For the 2.x.x rapier experimental addon, a new Debug Render addon enables rendering the physic world bodies.

Add the mikal_physics_render-1.0.0.c3addon to the project and add the object to the project. Add _one_ instance to the center of the viewport. The instance must be within camera view to render the debug outlines, e.g. it may need to be moved if camera moves. There is now a new ACE in the 3d physics addon to enable debug render with a width for the outline lines.