Collider debug gizmos

Prowl.Runtime/Components/Physics/Colliders/BoxCollider.cs

@@ -27,4 +27,12 @@ public Float3 Size
     }
 
     public override RigidBodyShape[] CreateShapes() => [new BoxShape(Maths.Max(size.X, 0.01f), Maths.Max(size.Y, 0.01f), Maths.Max(size.Z, 0.01f))];
+
+    public override void DrawGizmos()
+    {
+        Float4x4 matrix = Float4x4.CreateTRS(Transform.Position, Transform.Rotation * Quaternion.FromEuler(Rotation), Transform.LossyScale);
+        Debug.PushMatrix(matrix);
+        Debug.DrawWireCube(Center, size * 0.5f, Color.Green);
+        Debug.PopMatrix();
+    }
 }

Prowl.Runtime/Components/Physics/Colliders/CapsuleCollider.cs

@@ -36,4 +36,12 @@ public float Height
     }
 
     public override RigidBodyShape[] CreateShapes() => [new CapsuleShape(Maths.Max(radius, 0.01f), Maths.Max(height, 0.01f))];
+
+    public override void DrawGizmos()
+    {
+        Float4x4 matrix = Float4x4.CreateTRS(Transform.Position, Transform.Rotation * Quaternion.FromEuler(Rotation), Transform.LossyScale);
+        Debug.PushMatrix(matrix);
+        Debug.DrawWireCapsule(Center + new Float3(0, -height * 0.5f, 0), Center + new Float3(0, height * 0.5f, 0), radius, Color.Green);
+        Debug.PopMatrix();
+    }
 }

Prowl.Runtime/Components/Physics/Colliders/ConeCollider.cs

@@ -36,4 +36,12 @@ public float Height
     }
 
     public override RigidBodyShape[] CreateShapes() => [new ConeShape(Maths.Max(radius, 0.01f), Maths.Max(height, 0.01f))];
+
+    public override void DrawGizmos()
+    {
+        Float4x4 matrix = Float4x4.CreateTRS(Transform.Position, Transform.Rotation * Quaternion.FromEuler(Rotation), Transform.LossyScale);
+        Debug.PushMatrix(matrix);
+        Debug.DrawWireCone(Center + new Float3(0, -height * 0.5f, 0), new Float3(0, height, 0), radius, Color.Green);
+        Debug.PopMatrix();
+    }
 }

Prowl.Runtime/Components/Physics/Colliders/CylinderCollider.cs

@@ -36,4 +36,12 @@ public float Height
     }
 
     public override RigidBodyShape[] CreateShapes() => [new CylinderShape(Maths.Max(radius, 0.01f), Maths.Max(height, 0.01f))];
+
+    public override void DrawGizmos()
+    {
+        Float4x4 matrix = Float4x4.CreateTRS(Transform.Position, Transform.Rotation * Quaternion.FromEuler(Rotation), Transform.LossyScale);
+        Debug.PushMatrix(matrix);
+        Debug.DrawWireCylinder(Center, Quaternion.Identity, radius, height, Color.Green);
+        Debug.PopMatrix();
+    }
 }

Prowl.Runtime/Components/Physics/Colliders/MeshCollider.cs

@@ -8,6 +8,7 @@
 
 using Prowl.Echo;
 using Prowl.Runtime.Resources;
+using Prowl.Vector;
 
 namespace Prowl.Runtime;
 
@@ -45,6 +46,10 @@ public bool Convex
         }
     }
 
+    // Cached convex hull shape and its tessellation for gizmo drawing — rebuilt when mesh or convex flag changes.
+    [SerializeIgnore] private ConvexHullShape? _cachedConvexShape;
+    [SerializeIgnore] private List<JTriangle>? _cachedHullTris;
+
     public override RigidBodyShape[] CreateShapes()
     {
         var m = mesh.Res;
@@ -82,6 +87,14 @@ public override RigidBodyShape[] CreateShapes()
         }
     }
 
+    public override void OnValidate()
+    {
+        _cachedConvexShape = null;
+        _cachedHullTris = null;
+        base.OnValidate();
+        Debug.Log("OnInvalidate called");
+    }
+
     public override void OnEnable()
     {
         base.OnEnable();
@@ -96,6 +109,78 @@ public override void OnEnable()
         }
     }
 
+    public override void DrawGizmos()
+    {
+        var m = mesh.Res;
+        if (m == null)
+        {
+            var mr = GetComponent<MeshRenderer>();
+            if (mr != null) m = mr.Mesh.Res;
+        }
+        if (m == null) return;
+
+        Float4x4 matrix = Float4x4.CreateTRS(Transform.Position, Transform.Rotation * Quaternion.FromEuler(Rotation), Transform.LossyScale);
+        Debug.PushMatrix(matrix);
+
+        if (convex)
+        {
+            DrawConvexHullGizmo(m);
+        }
+        else
+        {
+            DrawMeshWireframeGizmo(m);
+        }
+
+        Debug.PopMatrix();
+    }
+
+    private void DrawMeshWireframeGizmo(Mesh m)
+    {
+        Float3[] vertices = m.Vertices;
+        uint[] indices = m.Indices;
+        if (vertices == null || indices == null) return;
+
+        for (int i = 0; i + 2 < indices.Length; i += 3)
+        {
+            uint i0 = indices[i], i1 = indices[i + 1], i2 = indices[i + 2];
+            if (i0 >= vertices.Length || i1 >= vertices.Length || i2 >= vertices.Length)
+                continue;
+
+            Float3 v0 = vertices[i0] + Center;
+            Float3 v1 = vertices[i1] + Center;
+            Float3 v2 = vertices[i2] + Center;
+
+            Debug.DrawLine(v0, v1, Color.Green);
+            Debug.DrawLine(v1, v2, Color.Green);
+            Debug.DrawLine(v2, v0, Color.Green);
+        }
+    }
+
+    private void DrawConvexHullGizmo(Mesh m)
+    {
+        if (_cachedConvexShape == null)
+        {
+            var triangles = ToTriangleList(m);
+            if (triangles.Count == 0) return;
+            _cachedConvexShape = new ConvexHullShape(triangles);
+        }
+
+        _cachedHullTris ??= ShapeHelper.Tessellate(_cachedConvexShape, 2);
+        JVector shift = _cachedConvexShape.Shift;
+
+        foreach (JTriangle tri in _cachedHullTris)
+        {
+            // Hull vertices are CoM-centered; add Shift to convert back to mesh-local space.
+            Float3 a = new Float3(tri.V0.X + shift.X, tri.V0.Y + shift.Y, tri.V0.Z + shift.Z) + Center;
+            Float3 b = new Float3(tri.V1.X + shift.X, tri.V1.Y + shift.Y, tri.V1.Z + shift.Z) + Center;
+            Float3 c = new Float3(tri.V2.X + shift.X, tri.V2.Y + shift.Y, tri.V2.Z + shift.Z) + Center;
+
+            Debug.DrawLine(a, b, Color.Green);
+            Debug.DrawLine(b, c, Color.Green);
+            Debug.DrawLine(c, a, Color.Green);
+        }
+    }
+
     private static List<JTriangle> ToTriangleList(Mesh mesh)
     {
         var vertices = mesh.Vertices;

Prowl.Runtime/Components/Physics/Colliders/SphereCollider.cs

@@ -25,4 +25,12 @@ public float Radius
     }
 
     public override RigidBodyShape[] CreateShapes() => [new SphereShape(Maths.Max(radius, 0.01f))];
+
+    public override void DrawGizmos()
+    {
+        Float4x4 matrix = Float4x4.CreateTRS(Transform.Position, Transform.Rotation * Quaternion.FromEuler(Rotation), Transform.LossyScale);
+        Debug.PushMatrix(matrix);
+        Debug.DrawWireSphere(Center, radius, Color.Green);
+        Debug.PopMatrix();
+    }
 }

Prowl.Runtime/Components/Physics/Constraints/PhysicsConstraint.cs

@@ -73,16 +73,7 @@ public override void OnValidate()
 
     public override void DrawGizmos()
     {
-        Constraint constraint = GetConstraint();
-        if (constraint != null && GameObject?.Scene?.Physics?.World != null)
-        {
-            try
-            {
-                constraint.DebugDraw(JitterGizmosDrawer.Instance);
-            }
-            catch (NotImplementedException)
-            { }
-        }
+        // TODO DrawGizmos
     }
 
     /// <summary>

Prowl.Runtime/Components/Physics/Constraints/PhysicsJoint.cs

@@ -36,14 +36,6 @@ protected override void DestroyConstraint()
 
     public override void DrawGizmos()
     {
-        if (joint != null && GameObject?.Scene?.Physics?.World != null)
-        {
-            try
-            {
-                joint.DebugDraw(JitterGizmosDrawer.Instance);
-            }
-            catch (NotImplementedException)
-            { }
-        }
+        // TODO DrawGizmos
     }
 }

Prowl.Runtime/Components/Physics/Rigidbody3D.cs

@@ -364,9 +364,7 @@ public override void FixedUpdate()
 
     public override void DrawGizmos()
     {
-        if (_body == null || _body.Handle.IsZero) return;
-
-        _body.DebugDraw(JitterGizmosDrawer.Instance);
+        // TODO DrawGizmos
     }
 
     public override void OnEnable()