diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h
index 770ea885bd2..b69b3e00f00 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h
@@ -25,11 +25,12 @@
 #include <sofa/component/solidmechanics/fem/elastic/config.h>
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/topology/TopologyData.h>
-#include <sofa/type/fixed_array.h>
-#include <sofa/type/vector.h>
-#include <sofa/type/Vec.h>
+#include <sofa/core/visual/DrawMesh.h>
 #include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
+#include <sofa/type/fixed_array.h>
 #include <sofa/type/trait/Rebind.h>
+#include <sofa/type/vector.h>
 
 namespace sofa::component::solidmechanics::fem::elastic
 {
@@ -177,6 +178,8 @@ protected :
 
     typedef FastTetrahedralCorotationalForceFieldData<DataTypes> ExtraData;
     ExtraData m_data;
+
+    core::visual::DrawElementMesh<sofa::geometry::Tetrahedron> m_drawMesh;
 };
 
 #if !defined(SOFA_COMPONENT_INTERACTIONFORCEFIELD_FASTTETRAHEDRALCOROTATIONALFORCEFIELD_CPP)
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl
index 434e54e7261..f498d5d9ecc 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl
@@ -672,50 +672,7 @@ void FastTetrahedralCorotationalForceField<DataTypes>::draw(const core::visual::
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0, true);
 
-
-    std::vector< type::Vec3 > points[4];
-    for (size_t i = 0; i<this->l_topology->getNbTetrahedra(); ++i)
-    {
-        const core::topology::BaseMeshTopology::Tetrahedron t = this->l_topology->getTetrahedron(i);
-
-        const auto& [a, b, c, d] = t.array();
-        Coord center = (x[a] + x[b] + x[c] + x[d])*0.125;
-        Coord pa = (x[a] + center)*(Real)0.666667;
-        Coord pb = (x[b] + center)*(Real)0.666667;
-        Coord pc = (x[c] + center)*(Real)0.666667;
-        Coord pd = (x[d] + center)*(Real)0.666667;
-
-        // 		glColor4f(0,0,1,1);
-        points[0].push_back(pa);
-        points[0].push_back(pb);
-        points[0].push_back(pc);
-
-        // 		glColor4f(0,0.5,1,1);
-        points[1].push_back(pb);
-        points[1].push_back(pc);
-        points[1].push_back(pd);
-
-        // 		glColor4f(0,1,1,1);
-        points[2].push_back(pc);
-        points[2].push_back(pd);
-        points[2].push_back(pa);
-
-        // 		glColor4f(0.5,1,1,1);
-        points[3].push_back(pd);
-        points[3].push_back(pa);
-        points[3].push_back(pb);
-    }
-
-    vparams->drawTool()->drawTriangles(points[0], d_drawColor1.getValue());
-    vparams->drawTool()->drawTriangles(points[1], d_drawColor2.getValue());
-    vparams->drawTool()->drawTriangles(points[2], d_drawColor3.getValue());
-    vparams->drawTool()->drawTriangles(points[3], d_drawColor4.getValue());
-
-    if (vparams->displayFlags().getShowWireFrame())
-        vparams->drawTool()->setPolygonMode(0, false);
-
-
-
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
 
 } // namespace sofa::component::solidmechanics::fem::elastic
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h
index 27af165194a..88902931200 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h
@@ -20,15 +20,13 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/component/solidmechanics/fem/elastic/config.h>
-
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
-
-#include <sofa/type/vector.h>
-#include <sofa/type/Vec.h>
-#include <sofa/type/Mat.h>
-
+#include <sofa/component/solidmechanics/fem/elastic/config.h>
 #include <sofa/core/topology/TopologyData.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
+#include <sofa/type/vector.h>
 
 namespace sofa::component::solidmechanics::fem::elastic
 {
@@ -198,6 +196,8 @@ class HexahedralFEMForceField : virtual public BaseLinearElasticityFEMForceField
 protected:
 
     type::Mat<8,3,int> _coef; ///< coef of each vertices to compute the strain stress matrix
+
+    core::visual::DrawElementMesh<sofa::geometry::Hexahedron> m_drawMesh;
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_HEXAHEDRALFEMFORCEFIELD_CPP)
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 949d5421c4f..cfe1019acd8 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
@@ -659,9 +659,6 @@ void HexahedralFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
     if (!this->mstate) return;
 
     const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
-    vparams->drawTool()->disableLighting();
-    std::vector<sofa::type::RGBAColor> colorVector;
-    std::vector<sofa::type::Vec3> vertices;
 
     const VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue();
 
@@ -670,92 +667,7 @@ void HexahedralFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
         vparams->drawTool()->setPolygonMode(0, true);
     }
 
-    for(size_t i = 0 ; i<this->l_topology->getNbHexahedra(); ++i)
-    {
-        const core::topology::BaseMeshTopology::Hexahedron &t=this->l_topology->getHexahedron(i);
-
-        Index a = t[0];
-        Index b = t[1];
-        Index d = t[2];
-        Index c = t[3];
-        Index e = t[4];
-        Index f = t[5];
-        Index h = t[6];
-        Index g = t[7];
-
-        Coord center = (x[a]+x[b]+x[c]+x[d]+x[e]+x[g]+x[f]+x[h])*0.125;
-        Real percentage = (Real) 0.15;
-        Coord p0 = x[a]-(x[a]-center)*percentage;
-        Coord p1 = x[b]-(x[b]-center)*percentage;
-        Coord p2 = x[c]-(x[c]-center)*percentage;
-        Coord p3 = x[d]-(x[d]-center)*percentage;
-        Coord p4 = x[e]-(x[e]-center)*percentage;
-        Coord p5 = x[f]-(x[f]-center)*percentage;
-        Coord p6 = x[g]-(x[g]-center)*percentage;
-        Coord p7 = x[h]-(x[h]-center)*percentage;
-
-        constexpr sofa::type::RGBAColor color1(0.7f, 0.7f, 0.1f, 1.0f);
-        colorVector.push_back(color1);
-        colorVector.push_back(color1);
-        colorVector.push_back(color1);
-        colorVector.push_back(color1);
-        vertices.push_back(DataTypes::getCPos(p5));
-        vertices.push_back(DataTypes::getCPos(p1));
-        vertices.push_back(DataTypes::getCPos(p3));
-        vertices.push_back(DataTypes::getCPos(p7));
-
-        constexpr sofa::type::RGBAColor color2(0.7f, 0.0f, 0.0f, 1.0f);
-        colorVector.push_back(color2);
-        colorVector.push_back(color2);
-        colorVector.push_back(color2);
-        colorVector.push_back(color2);
-        vertices.push_back(DataTypes::getCPos(p1));
-        vertices.push_back(DataTypes::getCPos(p0));
-        vertices.push_back(DataTypes::getCPos(p2));
-        vertices.push_back(DataTypes::getCPos(p3));
-
-        constexpr sofa::type::RGBAColor color3(0.0f, 0.7f, 0.0f, 1.0f);
-        colorVector.push_back(color3);
-        colorVector.push_back(color3);
-        colorVector.push_back(color3);
-        colorVector.push_back(color3);
-        vertices.push_back(DataTypes::getCPos(p0));
-        vertices.push_back(DataTypes::getCPos(p4));
-        vertices.push_back(DataTypes::getCPos(p6));
-        vertices.push_back(DataTypes::getCPos(p2));
-
-        constexpr sofa::type::RGBAColor color4(0.0f, 0.0f, 0.7f, 1.0f);
-        colorVector.push_back(color4);
-        colorVector.push_back(color4);
-        colorVector.push_back(color4);
-        colorVector.push_back(color4);
-        vertices.push_back(DataTypes::getCPos(p4));
-        vertices.push_back(DataTypes::getCPos(p5));
-        vertices.push_back(DataTypes::getCPos(p7));
-        vertices.push_back(DataTypes::getCPos(p6));
-
-        constexpr sofa::type::RGBAColor color5(0.1f, 0.7f, 0.7f, 1.0f);
-        colorVector.push_back(color5);
-        colorVector.push_back(color5);
-        colorVector.push_back(color5);
-        colorVector.push_back(color5);
-        vertices.push_back(DataTypes::getCPos(p7));
-        vertices.push_back(DataTypes::getCPos(p3));
-        vertices.push_back(DataTypes::getCPos(p2));
-        vertices.push_back(DataTypes::getCPos(p6));
-
-        constexpr sofa::type::RGBAColor color6(0.1f, 0.7f, 0.7f, 1.0f);
-        colorVector.push_back(color6);
-        colorVector.push_back(color6);
-        colorVector.push_back(color6);
-        colorVector.push_back(color6);
-        vertices.push_back(DataTypes::getCPos(p1));
-        vertices.push_back(DataTypes::getCPos(p5));
-        vertices.push_back(DataTypes::getCPos(p4));
-        vertices.push_back(DataTypes::getCPos(p0));
-    }
-    vparams->drawTool()->drawQuads(vertices,colorVector);
-
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
 
 } // namespace sofa::component::solidmechanics::fem::elastic
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h
index 81171ce7709..bf5cd2251dc 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h
@@ -20,17 +20,17 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/component/solidmechanics/fem/elastic/fwd.h>
-
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
-#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/component/solidmechanics/fem/elastic/fwd.h>
 #include <sofa/component/topology/container/grid/SparseGridTopology.h>
-#include <sofa/type/vector.h>
-#include <sofa/defaulttype/VecTypes.h>
-#include <sofa/type/Mat.h>
 #include <sofa/core/behavior/BaseRotationFinder.h>
-#include <sofa/helper/decompose.h>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/defaulttype/VecTypes.h>
 #include <sofa/helper/OptionsGroup.h>
+#include <sofa/helper/decompose.h>
+#include <sofa/type/Mat.h>
+#include <sofa/type/vector.h>
 
 namespace sofa::component::solidmechanics::fem::elastic
 {
@@ -222,6 +222,8 @@ class HexahedronFEMForceField :
     virtual void accumulateForceSmall( WDataRefVecDeriv &f, RDataRefVecCoord &p, sofa::Index i, const Element&elem  );
 
     bool _alreadyInit;
+
+    core::visual::DrawElementMesh<sofa::geometry::Hexahedron> m_drawMesh;
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_HEXAHEDRONFEMFORCEFIELD_CPP)
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 af0cb62553b..6d94c939400 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
@@ -1212,8 +1212,6 @@ void HexahedronFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
 
     const VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue();
 
-    vparams->drawTool()->setLightingEnabled(false);
-
     if(_sparseGrid )
     {
         vparams->drawTool()->enableBlending();
@@ -1222,104 +1220,8 @@ void HexahedronFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0,true);
 
-    const Real percentage = d_drawPercentageOffset.getValue();
-    const Real oneMinusPercentage = static_cast<Real>(1) - percentage;
-
-    const auto* indexedElements = this->getIndexedElements();
-
-    sofa::type::fixed_array<std::vector<sofa::type::Vec3>, 6 > quads; //one list of quads per hexahedron face
-    sofa::type::fixed_array<std::vector<RGBAColor>, 6> colors; //one list of quads per hexahedron face
-
-    for (auto& q : quads)
-    {
-        q.reserve(indexedElements->size() * 4);
-    }
-    for (auto& c : colors)
-    {
-        c.reserve(indexedElements->size() * 4);
-    }
-
-    sofa::Index i {};
-    for (const auto& element : *indexedElements)
-    {
-        const Coord& a = x[element[0]];
-        const Coord& b = x[element[1]];
-        const Coord& c = x[element[2]];
-        const Coord& d = x[element[3]];
-        const Coord& e = x[element[4]];
-        const Coord& f = x[element[5]];
-        const Coord& g = x[element[6]];
-        const Coord& h = x[element[7]];
-
-        const Coord center = (a + b + c + d + e + f + g + h ) * static_cast<Real>(0.125);
-        const Coord centerPercent = center * percentage;
-
-        const Coord pa = a * oneMinusPercentage + centerPercent;
-        const Coord pb = b * oneMinusPercentage + centerPercent;
-        const Coord pc = c * oneMinusPercentage + centerPercent;
-        const Coord pd = d * oneMinusPercentage + centerPercent;
-        const Coord pe = e * oneMinusPercentage + centerPercent;
-        const Coord pf = f * oneMinusPercentage + centerPercent;
-        const Coord pg = g * oneMinusPercentage + centerPercent;
-        const Coord ph = h * oneMinusPercentage + centerPercent;
-
-        quads[0].emplace_back(pa);
-        quads[0].emplace_back(pb);
-        quads[0].emplace_back(pc);
-        quads[0].emplace_back(pd);
-
-        quads[1].emplace_back(pe);
-        quads[1].emplace_back(pf);
-        quads[1].emplace_back(pg);
-        quads[1].emplace_back(ph);
-
-        quads[2].emplace_back(pc);
-        quads[2].emplace_back(pd);
-        quads[2].emplace_back(ph);
-        quads[2].emplace_back(pg);
-
-        quads[3].emplace_back(pa);
-        quads[3].emplace_back(pb);
-        quads[3].emplace_back(pf);
-        quads[3].emplace_back(pe);
-
-        quads[4].emplace_back(pa);
-        quads[4].emplace_back(pd);
-        quads[4].emplace_back(ph);
-        quads[4].emplace_back(pe);
-
-        quads[5].emplace_back(pb);
-        quads[5].emplace_back(pc);
-        quads[5].emplace_back(pg);
-        quads[5].emplace_back(pf);
-
-        const float stiffnessCoef = _sparseGrid ? _sparseGrid->getStiffnessCoef(i) : 1.0f;
-        sofa::type::fixed_array<sofa::type::RGBAColor, 6> quadColors {
-            sofa::type::RGBAColor(0.7f,0.7f,0.1f,stiffnessCoef),
-            sofa::type::RGBAColor(0.7f,0.0f,0.0f,stiffnessCoef),
-            sofa::type::RGBAColor(0.0f,0.7f,0.0f,stiffnessCoef),
-            sofa::type::RGBAColor(0.0f,0.0f,0.7f,stiffnessCoef),
-            sofa::type::RGBAColor(0.1f,0.7f,0.7f,stiffnessCoef),
-            sofa::type::RGBAColor(0.7f,0.1f,0.7f,stiffnessCoef)
-        };
-
-        for (unsigned int j = 0; j < 6; ++j)
-        {
-            auto& faceColors = colors[j];
-            const auto& color = quadColors[j];
-            for (unsigned int k = 0; k < 4; ++k)
-            {
-                faceColors.emplace_back(color);
-            }
-        }
-
-        ++i;
-    }
-
-    for (unsigned int j = 0; j < 6; ++j)
-    {
-        vparams->drawTool()->drawQuads(quads[j], colors[j]);
-    }
+    m_drawMesh.elementSpace = d_drawPercentageOffset.getValue();
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
 
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h
index bb48014af31..d5116e2f8ea 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h
@@ -22,14 +22,14 @@
 #pragma once
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
 #include <sofa/component/solidmechanics/fem/elastic/config.h>
-
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/topology/TopologyData.h>
-#include <sofa/type/vector.h>
-#include <sofa/type/Vec.h>
-#include <sofa/type/Mat.h>
-#include <sofa/helper/map.h>
+#include <sofa/core/visual/DrawMesh.h>
 #include <sofa/helper/ColorMap.h>
+#include <sofa/helper/map.h>
+#include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
+#include <sofa/type/vector.h>
 
 // corotational tetrahedron from
 // @InProceedings{NPF05,
@@ -250,6 +250,8 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce
 
     void printStiffnessMatrix(int idTetra);
 
+    core::visual::DrawElementMesh<sofa::geometry::Tetrahedron> m_drawMesh;
+
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_TETRAHEDRALCOROTATIONALFEMFORCEFIELD_CPP)
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
index a574c00230a..680b6709850 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl
@@ -1353,49 +1353,13 @@ void TetrahedralCorotationalFEMForceField<DataTypes>::draw(const core::visual::V
     
     if (d_drawing.getValue())
     {
-        const sofa::Size nbrTetra = this->l_topology->getNbTetrahedra();
-        std::vector< type::Vec3 > points[4];
-        points[0].reserve(nbrTetra * 3);
-        points[1].reserve(nbrTetra * 3);
-        points[2].reserve(nbrTetra * 3);
-        points[3].reserve(nbrTetra * 3);
-
-        for(Size i = 0 ; i< nbrTetra; ++i)
-        {
-            const core::topology::BaseMeshTopology::Tetrahedron t=this->l_topology->getTetrahedron(i);
-
-            const auto& [a, b, c, d] = t.array();
-            Coord center = (x[a] + x[b] + x[c] + x[d]) * 0.125;
-            Coord pa = (x[a] + center) * (Real)0.666667;
-            Coord pb = (x[b] + center) * (Real)0.666667;
-            Coord pc = (x[c] + center) * (Real)0.666667;
-            Coord pd = (x[d] + center) * (Real)0.666667;
-
-            points[0].push_back(pa);
-            points[0].push_back(pb);
-            points[0].push_back(pc);
-
-            points[1].push_back(pb);
-            points[1].push_back(pc);
-            points[1].push_back(pd);
-
-            points[2].push_back(pc);
-            points[2].push_back(pd);
-            points[2].push_back(pa);
-
-            points[3].push_back(pd);
-            points[3].push_back(pa);
-            points[3].push_back(pb);
-        }
-
-        vparams->drawTool()->drawTriangles(points[0], d_drawColor1.getValue());
-        vparams->drawTool()->drawTriangles(points[1], d_drawColor2.getValue());
-        vparams->drawTool()->drawTriangles(points[2], d_drawColor3.getValue());
-        vparams->drawTool()->drawTriangles(points[3], d_drawColor4.getValue());
+        std::array colors {
+            d_drawColor1.getValue(),
+            d_drawColor2.getValue(),
+            d_drawColor3.getValue(),
+            d_drawColor4.getValue()};
+        m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get(), colors);
     }
-    
-    if (vparams->displayFlags().getShowWireFrame())
-        vparams->drawTool()->setPolygonMode(0,false);
 }
 
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h
index b17f79a837b..b7a64ba2234 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h
@@ -21,12 +21,12 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/component/solidmechanics/fem/elastic/config.h>
-#include <sofa/component/solidmechanics/fem/elastic/TriangleFEMUtils.h>
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
-
-#include <sofa/type/Vec.h>
+#include <sofa/component/solidmechanics/fem/elastic/TriangleFEMUtils.h>
+#include <sofa/component/solidmechanics/fem/elastic/config.h>
+#include <sofa/core/visual/DrawMesh.h>
 #include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
 
 // corotational triangle from
 // @InProceedings{NPF05,
@@ -156,6 +156,8 @@ class TriangleFEMForceField : public BaseLinearElasticityFEMForceField<DataTypes
 
     /// Pointer to the utils class which store methods common to TriangleFEMForceField
     TriangleFEMUtils<DataTypes> m_triangleUtils;
+
+    core::visual::DrawElementMesh<sofa::geometry::Triangle> m_drawMesh;
 };
 
 
diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl
index 3348ff01e90..6ddcda0fb9f 100644
--- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl
+++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl
@@ -546,31 +546,13 @@ void TriangleFEMForceField<DataTypes>::draw(const core::visual::VisualParams* vp
         return;
 
     const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
-    vparams->drawTool()->disableLighting();
 
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0, true);
 
-    std::vector<sofa::type::RGBAColor> colorVector;
-    std::vector<sofa::type::Vec3> vertices;
-
     const VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue();
 
-    typename VecElement::const_iterator it;
-    for (it = _indexedElements->begin(); it != _indexedElements->end(); ++it)
-    {
-        const auto& [a, b, c] = it->array();
-
-        colorVector.push_back(sofa::type::RGBAColor::green());
-        vertices.push_back(sofa::type::Vec3(x[a]));
-        colorVector.push_back(sofa::type::RGBAColor(0, 0.5, 0.5, 1));
-        vertices.push_back(sofa::type::Vec3(x[b]));
-        colorVector.push_back(sofa::type::RGBAColor(0, 0, 1, 1));
-        vertices.push_back(sofa::type::Vec3(x[c]));
-    }
-    vparams->drawTool()->drawTriangles(vertices, colorVector);
-
-
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
  
 
diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMDrawing.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMDrawing.h
index a411b930afa..cc2b7c647b2 100644
--- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMDrawing.h
+++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMDrawing.h
@@ -20,19 +20,17 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/core/visual/VisualParams.h>
-
-#include <sofa/core/topology/BaseMeshTopology.h>
-#include <sofa/core/topology/Topology.h>
-
 #include <sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h>
-#include <sofa/component/solidmechanics/fem/hyperelastic/material/NeoHookean.h>
-#include <sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h>
-#include <sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h>
-#include <sofa/component/solidmechanics/fem/hyperelastic/material/STVenantKirchhoff.h>
 #include <sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h>
+#include <sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h>
+#include <sofa/component/solidmechanics/fem/hyperelastic/material/NeoHookean.h>
 #include <sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h>
-
+#include <sofa/component/solidmechanics/fem/hyperelastic/material/STVenantKirchhoff.h>
+#include <sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/topology/Topology.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/core/visual/VisualParams.h>
 
 namespace sofa::component::solidmechanics::fem::hyperelastic
 {
@@ -42,116 +40,74 @@ void selectColors(const std::string& materialName, sofa::type::RGBAColor& color1
 {
     if (materialName == material::BoyceAndArruda<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(0.0, 1.0, 0.0, 1.0);
-        color2 = type::RGBAColor(0.5, 1.0, 0.0, 1.0);
-        color3 = type::RGBAColor(1.0, 1.0, 0.0, 1.0);
+        color1 = type::RGBAColor::green();
+        color2 = type::RGBAColor::lime();
+        color3 = type::RGBAColor::yellow();
         color4 = type::RGBAColor(1.0, 1.0, 0.5, 1.0);
     }
     else if (materialName == material::STVenantKirchhoff<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(1.0,0.0,0.0,1.0);
-        color2 = type::RGBAColor(1.0,0.0,0.5,1.0);
-        color3 = type::RGBAColor(1.0,1.0,0.0,1.0);
+        color1 = type::RGBAColor::red();
+        color2 = type::RGBAColor::pink();
+        color3 = type::RGBAColor::yellow();
         color4 = type::RGBAColor(1.0,0.5,1.0,1.0);
     }
     else if (materialName == material::NeoHookean<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(0.0, 1.0, 1.0, 1.0);
+        color1 = type::RGBAColor::cyan();
         color2 = type::RGBAColor(0.5, 0.0, 1.0, 1.0);
-        color3 = type::RGBAColor(1.0, 0.0, 1.0, 1.0);
+        color3 = type::RGBAColor::magenta();
         color4 = type::RGBAColor(1.0, 0.5, 1.0, 1.0);
     }
     else if (materialName == material::MooneyRivlin<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(0.0, 1.0, 0.0, 1.0);
+        color1 = type::RGBAColor::green();
         color2 = type::RGBAColor(0.0, 1.0, 0.5, 1.0);
-        color3 = type::RGBAColor(0.0, 1.0, 1.0, 1.0);
+        color3 = type::RGBAColor::cyan();
         color4 = type::RGBAColor(0.5, 1.0, 1.0, 1.0);
     }
     else if (materialName == material::VerondaWestman<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(0.0, 1.0, 0.0, 1.0);
+        color1 = type::RGBAColor::green();
         color2 = type::RGBAColor(0.5, 1.0, 0.0, 1.0);
         color3 = type::RGBAColor(1.0, 1.0, 0.0, 1.0);
         color4 = type::RGBAColor(1.0, 1.0, 0.5, 1.0);
     }
     else if (materialName == material::Costa<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(0.0, 1.0, 0.0, 1.0);
+        color1 = type::RGBAColor::green();
         color2 = type::RGBAColor(0.5, 1.0, 0.0, 1.0);
         color3 = type::RGBAColor(1.0, 1.0, 0.0, 1.0);
         color4 = type::RGBAColor(1.0, 1.0, 0.5, 1.0);
     }
     else if (materialName == material::Ogden<DataTypes>::Name)
     {
-        color1 = type::RGBAColor(0.0, 1.0, 0.0, 1.0);
+        color1 = type::RGBAColor::green();
         color2 = type::RGBAColor(0.5, 1.0, 0.0, 1.0);
         color3 = type::RGBAColor(1.0, 1.0, 0.0, 1.0);
         color4 = type::RGBAColor(1.0, 1.0, 0.5, 1.0);
     }
     else
     {
-        color1 = type::RGBAColor(0.0, 1.0, 0.0, 1.0);
+        color1 = type::RGBAColor::green();
         color2 = type::RGBAColor(0.5, 1.0, 0.0, 1.0);
         color3 = type::RGBAColor(1.0, 1.0, 0.0, 1.0);
         color4 = type::RGBAColor(1.0, 1.0, 0.5, 1.0);
     }
 }
 
-template <class DataTypes>
+template <class DataTypes, class IndicesContainer>
 void drawHyperelasticTets(const core::visual::VisualParams* vparams,
                           const typename DataTypes::VecCoord& x,
                           core::topology::BaseMeshTopology* topology,
                           const std::string& materialName,
-                          const sofa::type::vector<core::topology::Topology::TetrahedronID>& indicesToDraw)
+                          const IndicesContainer& indices)
 {
-    std::vector<type::Vec3 > points[4];
-    for(auto& p : points)
-    {
-        p.reserve(3 * indicesToDraw.size());
-    }
-
-    const auto& tetrahedra = topology->getTetrahedra();
-
-    for(const auto i : indicesToDraw)
-    {
-        const auto t = tetrahedra[i];
-
-        const Index a = t[0];
-        const Index b = t[1];
-        const Index c = t[2];
-        const Index d = t[3];
-
-        const auto center = (x[a] + x[b] + x[c] + x[d]) * 0.125;
-        const auto pa = (x[a] + center) * 0.666667;
-        const auto pb = (x[b] + center) * 0.666667;
-        const auto pc = (x[c] + center) * 0.666667;
-        const auto pd = (x[d] + center) * 0.666667;
-
-        points[0].push_back(pa);
-        points[0].push_back(pb);
-        points[0].push_back(pc);
-
-        points[1].push_back(pb);
-        points[1].push_back(pc);
-        points[1].push_back(pd);
-
-        points[2].push_back(pc);
-        points[2].push_back(pd);
-        points[2].push_back(pa);
-
-        points[3].push_back(pd);
-        points[3].push_back(pa);
-        points[3].push_back(pb);
-    }
-
     std::array<sofa::type::RGBAColor, 4> colors;
     selectColors<DataTypes>(materialName, colors[0], colors[1], colors[2], colors[3]);
 
-    vparams->drawTool()->drawTriangles(points[0], colors[0]);
-    vparams->drawTool()->drawTriangles(points[1], colors[1]);
-    vparams->drawTool()->drawTriangles(points[2], colors[2]);
-    vparams->drawTool()->drawTriangles(points[3], colors[3]);
+    core::visual::DrawElementMesh<sofa::geometry::Tetrahedron> drawer;
+    drawer.drawSomeElements(vparams->drawTool(), x, topology, indices, colors);
 }
 
 template <class DataTypes>
@@ -160,9 +116,8 @@ void drawHyperelasticTets(const core::visual::VisualParams* vparams,
                           core::topology::BaseMeshTopology* topology,
                           const std::string& materialName)
 {
-    sofa::type::vector<core::topology::Topology::TetrahedronID> allIndices(topology->getNbTetrahedra());
-    std::iota(allIndices.begin(), allIndices.end(), static_cast<core::topology::Topology::TetrahedronID>(0));
-    drawHyperelasticTets<DataTypes>(vparams, x, topology, materialName, allIndices);
+    const auto indices = sofa::helper::IotaView(static_cast<sofa::Size>(0), topology->getNbTetrahedra());
+    drawHyperelasticTets<DataTypes>(vparams, x, topology, materialName, indices);
 }
 
 
diff --git a/Sofa/Component/Visual/CMakeLists.txt b/Sofa/Component/Visual/CMakeLists.txt
index a3f9e277011..e81df5befdd 100644
--- a/Sofa/Component/Visual/CMakeLists.txt
+++ b/Sofa/Component/Visual/CMakeLists.txt
@@ -17,6 +17,7 @@ set(HEADER_FILES
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/Visual3DText.h
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualBoundingBox.h
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualGrid.h
+    ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualMesh.h
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualModelImpl.h
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualPointCloud.h
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualPointCloud.inl
@@ -38,6 +39,7 @@ set(SOURCE_FILES
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/Visual3DText.cpp
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualBoundingBox.cpp
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualGrid.cpp
+    ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualMesh.cpp
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualModelImpl.cpp
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualPointCloud.cpp
     ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualStyle.cpp
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualMesh.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualMesh.cpp
new file mode 100644
index 00000000000..ebe816f329c
--- /dev/null
+++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualMesh.cpp
@@ -0,0 +1,92 @@
+/******************************************************************************
+*                 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 Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 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 Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser 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 <sofa/component/visual/VisualMesh.h>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/core/visual/VisualParams.h>
+
+namespace sofa::component::visual
+{
+
+void registerVisualMesh(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Render a mesh")
+        .add<VisualMesh>()
+    );
+}
+
+VisualMesh::VisualMesh()
+    : d_position(initData(&d_position, "position", "The position of the vertices of mesh"))
+    , d_elementSpace(initData(&d_elementSpace, 0.15_sreal, "elementSpace",
+                              "The space between element (scalar between 0 and 1)"))
+    , l_topology(initLink("topology", "Link to a topology containing elements"))
+{
+}
+
+void VisualMesh::init()
+{
+    VisualModel::init();
+
+    if (!this->isComponentStateInvalid())
+    {
+        this->validateTopology();
+    }
+
+    if (!this->isComponentStateInvalid())
+    {
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+    }
+}
+
+void VisualMesh::doDrawVisual(const core::visual::VisualParams* vparams)
+{
+    auto* drawTool = vparams->drawTool();
+
+    vparams->drawTool()->disableLighting();
+
+    const auto& positionAccessor = sofa::helper::getReadAccessor(d_position);
+
+    m_drawMesh.setElementSpace(d_elementSpace.getValue());
+    m_drawMesh.draw(drawTool, positionAccessor.ref(), l_topology.get());
+}
+
+void VisualMesh::validateTopology()
+{
+    if (l_topology.empty())
+    {
+        msg_info() << "Link to Topology container should be set to ensure right behavior. First "
+                      "Topology found in current context will be used.";
+        l_topology.set(this->getContext()->getMeshTopologyLink());
+    }
+
+    if (l_topology == nullptr)
+    {
+        msg_error() << "No topology component found at path: " << this->l_topology.getLinkedPath()
+                    << ", nor in current context: " << this->getContext()->name
+                    << ". Object must have a BaseMeshTopology. "
+                    << "The list of available BaseMeshTopology components is: "
+                    << sofa::core::ObjectFactory::getInstance()
+                           ->listClassesDerivedFrom<sofa::core::topology::BaseMeshTopology>();
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+    }
+}
+
+}  // namespace sofa::component::visual
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualMesh.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualMesh.h
new file mode 100644
index 00000000000..ba7c447f30c
--- /dev/null
+++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualMesh.h
@@ -0,0 +1,56 @@
+/******************************************************************************
+*                 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 Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 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 Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser 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 <sofa/component/visual/config.h>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/core/visual/VisualModel.h>
+
+namespace sofa::component::visual
+{
+
+class VisualMesh : public core::visual::VisualModel
+{
+public:
+    SOFA_CLASS(VisualMesh, core::visual::VisualModel);
+
+    Data<type::vector<type::Vec3>> d_position;
+    Data<SReal> d_elementSpace;
+
+    /// The topology will give access to the elements
+    sofa::SingleLink<VisualMesh, sofa::core::topology::BaseMeshTopology,
+        sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK> l_topology;
+
+    void init() override;
+
+protected:
+
+    VisualMesh();
+
+    void doDrawVisual(const core::visual::VisualParams* vparams) override;
+
+    core::visual::DrawMesh m_drawMesh;
+
+    void validateTopology();
+};
+
+}
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/init.cpp b/Sofa/Component/Visual/src/sofa/component/visual/init.cpp
index 27ee33e1bb0..5d5258908f7 100644
--- a/Sofa/Component/Visual/src/sofa/component/visual/init.cpp
+++ b/Sofa/Component/Visual/src/sofa/component/visual/init.cpp
@@ -40,6 +40,7 @@ extern void registerVisualPointCloud(sofa::core::ObjectFactory* factory);
 extern void registerVisualStyle(sofa::core::ObjectFactory* factory);
 extern void registerVisualTransform(sofa::core::ObjectFactory* factory);
 extern void registerVisualVectorField(sofa::core::ObjectFactory* factory);
+extern void registerVisualMesh(sofa::core::ObjectFactory* factory);
 
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
@@ -79,6 +80,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     registerVisualStyle(factory);
     registerVisualTransform(factory);
     registerVisualVectorField(factory);
+    registerVisualMesh(factory);
 }
 
 void init()
diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp
index f1605162c45..59f013e468c 100644
--- a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp
+++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp
@@ -427,32 +427,47 @@ void BaseViewer::drawSelection(sofa::core::visual::VisualParams* vparams)
 
             if(m_showSelectedObjectSurfaces && !positions.empty())
             {
-                auto triangles = object->findData("triangles");
-                if(triangles)
+                if (const auto topology = object->toBaseMeshTopology())
                 {
-                    auto d_triangles = dynamic_cast<Data<sofa::type::vector<core::topology::Topology::Triangle>>*>(triangles);
-                    if(d_triangles)
+                    m_drawMeshContainer[object].drawSurface(drawTool, positions, topology);
+                }
+                else
+                {
+                    auto triangles = object->findData("triangles");
+                    if(triangles)
                     {
-                        std::vector<Vec3> tripoints;
-                        for(auto indices : d_triangles->getValue())
+                        auto d_triangles = dynamic_cast<Data<sofa::type::vector<core::topology::Topology::Triangle>>*>(triangles);
+                        if(d_triangles)
                         {
-                            if(indices[0] < positions.size() &&
-                               indices[1] < positions.size() &&
-                               indices[2] < positions.size())
+                            std::vector<Vec3> tripoints;
+                            for(auto indices : d_triangles->getValue())
                             {
-                                tripoints.push_back(positions[indices[0]]);
-                                tripoints.push_back(positions[indices[1]]);
-                                tripoints.push_back(positions[indices[1]]);
-                                tripoints.push_back(positions[indices[2]]);
-                                tripoints.push_back(positions[indices[2]]);
-                                tripoints.push_back(positions[indices[0]]);
+                                if(indices[0] < positions.size() &&
+                                   indices[1] < positions.size() &&
+                                   indices[2] < positions.size())
+                                {
+                                    tripoints.push_back(positions[indices[0]]);
+                                    tripoints.push_back(positions[indices[1]]);
+                                    tripoints.push_back(positions[indices[1]]);
+                                    tripoints.push_back(positions[indices[2]]);
+                                    tripoints.push_back(positions[indices[2]]);
+                                    tripoints.push_back(positions[indices[0]]);
+                                }
                             }
+                            drawTool->drawLines(tripoints, size, m_selectionColor);
                         }
-                        drawTool->drawLines(tripoints, size, m_selectionColor);
                     }
                 }
             }
 
+            if(m_showSelectedObjectVolumes && !positions.empty())
+            {
+                if (const auto topology = object->toBaseMeshTopology())
+                {
+                    m_drawMeshContainer[object].drawVolume(drawTool, positions, topology);
+                }
+            }
+
             if(m_showSelectedObjectIndices && !positions.empty() && validBox)
             {
                 const float scale = (box.maxBBox() - box.minBBox()).norm() * m_visualScaling;
diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h
index 96812349250..c4b593fada9 100644
--- a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h
+++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h
@@ -20,19 +20,17 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/gui/common/config.h>
-
+#include <sofa/component/visual/BaseCamera.h>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/core/visual/VisualParams.h>
 #include <sofa/gui/common/ColourPickingVisitor.h>
-
+#include <sofa/gui/common/config.h>
 #include <sofa/helper/Factory.h>
 #include <sofa/helper/system/FileRepository.h>
 #include <sofa/helper/system/SetDirectory.h>
-#include <sofa/core/ObjectFactory.h>
-#include <sofa/core/visual/VisualParams.h>
 #include <sofa/simulation/Node.h>
 
-#include <sofa/component/visual/BaseCamera.h>
-
 #include <string>
 
 namespace sofa::component::setting
@@ -174,6 +172,7 @@ class SOFA_GUI_COMMON_API BaseViewer
     std::string _screenshotDirectory;
 
     std::set<sofa::core::objectmodel::Base::SPtr> currentSelection;
+    std::unordered_map<sofa::core::objectmodel::BaseObject*, core::visual::DrawMesh> m_drawMeshContainer;
 };
 
 } // namespace sofa::gui::common
diff --git a/Sofa/framework/Core/CMakeLists.txt b/Sofa/framework/Core/CMakeLists.txt
index e28798a6ade..4de5aa87e99 100644
--- a/Sofa/framework/Core/CMakeLists.txt
+++ b/Sofa/framework/Core/CMakeLists.txt
@@ -210,6 +210,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/visual/BaseVisualStyle.h
     ${SRC_ROOT}/visual/Data[DisplayFlags].h
     ${SRC_ROOT}/visual/DisplayFlags.h
+    ${SRC_ROOT}/visual/DrawMesh.h
     ${SRC_ROOT}/visual/FlagTreeItem.h
     ${SRC_ROOT}/visual/Shader.h
     ${SRC_ROOT}/visual/Tristate.h
@@ -342,6 +343,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/topology/TopologySubsetIndices.cpp
     ${SRC_ROOT}/visual/Data[DisplayFlags].cpp
     ${SRC_ROOT}/visual/DisplayFlags.cpp
+    ${SRC_ROOT}/visual/DrawMesh.cpp
     ${SRC_ROOT}/visual/FlagTreeItem.cpp
     ${SRC_ROOT}/visual/Shader.cpp
     ${SRC_ROOT}/visual/VisualLoop.cpp
diff --git a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp
index 7eb1494c17d..bbca664a8ee 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp
+++ b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp
@@ -36,6 +36,48 @@ BaseMeshTopology::BaseMeshTopology()
     addAlias(&fileTopology,"fileTopology");
 }
 
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Edge>()
+{
+    return getNbEdges();
+}
+
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Triangle>()
+{
+    return getNbTriangles();
+}
+
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Quad>()
+{
+    return getNbQuads();
+}
+
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Tetrahedron>()
+{
+    return getNbTetrahedra();
+}
+
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Hexahedron>()
+{
+    return getNbHexahedra();
+}
+
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Prism>()
+{
+    return getNbPrisms();
+}
+
+template <>
+Size BaseMeshTopology::getNbElements<geometry::Pyramid>()
+{
+    return getNbPyramids();
+}
+
 /// Returns the set of edges adjacent to a given vertex.
 const BaseMeshTopology::EdgesAroundVertex& BaseMeshTopology::getEdgesAroundVertex(PointID)
 {
diff --git a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h
index 98d314bbe98..78bedc85b30 100644
--- a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h
+++ b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h
@@ -121,6 +121,21 @@ class SOFA_CORE_API BaseMeshTopology : public core::topology::Topology
     virtual Size getNbPrisms()                  { return Size(getPrisms().size()); }
     virtual Size getNbPyramids()                { return Size(getPyramids().size()); }
 
+    /**
+     * @brief Returns the number of elements of a specific type
+     * @tparam ElementType The type of element (e.g., sofa::geometry::Triangle,
+     * sofa::geometry::Tetrahedron)
+     *
+     * Example:
+     * @code
+     * sofa::core::topology::BaseMeshTopology* topology = ...;
+     * Size nbTriangles = topology->getNbElements<sofa::geometry::Triangle>();
+     * Size nbTetrahedra = topology->getNbElements<sofa::geometry::Tetrahedron>();
+     * @endcode
+     */
+    template<class ElementType>
+    Size getNbElements();
+
     virtual const Edge getEdge(EdgeID i)             { return getEdges()[i]; }
     virtual const Triangle getTriangle(TriangleID i) { return getTriangles()[i]; }
     virtual const Quad getQuad(QuadID i)             { return getQuads()[i]; }
@@ -324,4 +339,15 @@ class SOFA_CORE_API BaseMeshTopology : public core::topology::Topology
     bool removeInNode( objectmodel::BaseNode* node ) override;
 
 };
+
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Edge>();
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Triangle>();
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Quad>();
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Tetrahedron>();
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Hexahedron>();
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Prism>();
+template<> SOFA_CORE_API Size BaseMeshTopology::getNbElements<geometry::Pyramid>();
+
+
+
 } // namespace sofa::core::topology
diff --git a/Sofa/framework/Core/src/sofa/core/visual/DrawMesh.cpp b/Sofa/framework/Core/src/sofa/core/visual/DrawMesh.cpp
new file mode 100644
index 00000000000..d077ad4a027
--- /dev/null
+++ b/Sofa/framework/Core/src/sofa/core/visual/DrawMesh.cpp
@@ -0,0 +1,32 @@
+/******************************************************************************
+*                 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 Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 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 Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser 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 <sofa/core/visual/DrawMesh.h>
+
+namespace sofa::core::visual
+{
+
+void DrawMesh::setElementSpace(SReal elementSpace)
+{
+    std::apply([elementSpace](auto&&... mesh){ ((mesh.elementSpace = elementSpace), ...); }, m_meshes);
+}
+
+}  // namespace sofa::core::visual
diff --git a/Sofa/framework/Core/src/sofa/core/visual/DrawMesh.h b/Sofa/framework/Core/src/sofa/core/visual/DrawMesh.h
new file mode 100644
index 00000000000..3514ce48e50
--- /dev/null
+++ b/Sofa/framework/Core/src/sofa/core/visual/DrawMesh.h
@@ -0,0 +1,380 @@
+/******************************************************************************
+*                 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 Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 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 Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser 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 <sofa/core/config.h>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/topology/Topology.h>
+#include <sofa/helper/IotaView.h>
+#include <sofa/helper/visual/DrawTool.h>
+
+#include <ranges>
+
+namespace sofa::core::visual
+{
+
+/**
+ * @class BaseDrawMesh
+ * @brief Base class for mesh drawing using Curiously Recurring Template Pattern (CRTP)
+ */
+template<class Derived, std::size_t NumberColors_>
+struct BaseDrawMesh
+{
+    static constexpr std::size_t NumberColors { NumberColors_ };
+    using ColorContainer = std::array<sofa::type::RGBAColor, NumberColors>;
+
+    SReal elementSpace { 0.125_sreal };
+
+    /**
+     * @brief Draws all elements of the mesh using provided colors.
+     *
+     * This function draws all elements of the mesh (from index 0 to the total number of elements)
+     * using the specified colors. It serves as a convenience wrapper that calls \ref
+     * drawSomeElements with all element indices.
+     *
+     * @tparam PositionContainer The type of the position container (e.g.,
+     * sofa::type::vector<sofa::type::Vec3>)
+     * @param drawTool The drawing tool to use for rendering
+     * @param position The container of vertex positions
+     * @param topology The mesh topology
+     * @param colors The colors to use for each element. If not specified, the default colors of the
+     * derived class are used.
+     */
+    template<class PositionContainer>
+    void drawAllElements(
+        sofa::helper::visual::DrawTool* drawTool,
+        const PositionContainer& position,
+        sofa::core::topology::BaseMeshTopology* topology,
+        const ColorContainer& colors = Derived::defaultColors)
+    {
+        const auto totalNbElements = topology->getNbElements<typename Derived::ElementType>();
+        const auto elementsToDraw = sofa::helper::IotaView(static_cast<decltype(totalNbElements)>(0), totalNbElements);
+        drawSomeElements(drawTool, position, topology, elementsToDraw, colors);
+    }
+
+    /**
+     * @brief Draws a subset of elements of the mesh using provided colors.
+     *
+     * This function draws a specific subset of elements (specified by element indices) using the
+     * provided colors.
+     *
+     * @tparam PositionContainer The type of the position container (e.g.,
+     * sofa::type::vector<sofa::type::Vec3>)
+     * @tparam IndicesContainer The type of container holding element indices (e.g.,
+     * sofa::type::vector<sofa::Index>)
+     * @param drawTool The drawing tool to use for rendering
+     * @param position The container of vertex positions
+     * @param topology The mesh topology
+     * @param elementIndices The indices of elements to draw
+     * @param colors The colors to use for each element. If not specified, the default colors of the
+     * derived class are used.
+     */
+    template<class PositionContainer, class IndicesContainer>
+    void drawSomeElements(
+        sofa::helper::visual::DrawTool* drawTool,
+        const PositionContainer& position,
+        sofa::core::topology::BaseMeshTopology* topology,
+        const IndicesContainer& elementIndices,
+        const ColorContainer& colors = Derived::defaultColors)
+    {
+        if (!drawTool)
+            return;
+        if (!topology)
+            return;
+
+        const auto stateLifeCycle = drawTool->makeStateLifeCycle();
+        drawTool->disableLighting();
+
+        static_cast<Derived&>(*this).doDraw(drawTool, position, topology, elementIndices, colors);
+    }
+
+protected:
+    template<class PositionType>
+    PositionType applyElementSpace(const PositionType& position, const PositionType& elementCenter) const
+    {
+        return (position - elementCenter) * (1._sreal - elementSpace) + elementCenter;
+    }
+
+    template<class PositionContainer, class ElementType>
+    static typename PositionContainer::value_type elementCenter(const PositionContainer& position, const ElementType& element)
+    {
+        typename PositionContainer::value_type center{};
+        for (sofa::Size vId = 0; vId < element.size(); ++vId)
+        {
+            center += position[element[vId]];
+        }
+        center /= element.size();
+        return center;
+    }
+
+    /**
+     * @brief Pre-allocated point buffers for rendering different color channels
+     *
+     * This static array holds pre-allocated vertex position buffers for each color channel.
+     *
+     * Key characteristics:
+     * - Each buffer corresponds to one of the `NumberColors` color channels (e.g., 3 for triangles)
+     * - Designed for efficient reuse across multiple drawing calls without reallocation
+     */
+    std::array<sofa::type::vector< sofa::type::Vec3 >, NumberColors> renderedPoints;
+};
+
+template<class ElementType>
+struct DrawElementMesh{};
+
+template<>
+struct SOFA_CORE_API DrawElementMesh<sofa::geometry::Triangle>
+    : public BaseDrawMesh<DrawElementMesh<sofa::geometry::Triangle>, 3>
+{
+    using ElementType = sofa::geometry::Triangle;
+    friend BaseDrawMesh;
+    static constexpr ColorContainer defaultColors {
+        sofa::type::RGBAColor::green(),
+        sofa::type::RGBAColor::teal(),
+        sofa::type::RGBAColor::blue()
+    };
+
+private:
+    template<class PositionContainer, class IndicesContainer>
+    void doDraw(
+        sofa::helper::visual::DrawTool* drawTool,
+        const PositionContainer& position,
+        sofa::core::topology::BaseMeshTopology* topology,
+        const IndicesContainer& elementIndices,
+        const ColorContainer& colors)
+    {
+        if (!topology)
+            return;
+
+        const auto& elements = topology->getTriangles();
+
+        const auto size = (elementIndices.size() / NumberColors + 1) * sofa::geometry::Triangle::NumberOfNodes;
+        for ( auto& p : renderedPoints)
+        {
+            p.resize(size);
+        }
+
+        std::array<std::size_t, NumberColors> renderedPointId {};
+        for (auto i : elementIndices)
+        {
+            const auto& element = elements[i];
+
+            const auto center = this->elementCenter(position, element);
+
+            for (std::size_t j = 0; j < sofa::geometry::Triangle::NumberOfNodes; ++j)
+            {
+                const auto p = this->applyElementSpace(position[element[j]], center);
+                renderedPoints[i % NumberColors][renderedPointId[i%NumberColors]++] = sofa::type::toVec3(p);
+            }
+        }
+
+        for (std::size_t j = 0; j < NumberColors; ++j)
+        {
+            drawTool->drawTriangles(renderedPoints[j], colors[j]);
+        }
+    }
+};
+
+template<>
+struct SOFA_CORE_API DrawElementMesh<sofa::geometry::Tetrahedron>
+    : public BaseDrawMesh<DrawElementMesh<sofa::geometry::Tetrahedron>, 4>
+{
+    using ElementType = sofa::geometry::Tetrahedron;
+    friend BaseDrawMesh;
+    static constexpr std::size_t NumberTrianglesInTetrahedron = 4;
+
+    static constexpr ColorContainer defaultColors {
+        sofa::type::RGBAColor::blue(),
+        sofa::type::RGBAColor::black(),
+        sofa::type::RGBAColor::azure(),
+        sofa::type::RGBAColor::cyan()
+    };
+
+private:
+    template<class PositionContainer, class IndicesContainer>
+    void doDraw(sofa::helper::visual::DrawTool* drawTool,
+        const PositionContainer& position,
+        sofa::core::topology::BaseMeshTopology* topology,
+        const IndicesContainer& elementIndices,
+        const ColorContainer& colors)
+    {
+        if (!topology)
+            return;
+
+        const auto& elements = topology->getTetrahedra();
+        const auto& facets = topology->getTriangles();
+
+        for ( auto& p : renderedPoints)
+        {
+            p.resize(elementIndices.size() * sofa::geometry::Triangle::NumberOfNodes);
+        }
+
+        for (auto i : elementIndices)
+        {
+            const auto& element = elements[i];
+            const auto& facetsInElement = topology->getTrianglesInTetrahedron(i);
+            assert(facetsInElement.size() == NumberTrianglesInTetrahedron);
+
+            const auto center = this->elementCenter(position, element);
+
+            for (std::size_t j = 0; j < NumberTrianglesInTetrahedron; ++j)
+            {
+                const auto faceId = facetsInElement[j];
+                std::size_t k {};
+                for (const auto vertexId : facets[faceId])
+                {
+                    const auto p = this->applyElementSpace(position[vertexId], center);
+                    renderedPoints[j][i * sofa::geometry::Triangle::NumberOfNodes + k] = sofa::type::toVec3(p);
+                    ++k;
+                }
+            }
+        }
+
+        for (std::size_t j = 0; j < NumberTrianglesInTetrahedron; ++j)
+        {
+            drawTool->drawTriangles(renderedPoints[j], colors[j]);
+        }
+    }
+};
+
+template<>
+struct SOFA_CORE_API DrawElementMesh<sofa::geometry::Hexahedron>
+    : public BaseDrawMesh<DrawElementMesh<sofa::geometry::Hexahedron>, 6>
+{
+    using ElementType = sofa::geometry::Hexahedron;
+    friend BaseDrawMesh;
+    static constexpr std::size_t NumberQuadsInHexahedron = 6;
+
+    static constexpr ColorContainer defaultColors {
+        sofa::type::RGBAColor(0.7f,0.7f,0.1f,1.f),
+        sofa::type::RGBAColor(0.7f,0.0f,0.0f,1.f),
+        sofa::type::RGBAColor(0.0f,0.7f,0.0f,1.f),
+        sofa::type::RGBAColor(0.0f,0.0f,0.7f,1.f),
+        sofa::type::RGBAColor(0.1f,0.7f,0.7f,1.f),
+        sofa::type::RGBAColor(0.7f,0.1f,0.7f,1.f)
+    };
+
+private:
+    template<class PositionContainer, class IndicesContainer>
+    void doDraw(
+        sofa::helper::visual::DrawTool* drawTool,
+        const PositionContainer& position,
+        sofa::core::topology::BaseMeshTopology* topology,
+        const IndicesContainer& elementIndices,
+        const ColorContainer& colors)
+    {
+        if (!topology)
+            return;
+
+        const auto& elements = topology->getHexahedra();
+        const auto& facets = topology->getQuads();
+
+        for ( auto& p : renderedPoints)
+        {
+            p.resize(elementIndices.size() * sofa::geometry::Quad::NumberOfNodes);
+        }
+
+        std::size_t renderedPointId {};
+        for (auto i : elementIndices)
+        {
+            const auto& element = elements[i];
+            const auto& facetsInElement = topology->getQuadsInHexahedron(i);
+            assert(facetsInElement.size() == NumberTrianglesInTetrahedron);
+
+            const auto center = this->elementCenter(position, element);
+
+            for (std::size_t j = 0; j < NumberQuadsInHexahedron; ++j)
+            {
+                const auto faceId = facetsInElement[j];
+                std::size_t k {};
+                for (const auto vertexId : facets[faceId])
+                {
+                    const auto p = this->applyElementSpace(position[vertexId], center);
+                    renderedPoints[j][i * sofa::geometry::Quad::NumberOfNodes + k] = sofa::type::toVec3(p);
+                    ++k;
+                }
+            }
+        }
+
+        for (std::size_t j = 0; j < NumberQuadsInHexahedron; ++j)
+        {
+            drawTool->drawQuads(renderedPoints[j], colors[j]);
+        }
+    }
+};
+
+class SOFA_CORE_API DrawMesh
+{
+public:
+
+    template<class ElementType, class PositionContainer>
+    void drawElements(
+        sofa::helper::visual::DrawTool* drawTool,
+        const PositionContainer& position,
+        sofa::core::topology::BaseMeshTopology* topology,
+        const typename DrawElementMesh<ElementType>::ColorContainer& colors = DrawElementMesh<ElementType>::defaultColors)
+    {
+        std::get<DrawElementMesh<ElementType>>(m_meshes).drawAllElements(drawTool, position, topology, colors);
+    }
+
+    void setElementSpace(SReal elementSpace);
+
+    template<class PositionContainer>
+    void drawSurface(sofa::helper::visual::DrawTool* drawTool, const PositionContainer& position, sofa::core::topology::BaseMeshTopology* topology)
+    {
+        drawElements<sofa::geometry::Triangle>(drawTool, position, topology);
+    }
+
+    template<class PositionContainer>
+    void drawVolume(sofa::helper::visual::DrawTool* drawTool, const PositionContainer& position, sofa::core::topology::BaseMeshTopology* topology)
+    {
+        drawElements<sofa::geometry::Tetrahedron>(drawTool, position, topology);
+        drawElements<sofa::geometry::Hexahedron>(drawTool, position, topology);
+    }
+
+    template<class PositionContainer>
+    void draw(sofa::helper::visual::DrawTool* drawTool, const PositionContainer& position, sofa::core::topology::BaseMeshTopology* topology)
+    {
+        if (!topology)
+        {
+            return;
+        }
+
+        const auto hasTetra = topology && !topology->getTetrahedra().empty();
+        const auto hasHexa = topology && !topology->getHexahedra().empty();
+
+        if (!hasTetra && !hasHexa)
+        {
+            drawSurface(drawTool, position, topology);
+        }
+        drawVolume(drawTool, position, topology);
+    }
+
+private:
+    std::tuple<
+        DrawElementMesh<sofa::geometry::Triangle>,
+        DrawElementMesh<sofa::geometry::Tetrahedron>,
+        DrawElementMesh<sofa::geometry::Hexahedron>
+    > m_meshes;
+};
+
+}  // namespace sofa::core::visual
diff --git a/Sofa/framework/Helper/CMakeLists.txt b/Sofa/framework/Helper/CMakeLists.txt
index 75767d7a130..5de5b85a719 100644
--- a/Sofa/framework/Helper/CMakeLists.txt
+++ b/Sofa/framework/Helper/CMakeLists.txt
@@ -70,6 +70,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/hash.h
     ${SRC_ROOT}/init.h
     ${SRC_ROOT}/integer_id.h
+    ${SRC_ROOT}/IotaView.h
     ${SRC_ROOT}/accessor/ReadAccessor.h
     ${SRC_ROOT}/accessor/ReadAccessorFixedArray.h
     ${SRC_ROOT}/accessor/ReadAccessorVector.h
diff --git a/Sofa/framework/Helper/src/sofa/helper/IotaView.h b/Sofa/framework/Helper/src/sofa/helper/IotaView.h
new file mode 100644
index 00000000000..26ab73b751e
--- /dev/null
+++ b/Sofa/framework/Helper/src/sofa/helper/IotaView.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <iterator>
+
+namespace sofa::helper
+{
+
+/**
+ * Simple alternative to std::ranges::iota_view, compatible with pre-C++20
+ */
+template <typename T>
+class IotaView
+{
+public:
+    struct iota_iterator
+    {
+        using value_type = T;
+        using difference_type = std::ptrdiff_t;
+        using iterator_category = std::forward_iterator_tag;
+        using reference = T&;
+        using pointer = T*;
+
+        explicit iota_iterator(T val) : val_(val) {}
+
+        T operator*() const { return val_; }
+        iota_iterator& operator++() { ++val_; return *this; }
+        bool operator!=(const iota_iterator& other) const { return val_ != other.val_; }
+
+    private:
+        T val_;
+    };
+
+    using iterator = iota_iterator;
+    using value_type = T;
+
+    IotaView(T start, T end) : m_start(start), m_end(end) {}
+
+    iterator begin() const { return iterator(m_start); }
+    iterator end() const { return iterator(m_end); }
+
+    [[nodiscard]] T size() const { return m_end - m_start; }
+    [[nodiscard]] T operator[](T i) const { return m_start + i; }
+    T front() const { return m_start; }
+    T back() const { return m_end - 1; }
+    [[nodiscard]] bool empty() const { return m_start == m_end; }
+
+private:
+    T m_start;
+    T m_end;
+};
+
+
+}
diff --git a/Sofa/framework/Helper/test/CMakeLists.txt b/Sofa/framework/Helper/test/CMakeLists.txt
index b6120ff71b9..67aa4c3fe8b 100644
--- a/Sofa/framework/Helper/test/CMakeLists.txt
+++ b/Sofa/framework/Helper/test/CMakeLists.txt
@@ -5,6 +5,7 @@ project(Sofa.Helper_test)
 set(SOURCE_FILES
     DiffLib_test.cpp
     Factory_test.cpp
+    IotaView_test.cpp
     KdTree_test.cpp
     NameDecoder_test.cpp
     OptionsGroup_test.cpp
diff --git a/Sofa/framework/Helper/test/IotaView_test.cpp b/Sofa/framework/Helper/test/IotaView_test.cpp
new file mode 100644
index 00000000000..9e1d22b386e
--- /dev/null
+++ b/Sofa/framework/Helper/test/IotaView_test.cpp
@@ -0,0 +1,44 @@
+#include <sofa/helper/IotaView.h>
+#include <gtest/gtest.h>
+
+namespace sofa
+{
+
+TEST(IotaView, loop)
+{
+    const auto range = sofa::helper::IotaView{0, 10};
+
+    int i = 0;
+    for (const auto value : range)
+    {
+        EXPECT_EQ(value, i);
+        ++i;
+    }
+}
+
+TEST(IotaView, empty)
+{
+    {
+        const auto range = sofa::helper::IotaView{0, 10};
+        EXPECT_FALSE(range.empty());
+    }
+    {
+        const auto range = sofa::helper::IotaView{0, 0};
+        EXPECT_TRUE(range.empty());
+    }
+}
+
+TEST(IotaView, size)
+{
+    const auto range = sofa::helper::IotaView{0, 10};
+    EXPECT_EQ(range.size(), 10);
+}
+
+TEST(IotaView, access)
+{
+    const auto range = sofa::helper::IotaView{4, 10};
+    EXPECT_EQ(range[0], 4);
+    EXPECT_EQ(range[9], 4+9);
+}
+
+}
diff --git a/Sofa/framework/Type/src/sofa/type/RGBAColor.cpp b/Sofa/framework/Type/src/sofa/type/RGBAColor.cpp
index 79c4aebe25a..2b51746e826 100644
--- a/Sofa/framework/Type/src/sofa/type/RGBAColor.cpp
+++ b/Sofa/framework/Type/src/sofa/type/RGBAColor.cpp
@@ -199,7 +199,8 @@ const std::map<std::string, RGBAColor> stringToColorMap {
     {"olive", g_olive},
     {"maroon", g_maroon},
     {"silver", g_silver},
-    {"gold", g_gold}
+    {"gold", g_gold},
+    {"azure", g_azure}
 };
 
 SOFA_TYPE_API std::istream& operator>>(std::istream& i, RGBAColor& t)
diff --git a/Sofa/framework/Type/src/sofa/type/RGBAColor.h b/Sofa/framework/Type/src/sofa/type/RGBAColor.h
index af9aac7c0a0..2e68a2a63cd 100644
--- a/Sofa/framework/Type/src/sofa/type/RGBAColor.h
+++ b/Sofa/framework/Type/src/sofa/type/RGBAColor.h
@@ -90,6 +90,7 @@ class SOFA_TYPE_API RGBAColor
     constexpr static const RGBAColor& maroon();
     constexpr static const RGBAColor& silver();
     constexpr static const RGBAColor& gold();
+    constexpr static const RGBAColor& azure();
 
     /// @brief enlight a color by a given factor.
     static RGBAColor lighten(const RGBAColor& in, const SReal factor);
@@ -270,6 +271,7 @@ constexpr RGBAColor g_olive     { 0.5f, 0.5f, 0.0f, 1.0f };
 constexpr RGBAColor g_maroon    { 0.5f, 0.0f, 0.0f, 1.0f };
 constexpr RGBAColor g_silver    { 0.75f, 0.75f, 0.75f, 1.0f };
 constexpr RGBAColor g_gold      { 1.0f, 0.84f, 0.0f, 1.0f };
+constexpr RGBAColor g_azure     { 0.0f, 0.5, 1.0f, 1.0f };
 
 constexpr const RGBAColor& RGBAColor::white()    { return g_white;     }
 constexpr const RGBAColor& RGBAColor::black()    { return g_black;     }
@@ -293,7 +295,7 @@ constexpr const RGBAColor& RGBAColor::olive()    { return g_olive ; }
 constexpr const RGBAColor& RGBAColor::maroon()   { return g_maroon; }
 constexpr const RGBAColor& RGBAColor::silver()   { return g_silver; }
 constexpr const RGBAColor& RGBAColor::gold()     { return g_gold  ; }
-
+constexpr const RGBAColor& RGBAColor::azure()    { return g_azure  ; }
 
 } // namespace sofa::type
 
diff --git a/examples/Component/Visual/VisualMesh.scn b/examples/Component/Visual/VisualMesh.scn
new file mode 100644
index 00000000000..7a67077d6a8
--- /dev/null
+++ b/examples/Component/Visual/VisualMesh.scn
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.01" gravity="0 -9.81 0">
+
+    <Node name="tetra">
+        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
+        <MechanicalObject template="Vec3" name="state"/>
+
+        <TetrahedronSetTopologyContainer name="Tetra_topo" position="@grid.position"/>
+        <TetrahedronSetTopologyModifier name="Modifier" />
+        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
+        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
+
+        <DiagonalMass massDensity="0.2" />
+        <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false"/>
+
+        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
+        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
+
+        <VisualMesh position="@state.position" topology="@Tetra_topo"/>
+    </Node>
+
+    <Node name="hexa">
+        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+
+        <RegularGridTopology name="grid" min="10 -5 0" max="20 5 40" n="5 5 20"/>
+        <MechanicalObject template="Vec3" name="state"/>
+
+        <DiagonalMass massDensity="0.2" />
+        <HexahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="large"/>
+
+        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
+        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
+
+        <VisualMesh position="@state.position" topology="@grid"/>
+    </Node>
+
+    <Node name="triangles">
+        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
+        <MechanicalObject name="state"/>
+        <MeshMatrixMass totalMass="1000" />
+        <RegularGridTopology name="grid" nx="5" ny="5" nz="1" min="25 -5 0" max="35 5 0"/>
+        <BoxROI box="24 4.99 -0.1 36 5.01 0.1" name="box"/>
+        <FixedProjectiveConstraint indices="@box.indices" />
+        <TriangleFEMForceField name="FEM1" youngModulus="5000" poissonRatio="0.3" method="large" />
+        <VisualMesh position="@state.position" topology="@grid"/>
+    </Node>
+</Node>