will set up the debug renderer to show us actor shapes, joint positions and joint limits.

         <H5>DBPro</H5>
            <pre class = "dbpro">
PHY SET PARAMETER 9, 1
PHY SET PARAMETER 39, 1
PHY SET PARAMETER 28, 1
PHY SET PARAMETER 29, 1
            </pre>
 
         <H5>DarkGDK</H5>
            <pre class = "gdk">
phySetParameter(NX_VISUALIZATION_SCALE, 0.1f);
phySetParameter(NX_VISUALIZE_COLLISION_SHAPES, 1.0f);
phySetParameter(NX_VISUALIZE_JOINT_WORLD_AXES, 1.0f);
phySetParameter(NX_VISUALIZE_JOINT