Dynamic processes in continuum physics are modeled using time-dependent partial differential equations (PDE), which are based on the conservation of some physical quantities, such as mass, momentum and energy. Depending on the physical phenomenon under consideration, the governing equations can exhibit some mathematical structures like differential constraints, algebraic relations, physical admissible states as well as asymptotic limits and thermodynamics compatibility. An interesting class of mathematical models is provided by symmetric hyperbolic systems that intrinsically imply all the structures listed above. When passing at the discrete level, the exact satisfaction of these structural properties is not automatically guaranteed, thus Structure Preserving numerical schemes have recently emerged with the aim of exactly discretizing at least a subset of these constraints. We will investigate and present some of our research activity carried out in the framework of the development of Structure Preserving schemes, focusing on recent contributions delivered in the last three years. In particular, we will address asymptotic preserving schemes for low Mach flows, div-curl and curl-grad preserving operators for discontinuous Galerkin methods, and a novel geometric and thermodynamically compatible finite volume method for continuum mechanics.