(Ogre3d / PhysX / C ++) — как сделать отладочную визуализацию отрисовки

Вы можете мне помочь. Я не могу понять, как рисовать отладочную визуализацию PhysX в Ogre3D вместе с обычными объектами.

У меня есть код для OpenGL, но я не могу преобразовать его в Ogre3d:

void RenderData(const PxRenderBuffer & data)
{
glLineWidth(1.0f);
glDisable(GL_LIGHTING);

//----------Render Points------------------
unsigned int NbPoints = data.getNbPoints();
if(NbPoints)
{
float* pVertList = new float[NbPoints*3];
float* pColorList = new float[NbPoints*4];
int vertIndex = 0;
int colorIndex = 0;
const PxDebugPoint* Points = data.getPoints();
while(NbPoints--)
{
pVertList[vertIndex++] = Points->pos.x;
pVertList[vertIndex++] = Points->pos.y;
pVertList[vertIndex++] = Points->pos.z;
pColorList[colorIndex++] = (float)((Points->color>>16)&0xff)/255.0f;
pColorList[colorIndex++] = (float)((Points->color>>8)&0xff)/255.0f;
pColorList[colorIndex++] = (float)(Points->color&0xff)/255.0f;
pColorList[colorIndex++] = 1.0f;
Points++;
}

RenderBuffer(pVertList, pColorList, GL_POINTS, data.getNbPoints());

delete[] pVertList;
delete[] pColorList;
}//----------Render Lines------------------
unsigned int NbLines = data.getNbLines();
if(NbLines)
{
float* pVertList = new float[NbLines*3*2];
float* pColorList = new float[NbLines*4*2];
int vertIndex = 0;
int colorIndex = 0;
const PxDebugLine* Lines = data.getLines();
while(NbLines--)
{
pVertList[vertIndex++] = Lines->pos0.x;
pVertList[vertIndex++] = Lines->pos0.y;
pVertList[vertIndex++] = Lines->pos0.z;
pColorList[colorIndex++] = (float)((Lines->color0>>16)&0xff)/255.0f;
pColorList[colorIndex++] = (float)((Lines->color0>>8)&0xff)/255.0f;
pColorList[colorIndex++] = (float)(Lines->color0&0xff)/255.0f;
pColorList[colorIndex++] = 1.0f;

pVertList[vertIndex++] = Lines->pos1.x;
pVertList[vertIndex++] = Lines->pos1.y;
pVertList[vertIndex++] = Lines->pos1.z;
pColorList[colorIndex++] = (float)((Lines->color0>>16)&0xff)/255.0f;
pColorList[colorIndex++] = (float)((Lines->color0>>8)&0xff)/255.0f;
pColorList[colorIndex++] = (float)(Lines->color0&0xff)/255.0f;
pColorList[colorIndex++] = 1.0f;

Lines++;
}

RenderBuffer(pVertList, pColorList, GL_LINES, data.getNbLines()*2);

delete[] pVertList;
delete[] pColorList;
}//----------Render Triangles------------------
unsigned int NbTris = data.getNbTriangles();
if(NbTris)
{
float* pVertList = new float[NbTris*3*3];
float* pColorList = new float[NbTris*4*3];
int vertIndex = 0;
int colorIndex = 0;
const PxDebugTriangle* Triangles = data.getTriangles();
while(NbTris--)
{
pVertList[vertIndex++] = Triangles->pos0.x;
pVertList[vertIndex++] = Triangles->pos0.y;
pVertList[vertIndex++] = Triangles->pos0.z;

pVertList[vertIndex++] = Triangles->pos1.x;
pVertList[vertIndex++] = Triangles->pos1.y;
pVertList[vertIndex++] = Triangles->pos1.z;

pVertList[vertIndex++] = Triangles->pos2.x;
pVertList[vertIndex++] = Triangles->pos2.y;
pVertList[vertIndex++] = Triangles->pos2.z;

for(int i=0;i<3;i++)
{
pColorList[colorIndex++] = (float)((Triangles->color0>>16)&0xff)/255.0f;
pColorList[colorIndex++] = (float)((Triangles->color0>>8)&0xff)/255.0f;
pColorList[colorIndex++] = (float)(Triangles->color0&0xff)/255.0f;
pColorList[colorIndex++] = 1.0f;
}

Triangles++;
}

RenderBuffer(pVertList, pColorList, GL_TRIANGLES, data.getNbTriangles()*3);

delete[] pVertList;
delete[] pColorList;
}
glEnable(GL_LIGHTING);
glColor4f(1.0f,1.0f,1.0f,1.0f);
}

void RenderBuffer(float* pVertList, float* pColorList, int type, int num)
{
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3,GL_FLOAT, 0, pVertList);

glEnableClientState(GL_COLOR_ARRAY);
glColorPointer(4, GL_FLOAT, 0, pColorList);

glDrawArrays(type, 0, num);

glDisableClientState(GL_COLOR_ARRAY);
glDisableClientState(GL_VERTEX_ARRAY);
}

Конечно, вы не можете использовать этот код. Я просто хочу нарисовать визуализацию отладки PhysX.