Thank you for sharing all of these, @HiGreg! As you’ve shown, for Havok, we have to gather the data (e.g. contact normals) for debug visualization ourselves. In contrast, we would get these lines for free in Bullet and PhysX, since we have access to their native debug drawers.
Below is a video of PhysX’s native joint debug lines visualization. It shows linear and angular limits (yellow curves) and joint axes, which have been super helpful for me learning how to use joints. Currently, I’m working “blind” in Havok, since we don’t have access to Havok’s native debug visualization for joints
