Method visualize

physx/source/physx/src/NpRigidDynamic.cpp:544–565

#if PX_ENABLE_DEBUG_VISUALIZATION
void NpRigidDynamic::visualize(Cm::RenderOutput& out, NpScene* npScene)
{
	NpRigidDynamicT::visualize(out, npScene);

	if (getScbBodyFast().getActorFlags() & PxActorFlag::eVISUALIZATION)
	{
		PX_ASSERT(npScene);
		const PxReal scale = npScene->getVisualizationParameter(PxVisualizationParameter::eSCALE);

		const PxReal massAxes = scale * npScene->getVisualizationParameter(PxVisualizationParameter::eBODY_MASS_AXES);
		if (massAxes != 0.0f)
		{
			PxReal sleepTime = getScbBodyFast().getWakeCounter() / npScene->getWakeCounterResetValueInteral();
			PxU32 color = PxU32(0xff * (sleepTime>1.0f ? 1.0f : sleepTime));
			color = getScbBodyFast().isSleeping() ? 0xff0000 : (color<<16 | color<<8 | color);
			PxVec3 dims = invertDiagInertia(getScbBodyFast().getInverseInertia());
			dims = getDimsFromBodyInertia(dims, 1.0f / getScbBodyFast().getInverseMass());

			out << color << getScbBodyFast().getBody2World() << Cm::DebugBox(dims * 0.5f);
		}
	}
}
#endif