The PhysX Visual Debugger (PVD) provides a graphical view of the PhysX scene and includes various tools to inspect and visualize variables of every PhysX object. Additionally it can also record and visualize memory and timing data.
PVD can be downloaded from: PhysX Visual Debugger | NVIDIA Developer
基于QT写的可视化工具;
安装后打开:Help-Manual可以查看使用手册。