diff --git a/src/BeamAdapter/component/BeamInterpolation.cpp b/src/BeamAdapter/component/BeamInterpolation.cpp
index eb61c5332..c3a225c70 100644
--- a/src/BeamAdapter/component/BeamInterpolation.cpp
+++ b/src/BeamAdapter/component/BeamInterpolation.cpp
@@ -39,10 +39,8 @@
 /// Have a look a the end of BeamInterpolation.h
 #include <BeamAdapter/component/BeamInterpolation.inl>
 
-namespace sofa::component::fem
-{
 
-namespace _beaminterpolation_
+namespace sofa::component::fem::_beaminterpolation_
 {
 
 using namespace sofa::defaulttype;
@@ -66,6 +64,4 @@ static int BeamInterpolationClass = core::RegisterObject("Adaptive Beam Interpol
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 template class SOFA_BEAMADAPTER_API BeamInterpolation<Rigid3Types>;
 
-} /// namespace _beaminterpolation_
-
-} /// sofa::component::fem
+} // namespace sofa::component::fem::_beaminterpolation_
diff --git a/src/BeamAdapter/component/BeamInterpolation.inl b/src/BeamAdapter/component/BeamInterpolation.inl
index 0fd175fd5..da1fe114d 100644
--- a/src/BeamAdapter/component/BeamInterpolation.inl
+++ b/src/BeamAdapter/component/BeamInterpolation.inl
@@ -34,10 +34,8 @@
 
 #include <BeamAdapter/component/BeamInterpolation.h>
 
-namespace sofa::component::fem
-{
 
-namespace _beaminterpolation_
+namespace sofa::component::fem::_beaminterpolation_
 {
 
 #define BEAMADAPTER_WITH_VERIFICATION false
@@ -1502,6 +1500,5 @@ void BeamInterpolation<DataTypes>::MapForceOnNodeUsingSpline(unsigned int edgeIn
 }
 
 
-} /// namespace _beaminterpolation_
+} // namespace sofa::component::fem::_beaminterpolation_
 
-} /// namespace sofa::component::fem
diff --git a/src/BeamAdapter/component/WireBeamInterpolation.cpp b/src/BeamAdapter/component/WireBeamInterpolation.cpp
index e81dc5044..0c859c4f9 100644
--- a/src/BeamAdapter/component/WireBeamInterpolation.cpp
+++ b/src/BeamAdapter/component/WireBeamInterpolation.cpp
@@ -39,10 +39,7 @@
 #include <sofa/core/ObjectFactory.h>
 
 
-namespace sofa::component::fem
-{
-
-namespace _wirebeaminterpolation_
+namespace sofa::component::fem::_wirebeaminterpolation_
 {
 using namespace sofa::defaulttype;
 
@@ -60,6 +57,6 @@ static int WireBeamInterpolationClass = core::RegisterObject("Adaptive Beam Inte
 
 template class SOFA_BEAMADAPTER_API WireBeamInterpolation<Rigid3Types>;
 
-} // namespace _wirebeaminterpolation_
+} // namespace sofa::component::fem::_wirebeaminterpolation_
+
 
-} // namespace sofa::component::fem
diff --git a/src/BeamAdapter/component/WireBeamInterpolation.inl b/src/BeamAdapter/component/WireBeamInterpolation.inl
index dbc9b8261..5f5774cc6 100644
--- a/src/BeamAdapter/component/WireBeamInterpolation.inl
+++ b/src/BeamAdapter/component/WireBeamInterpolation.inl
@@ -35,10 +35,8 @@
 #include <BeamAdapter/component/WireBeamInterpolation.h>
 #include <BeamAdapter/component/BeamInterpolation.inl>
 
-namespace sofa::component::fem
-{
 
-namespace _wirebeaminterpolation_
+namespace sofa::component::fem::_wirebeaminterpolation_
 {
 
 using sofa::component::engine::WireRestShape ;
@@ -271,6 +269,6 @@ typename T::SPtr  WireBeamInterpolation<DataTypes>::create(T* tObj, core::object
     return obj;
 }
 
-} // namespace _wirebeaminterpolation_
+} // namespace sofa::component::fem::_wirebeaminterpolation_
+
 
-} // namespace sofa::component::fem
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.cpp b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.cpp
index 98fffead1..b5abfd832 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.cpp
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.cpp
@@ -27,10 +27,8 @@
 #include <sofa/component/statecontainer/MechanicalObject.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::component::constraintset
-{
 
-namespace _adaptivebeamlengthconstraint_
+namespace sofa::component::constraintset::_adaptivebeamlengthconstraint_
 {
 
 
@@ -78,6 +76,5 @@ static int AdaptiveBeamLengthConstraintClass = RegisterObject("Constrain the len
 template class AdaptiveBeamLengthConstraint<Rigid3Types>;
 
 
-} /// namespace _adaptivebeamlengthconstraint_
+} // namespace sofa::component::constraintset::_adaptivebeamlengthconstraint_
 
-} /// namespace sofa::component::constraintset
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
index fa02b9109..23e43fb7a 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
@@ -29,10 +29,8 @@
 #include <sofa/core/behavior/ConstraintResolution.h>
 #include <BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.h>
 
-namespace sofa::component::constraintset
-{
 
-namespace _adaptivebeamlengthconstraint_
+namespace sofa::component::constraintset::_adaptivebeamlengthconstraint_
 {
 
 using helper::ReadAccessor;
@@ -408,6 +406,4 @@ void AdaptiveBeamLengthConstraint<DataTypes>::draw(const VisualParams* vparams)
     vparams->drawTool()->restoreLastState();
 }
 
-} /// namespace _adaptivebeamlengthconstraint_
-
-} /// namespace sofa::component::constraintset
+} // namespace sofa::component::constraintset::_adaptivebeamlengthconstraint_
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.cpp b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.cpp
index 852822ab9..9dfb476bc 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.cpp
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.cpp
@@ -39,10 +39,7 @@ using sofa::defaulttype::Rigid3Types;
 using sofa::core::RegisterObject;
 
 
-namespace sofa::component::constraintset
-{
-
-namespace _adaptiveBeamSlidingConstraint_
+namespace sofa::component::constraintset::_adaptiveBeamSlidingConstraint_
 {
 
 AdaptiveBeamSlidingConstraintResolution::AdaptiveBeamSlidingConstraintResolution(double* sliding)
@@ -101,10 +98,7 @@ template class SOFA_BEAMADAPTER_API AdaptiveBeamSlidingConstraint<Rigid3Types>;
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
-} // namespace _adaptiveBeamSlidingConstraint_
-
-} // namespace sofa::component::constraintset
-
+} // namespace sofa::component::constraintset::_adaptiveBeamSlidingConstraint_
 
 
 ///////////////////////////////// DEPRECATION MANAGEMENT FOR BACKWARD COMPATIBILITY ///////////////////
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
index 695d9aaf1..131622877 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
@@ -27,10 +27,8 @@
 #include <BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.h>
 #include <sofa/core/behavior/ConstraintResolution.h>
 
-namespace sofa::component::constraintset
-{
 
-namespace _adaptiveBeamSlidingConstraint_
+namespace sofa::component::constraintset::_adaptiveBeamSlidingConstraint_
 {
 
 using sofa::core::behavior::ConstraintResolution ;
@@ -547,7 +545,6 @@ bool ProjectionSearch<DataTypes>::testForProjection(Real curvAbs)
 }
 
 
+} // namespace sofa::component::constraintset::_adaptiveBeamSlidingConstraint_
 
-} // namespace _adaptiveBeamSlidingConstraint_
 
-} // namespace sofa::component::constraintset
diff --git a/src/BeamAdapter/component/controller/AdaptiveBeamController.cpp b/src/BeamAdapter/component/controller/AdaptiveBeamController.cpp
index 1c7fe32cf..a6e634d4e 100644
--- a/src/BeamAdapter/component/controller/AdaptiveBeamController.cpp
+++ b/src/BeamAdapter/component/controller/AdaptiveBeamController.cpp
@@ -41,10 +41,8 @@
 #include <BeamAdapter/config.h>
 #include <BeamAdapter/component/controller/AdaptiveBeamController.inl>
 
-namespace sofa::component::controller
-{
 
-namespace _adaptivebeamcontroller_
+namespace sofa::component::controller::_adaptivebeamcontroller_
 {
 
 using sofa::defaulttype::Rigid3Types;
@@ -67,6 +65,6 @@ static int AdaptiveBeamControllerClass = RegisterObject("")
 template class SOFA_BEAMADAPTER_API AdaptiveBeamController<Rigid3Types>;
 
 
-} // namespace _adaptivebeamcontroller_
+} // namespace sofa::component::controller::_adaptivebeamcontroller_
+
 
-} // namespace sofa::component::controller
diff --git a/src/BeamAdapter/component/controller/AdaptiveBeamController.inl b/src/BeamAdapter/component/controller/AdaptiveBeamController.inl
index 6bcd80f45..76f9eb1a7 100644
--- a/src/BeamAdapter/component/controller/AdaptiveBeamController.inl
+++ b/src/BeamAdapter/component/controller/AdaptiveBeamController.inl
@@ -43,10 +43,7 @@
 #include <BeamAdapter/component/controller/AdaptiveBeamController.h>
 
 
-namespace sofa::component::controller
-{
-
-namespace _adaptivebeamcontroller_
+namespace sofa::component::controller::_adaptivebeamcontroller_
 {
 
 using sofa::core::objectmodel::BaseContext ;
@@ -324,6 +321,6 @@ void AdaptiveBeamController<DataTypes>::applyController()
     m_adaptiveinterpolation->setLength(newCurvAbs.size()-2,L);
 }
 
-} // namespace _adaptivebeamcontroller_
+} // namespace sofa::component::controller::_adaptivebeamcontroller_
+
 
-} // namespace sofa::component::controller
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.cpp b/src/BeamAdapter/component/controller/InterventionalRadiologyController.cpp
index 06cbe0ad1..716c8b6fd 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.cpp
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.cpp
@@ -40,10 +40,7 @@
 #include <BeamAdapter/component/controller/InterventionalRadiologyController.inl>
 
 
-namespace sofa::component::controller
-{
-
-namespace _interventionalradiologycontroller_
+namespace sofa::component::controller::_interventionalradiologycontroller_
 {
 
 using namespace sofa::defaulttype;
@@ -63,6 +60,6 @@ static int InterventionalRadiologyControllerClass = core::RegisterObject("Provid
 
 template class SOFA_BEAMADAPTER_API InterventionalRadiologyController<Rigid3Types>;
 
-} // namespace _interventionalradiologycontroller_
+} // namespace sofa::component::controller::_interventionalradiologycontroller_
+
 
-} // namespace sofa::component::controller
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index ab1b876f9..221e40a94 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -44,10 +44,8 @@
 
 #include <BeamAdapter/component/controller/InterventionalRadiologyController.h>
 
-namespace sofa::component::controller
-{
 
-namespace _interventionalradiologycontroller_
+namespace sofa::component::controller::_interventionalradiologycontroller_
 {
 
 using type::vector;
@@ -1067,6 +1065,6 @@ int InterventionalRadiologyController<DataTypes>::getTotalNbEdges() const
 }
 
 
-} // namespace _interventionalradiologycontroller_
+} // namespace sofa::component::controller::_interventionalradiologycontroller_
+
 
-} // namespace sofa::component::controller
diff --git a/src/BeamAdapter/component/controller/SutureController.cpp b/src/BeamAdapter/component/controller/SutureController.cpp
index 73939077a..5f3225286 100644
--- a/src/BeamAdapter/component/controller/SutureController.cpp
+++ b/src/BeamAdapter/component/controller/SutureController.cpp
@@ -37,10 +37,8 @@
 
 #include <BeamAdapter/component/controller/SutureController.inl>
 
-namespace sofa::component::controller
-{
 
-namespace _suturecontroller_
+namespace sofa::component::controller::_suturecontroller_
 {
 
 using namespace sofa::defaulttype;
@@ -60,6 +58,4 @@ static int SutureControllerClass = core::RegisterObject("Provides a Mouse & Keyb
 
 template class SOFA_BEAMADAPTER_API SutureController<Rigid3Types>;
 
-} /// _suturecontroller_
-
-} /// namespace sofa::component::controller
+} // namespace sofa::component::controller::_suturecontroller_
diff --git a/src/BeamAdapter/component/controller/SutureController.inl b/src/BeamAdapter/component/controller/SutureController.inl
index 6e44c88a8..f38a5f44a 100644
--- a/src/BeamAdapter/component/controller/SutureController.inl
+++ b/src/BeamAdapter/component/controller/SutureController.inl
@@ -39,10 +39,8 @@
 #include <BeamAdapter/component/controller/SutureController.h>
 #include <BeamAdapter/component/WireBeamInterpolation.h>
 
-namespace sofa::component::controller
-{
 
-namespace _suturecontroller_
+namespace sofa::component::controller::_suturecontroller_
 {
 
 using sofa::core::objectmodel::BaseContext ;
@@ -1214,6 +1212,5 @@ void SutureController<DataTypes>::draw(const core::visual::VisualParams* vparams
     }
 }
 
-} /// namespace _suturecontroller_
+} // namespace sofa::component::controller::_suturecontroller_
 
-} /// namespace sofa::component::controller
diff --git a/src/BeamAdapter/component/engine/WireRestShape.cpp b/src/BeamAdapter/component/engine/WireRestShape.cpp
index 34572378a..5bcbe104e 100644
--- a/src/BeamAdapter/component/engine/WireRestShape.cpp
+++ b/src/BeamAdapter/component/engine/WireRestShape.cpp
@@ -37,10 +37,8 @@
 #include <sofa/defaulttype/VecTypes.h>
 #include <sofa/defaulttype/RigidTypes.h>
 
-namespace sofa::component::engine
-{
 
-namespace _wirerestshape_
+namespace sofa::component::engine::_wirerestshape_
 {
 using namespace sofa::defaulttype;
 
@@ -60,6 +58,6 @@ const int WireRestShapeClass = core::RegisterObject("Describe the shape function
 template class SOFA_BEAMADAPTER_API WireRestShape<Rigid3Types>;
 
 
-} // namespace _wirerestshape_
+} // namespace sofa::component::engine::_wirerestshape_
+
 
-}// namespace sofa::component::engine
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.cpp b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.cpp
index 94623435d..892221b2e 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.cpp
+++ b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.cpp
@@ -38,10 +38,8 @@
 
 #include <BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl>
 
-namespace sofa::component::forcefield
-{
 
-namespace _adaptivebeamforcefieldandmass_
+namespace sofa::component::forcefield::_adaptivebeamforcefieldandmass_
 {
 
 /////////////////////////////////////////// FACTORY ////////////////////////////////////////////////
@@ -61,6 +59,4 @@ template class SOFA_BEAMADAPTER_API AdaptiveBeamForceFieldAndMass<sofa::defaultt
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-} /// _adaptivebeamforcefiedlandmass_
-
-} /// namespace sofa::component::forcefield
+} // namespace sofa::component::forcefield::_adaptivebeamforcefieldandmass_
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.cpp b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.cpp
index 5ad836233..44fa6b3d2 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.cpp
+++ b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.cpp
@@ -37,10 +37,8 @@
 #include <sofa/core/ObjectFactory.h>
 #include <BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl>
 
-namespace sofa::component::forcefield
-{
 
-namespace _AdaptiveInflatableBeamForceField_
+namespace sofa::component::forcefield::_AdaptiveInflatableBeamForceField_
 {
 
 using sofa::core::RegisterObject ;
@@ -64,6 +62,4 @@ template class SOFA_BEAMADAPTER_API AdaptiveInflatableBeamForceField<Rigid3Types
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-} /// _adaptivebeamforcefiedlandmass_
-
-} /// namespace sofa::component::forcefield
+} // namespace sofa::component::forcefield::_AdaptiveInflatableBeamForceField_
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
index 615e845f4..6dcc2ad06 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
+++ b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
@@ -48,12 +48,7 @@
 #include <sofa/core/visual/VisualParams.h>
 
 
-
-
-namespace sofa::component::forcefield
-{
-
-namespace _AdaptiveInflatableBeamForceField_
+namespace sofa::component::forcefield::_AdaptiveInflatableBeamForceField_
 {
 
 /* ************* ADAPTIVE FORCEFIELD_AND_MASS ************** */
@@ -836,6 +831,5 @@ void AdaptiveInflatableBeamForceField<DataTypes>::drawElement(const VisualParams
 }
 
 
-} /// namespace _AdaptiveInflatableBeamForceField_
+} // namespace sofa::component::forcefield::_AdaptiveInflatableBeamForceField_
 
-} /// namespace sofa::component::forcefield
diff --git a/src/BeamAdapter/component/mapping/BeamLengthMapping.cpp b/src/BeamAdapter/component/mapping/BeamLengthMapping.cpp
index 8fd8b7780..0606eefd0 100644
--- a/src/BeamAdapter/component/mapping/BeamLengthMapping.cpp
+++ b/src/BeamAdapter/component/mapping/BeamLengthMapping.cpp
@@ -38,13 +38,8 @@
 
 #include <BeamAdapter/component/mapping/BeamLengthMapping.inl>
 
-namespace sofa
-{
-
-namespace component
-{
 
-namespace mapping
+namespace sofa::component::mapping
 {
 
 //using namespace defaulttype;
@@ -73,8 +68,8 @@ namespace _beamlengthmapping_
     template class SOFA_BEAMADAPTER_API BeamLengthMapping<Rigid3dTypes, Vec1dTypes   >;
 }
 
-} // namespace mapping
+} // namespace sofa::component::mapping
+
+
 
-} // namespace component
 
-} // namespace sofa
diff --git a/src/BeamAdapter/component/mapping/BeamLengthMapping.h b/src/BeamAdapter/component/mapping/BeamLengthMapping.h
index 46cb3eae5..3e961461f 100644
--- a/src/BeamAdapter/component/mapping/BeamLengthMapping.h
+++ b/src/BeamAdapter/component/mapping/BeamLengthMapping.h
@@ -59,13 +59,9 @@
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 /// Declarations
 ////////////////////////////////////////////////////////////////////////////////////////////////////
-namespace sofa
-{
 
-namespace component
-{
 
-namespace mapping
+namespace sofa::component::mapping
 {
 
 /////////////////////////////////// private namespace pattern //////////////////////////////////////
@@ -238,10 +234,5 @@ using _beamlengthmapping_::BeamLengthMapping ;
 
 
 
-} /// namespace mapping
-
-} /// namespace component
-
-} /// namespace sofa
-
+} // namespace sofa::component::mapping
 #endif  /* SOFA_COMPONENT_MAPPING_BEAMLENGTHMAPPING_H */
diff --git a/src/BeamAdapter/utils/deprecatedcomponent.h b/src/BeamAdapter/utils/deprecatedcomponent.h
index e06af80ed..2725db209 100644
--- a/src/BeamAdapter/utils/deprecatedcomponent.h
+++ b/src/BeamAdapter/utils/deprecatedcomponent.h
@@ -23,10 +23,8 @@
 
 #include <sofa/core/objectmodel/BaseObject.h>
 
-namespace sofa
-{
 
-namespace component
+namespace sofa::component
 {
 using sofa::core::objectmodel::BaseObject ;
 using sofa::core::objectmodel::BaseContext ;
@@ -47,6 +45,6 @@ class DeprecatedComponent : public BaseObject
 private:
 } ;
 
-} // namespace component
+} // namespace sofa::component
+
 
-} // namespace sofa