     for(int k=0 ; k<8 ; ++k )
     {
-        int indice = k*3;
+        const int index = k*3;
         for(int j=0 ; j<3 ; ++j )
-            D[indice+j] = this->_rotatedInitialElements[elementId][k][j] - deformed[k][j];
+            D[index+j] = this->_rotatedInitialElements[elementId][k][j] - deformed[k][j];
     }
 
     if(updateStiffnessMatrices)
diff --git a/applications/projects/runSofa/Main.cpp b/applications/projects/runSofa/Main.cpp
index 0cc622d85a22..017b1e2b3816 100644
--- a/applications/projects/runSofa/Main.cpp
+++ b/applications/projects/runSofa/Main.cpp
@@ -397,9 +397,10 @@ int main(int argc, char** argv)
     sofa::gui::batch::init();
 
     auto& pluginManager = PluginManager::getInstance();
-
-    for (unsigned int i=0; i<plugins.size(); i++)
-        pluginManager.loadPlugin(plugins[i]);
+    for (const auto& plugin : plugins)
+    {
+        pluginManager.loadPlugin(plugin);
+    }
 
     if (!noAutoloadPlugins)
     {