diff --git a/src/main/java/com/github/stephengold/joltjni/Shape.java b/src/main/java/com/github/stephengold/joltjni/Shape.java
index 6b2fc3eb..ec8a6f88 100644
--- a/src/main/java/com/github/stephengold/joltjni/Shape.java
+++ b/src/main/java/com/github/stephengold/joltjni/Shape.java
@@ -23,8 +23,10 @@ of this software and associated documentation files (the "Software"), to deal
 
 import com.github.stephengold.joltjni.enumerate.EShapeSubType;
 import com.github.stephengold.joltjni.enumerate.EShapeType;
+import com.github.stephengold.joltjni.readonly.ConstColor;
 import com.github.stephengold.joltjni.readonly.ConstShape;
 import com.github.stephengold.joltjni.readonly.Mat44Arg;
+import com.github.stephengold.joltjni.readonly.RMat44Arg;
 import com.github.stephengold.joltjni.readonly.Vec3Arg;
 import com.github.stephengold.joltjni.template.RefTarget;
 import java.nio.FloatBuffer;
@@ -170,6 +172,33 @@ public int countDebugTriangles() {
         return result;
     }
 
+    /**
+     * Draw the shape using the specified renderer. The shape is unaffected.
+     *
+     * @param renderer the renderer to use (not null)
+     * @param comTransform the coordinate transform from the shape's center of
+     * mass to system coordinates (not null, unaffected)
+     * @param scale the desired scaling (not null, unaffected)
+     * @param color the desired color if {@code useMaterialColors} is false (not
+     * null, unaffected)
+     * @param useMaterialColors true to use the color in the shape's material
+     * @param wireframe true to draw a wire frame, false for solid triangles
+     */
+    @Override
+    public void draw(DebugRenderer renderer, RMat44Arg comTransform,
+            Vec3Arg scale, ConstColor color, boolean useMaterialColors,
+            boolean wireframe) {
+        long shapeVa = va();
+        long rendererVa = renderer.va();
+        long transformVa = comTransform.va();
+        float scaleX = scale.getX();
+        float scaleY = scale.getY();
+        float scaleZ = scale.getZ();
+        int colorInt = color.getUInt32();
+        draw(shapeVa, rendererVa, transformVa, scaleX, scaleY, scaleZ,
+                colorInt, useMaterialColors, wireframe);
+    }
+
     /**
      * Locate the shape's center of mass. The shape is unaffected.
      *
@@ -367,6 +396,10 @@ native static void copyDebugTriangles(
 
     native static int countDebugTriangles(long shapeVa);
 
+    native static void draw(long shapeVa, long rendererVa, long transformVa,
+            float scaleX, float scaleY, float scaleZ, int colorInt,
+            boolean useMaterialColors, boolean wireframe);
+
     native static float getCenterOfMassX(long shapeVa);
 
     native static float getCenterOfMassY(long shapeVa);
diff --git a/src/main/java/com/github/stephengold/joltjni/ShapeRefC.java b/src/main/java/com/github/stephengold/joltjni/ShapeRefC.java
index 78464732..96ea2730 100644
--- a/src/main/java/com/github/stephengold/joltjni/ShapeRefC.java
+++ b/src/main/java/com/github/stephengold/joltjni/ShapeRefC.java
@@ -23,8 +23,10 @@ of this software and associated documentation files (the "Software"), to deal
 
 import com.github.stephengold.joltjni.enumerate.EShapeSubType;
 import com.github.stephengold.joltjni.enumerate.EShapeType;
+import com.github.stephengold.joltjni.readonly.ConstColor;
 import com.github.stephengold.joltjni.readonly.ConstShape;
 import com.github.stephengold.joltjni.readonly.Mat44Arg;
+import com.github.stephengold.joltjni.readonly.RMat44Arg;
 import com.github.stephengold.joltjni.readonly.Vec3Arg;
 import java.nio.FloatBuffer;
 
@@ -106,6 +108,34 @@ public int countDebugTriangles() {
         return result;
     }
 
+    /**
+     * Draw the shape using the specified renderer. The shape is unaffected.
+     *
+     * @param renderer the renderer to use (not null)
+     * @param comTransform the coordinate transform from the shape's center of
+     * mass to system coordinates (not null, unaffected)
+     * @param scale the desired scaling (not null, unaffected)
+     * @param color the desired color if {@code useMaterialColors} is false (not
+     * null, unaffected)
+     * @param useMaterialColors true to use the color in the shape's material
+     * @param wireframe true to draw a wire frame, false for solid triangles
+     */
+    @Override
+    public void draw(DebugRenderer renderer, RMat44Arg comTransform,
+            Vec3Arg scale, ConstColor color, boolean useMaterialColors,
+            boolean wireframe) {
+        long refVa = va();
+        long shapeVa = getPtr(refVa);
+        long rendererVa = renderer.va();
+        long transformVa = comTransform.va();
+        float scaleX = scale.getX();
+        float scaleY = scale.getY();
+        float scaleZ = scale.getZ();
+        int colorInt = color.getUInt32();
+        Shape.draw(shapeVa, rendererVa, transformVa, scaleX, scaleY, scaleZ,
+                colorInt, useMaterialColors, wireframe);
+    }
+
     /**
      * Locate the shape's center of mass. The shape is unaffected.
      *
diff --git a/src/main/java/com/github/stephengold/joltjni/readonly/ConstShape.java b/src/main/java/com/github/stephengold/joltjni/readonly/ConstShape.java
index 8c644097..5571e8b6 100644
--- a/src/main/java/com/github/stephengold/joltjni/readonly/ConstShape.java
+++ b/src/main/java/com/github/stephengold/joltjni/readonly/ConstShape.java
@@ -22,6 +22,7 @@ of this software and associated documentation files (the "Software"), to deal
 package com.github.stephengold.joltjni.readonly;
 
 import com.github.stephengold.joltjni.AaBox;
+import com.github.stephengold.joltjni.DebugRenderer;
 import com.github.stephengold.joltjni.MassProperties;
 import com.github.stephengold.joltjni.ShapeRefC;
 import com.github.stephengold.joltjni.Vec3;
@@ -55,6 +56,22 @@ public interface ConstShape extends ConstJoltPhysicsObject {
      */
     int countDebugTriangles();
 
+    /**
+     * Draw the shape using the specified renderer. The shape is unaffected.
+     *
+     * @param renderer the renderer to use (not null)
+     * @param comTransform the coordinate transform from the shape's center of
+     * mass to system coordinates (not null, unaffected)
+     * @param scale the desired scaling (not null, unaffected)
+     * @param color the desired color if {@code useMaterialColors} is false (not
+     * null, unaffected)
+     * @param useMaterialColors true to use the color in the shape's material
+     * @param wireframe true to draw a wire frame, false for solid triangles
+     */
+    void draw(DebugRenderer renderer, RMat44Arg comTransform,
+            Vec3Arg scale, ConstColor color, boolean useMaterialColors,
+            boolean wireframe);
+
     /**
      * Locate the shape's center of mass. The shape is unaffected.
      *
diff --git a/src/main/native/glue/s/Shape.cpp b/src/main/native/glue/s/Shape.cpp
index 7e1a5cee..8fe6c81f 100644
--- a/src/main/native/glue/s/Shape.cpp
+++ b/src/main/native/glue/s/Shape.cpp
@@ -106,6 +106,28 @@ JNIEXPORT jint JNICALL Java_com_github_stephengold_joltjni_Shape_countDebugTrian
     return result;
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_Shape
+ * Method:    draw
+ * Signature: (JJJFFFIZZ)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_Shape_draw
+  (JNIEnv *, jclass, jlong shapeVa, jlong rendererVa, jlong transformVa,
+  jfloat scaleX, jfloat scaleY, jfloat scaleZ, jint colorInt,
+  jboolean useMaterialColors, jboolean wireframe) {
+#ifdef JPH_DEBUG_RENDERER
+    const Shape * const pShape = reinterpret_cast<Shape *> (shapeVa);
+    DebugRenderer * const pRenderer
+            = reinterpret_cast<DebugRenderer *> (rendererVa);
+    const RMat44 * const pTransform
+            = reinterpret_cast<RMat44 *> (transformVa);
+    const Vec3 scale(scaleX, scaleY, scaleZ);
+    const Color color(colorInt);
+    pShape->Draw(
+            pRenderer, *pTransform, scale, color, useMaterialColors, wireframe);
+#endif
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_Shape
  * Method:    getCenterOfMassX