diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 72c9f745..3c8dd416 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -46,11 +46,13 @@ jobs:
       - run: cargo test --no-default-features --features 2d
         if: matrix.crate == 'rapier' || matrix.crate == 'debug' || matrix.crate == '.'
       - run: cargo test --no-default-features --features 3d
-        if: matrix.crate == 'rapier' || matrix.crate == '.'
+        if: matrix.crate == 'rapier' || matrix.crate == 'debug' || matrix.crate == '.'
       - run: cargo test --no-default-features --features enhanced-determinism
         if: matrix.crate == 'rapier' || matrix.crate == '.'
       - run: cargo test --no-default-features --features debug-2d
         if: matrix.crate == '.'
+      - run: cargo test --no-default-features --features debug-3d
+        if: matrix.crate == '.'
       - run: cargo test --all-features -- --ignored
 
   code-style:
diff --git a/Cargo.toml b/Cargo.toml
index 230b9df8..046d5364 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -22,6 +22,7 @@ collision-from-mesh = ["heron_core/collision-from-mesh"]
 2d = ["heron_rapier/2d"]
 3d = ["heron_rapier/3d", "heron_core/3d"]
 debug-2d = ["2d", "heron_debug/2d"]
+debug-3d = ["3d", "heron_debug/3d"]
 enhanced-determinism = ["heron_rapier/enhanced-determinism"]
 
 [dependencies]
@@ -46,6 +47,10 @@ required-features = ["2d"]
 name = "debug_2d"
 required-features = ["debug-2d"]
 
+[[example]]
+name = "debug_3d"
+required-features = ["debug-3d"]
+
 [[example]]
 name = "quickstart"
 required-features = ["2d"]
diff --git a/README.md b/README.md
index 22448d39..71cb52bb 100644
--- a/README.md
+++ b/README.md
@@ -101,6 +101,7 @@ One must choose to use either `2d` or `3d`. If neither of the two features is en
 * `3d` Enable simulation on the 3 axes `x`, `y`, and `z`.
 * `2d` Enable simulation only on the first 2 axes `x` and `y`.
 * `debug-2d` Render 2d collision shapes.
+* `debug-3d` Render 3d collision shapes.
 * `enhanced-determinism` Enable rapier's [enhanced-determinism](https://rapier.rs/docs/user_guides/rust/determinism)
 
 
diff --git a/debug/Cargo.toml b/debug/Cargo.toml
index 0df80350..f182c5de 100644
--- a/debug/Cargo.toml
+++ b/debug/Cargo.toml
@@ -8,12 +8,10 @@ license = "MIT"
 description = "Rendering of Heron's collision shapes for debugging purposes"
 repository = "https://github.com/jcornaz/heron/"
 
-[package.metadata.docs.rs]
-all-features = true
-
 [features]
 default = []
 2d = ["heron_rapier/2d", "bevy_prototype_lyon", "lyon_path"]
+3d = ["heron_rapier/3d", "bevy_prototype_debug_lines/3d"]
 
 [dependencies]
 heron_core = { version = "2.1.0", path = "../core" }
@@ -22,3 +20,10 @@ bevy = { version = "0.6.0", default-features = false, features = ["render"] }
 bevy_prototype_lyon = { version = "0.4.0", optional = true }
 lyon_path = { version = "0.17.4", optional = true }
 fnv = "1.0"
+bevy_prototype_debug_lines = { version = "0.6.1", default-features = false, optional = true }
+
+[package.metadata.docs.rs]
+all-features = true
+
+[package.metadata.cargo-udeps.ignore]
+normal = ["lyon_path", "bevy_prototype_lyon"] # False positive, they are used but only when 2d is enabled and 3d disabled
diff --git a/debug/src/lib.rs b/debug/src/lib.rs
index d8a10543..24694fef 100644
--- a/debug/src/lib.rs
+++ b/debug/src/lib.rs
@@ -54,7 +54,7 @@ struct Indexed;
 impl Plugin for DebugPlugin {
     fn build(&self, app: &mut App) {
         #[cfg(feature = "3d")]
-        app.add_plugin(bevy_prototype_debug_lines::DebugLinesPlugin)
+        app.add_plugin(bevy_prototype_debug_lines::DebugLinesPlugin::default())
             .add_system_set_to_stage(CoreStage::PostUpdate, dim3::systems());
 
         #[cfg(all(feature = "2d", not(feature = "3d")))]
diff --git a/examples/debug_3d.rs b/examples/debug_3d.rs
new file mode 100644
index 00000000..8816b9fe
--- /dev/null
+++ b/examples/debug_3d.rs
@@ -0,0 +1,199 @@
+use bevy::prelude::*;
+
+use heron::prelude::*;
+
+fn main() {
+    App::new()
+        .insert_resource(Msaa { samples: 4 })
+        .insert_resource(Gravity::from(Vec3::new(0., -9.81, 0.)))
+        .add_plugins(DefaultPlugins)
+        .add_plugin(PhysicsPlugin::default())
+        .add_startup_system(setup.system())
+        .run();
+}
+
+fn setup(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+) {
+    // HeightField
+    commands
+        .spawn_bundle((Transform::identity(), GlobalTransform::identity()))
+        .insert(RigidBody::Static)
+        .insert(CollisionShape::HeightField {
+            size: Vec2::new(20., 20.),
+            heights: vec![
+                vec![1.5, 0.8, 0., 0., 3.0],
+                vec![0.8, 0.2, 0., 0., 3.0],
+                vec![0., 0.5, 0., 0., 3.0],
+                vec![0., 0., 0.6, 0., 3.0],
+                vec![3., 3., 3., 3., 3.0],
+            ],
+        });
+
+    commands
+        .spawn_bundle(PerspectiveCameraBundle::new_3d())
+        .insert(
+            Transform {
+                translation: Vec3::new(3.0, 7., -19.0),
+                ..Default::default()
+            }
+            .looking_at(Vec3::new(1., 4., 0.), Vec3::Y),
+        );
+
+    // Cube (with radius)
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Cube { size: 1.0 })),
+            material: materials.add(Color::BLUE.into()),
+            ..Default::default()
+        })
+        .insert(Transform {
+            translation: Vec3::new(7.0, 15., 7.0),
+            ..Default::default()
+        })
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::Cuboid {
+            half_extends: Vec3::new(0.3, 0.3, 0.3),
+            border_radius: Some(0.3),
+        });
+
+    // Cube (no radius)
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Cube { size: 1.0 })),
+            material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+            ..Default::default()
+        })
+        .insert(GlobalTransform::identity())
+        .insert(Transform {
+            translation: Vec3::new(0.0, 3.0, 0.0),
+            ..Default::default()
+        })
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::Cuboid {
+            half_extends: Vec3::new(0.5, 0.5, 0.5),
+            border_radius: None,
+        });
+
+    // ConvexHull (no radius)
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Cube { size: 2.0 })),
+            material: materials.add(Color::RED.into()),
+            ..Default::default()
+        })
+        .insert(Transform {
+            translation: Vec3::new(-2.0, 15., 8.0),
+            ..Default::default()
+        })
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::ConvexHull {
+            points: vec![
+                Vec3::new(-1.0, -1.0, -1.0),
+                Vec3::new(-1.0, -1.0, 1.0),
+                Vec3::new(-1.0, 1.0, -1.0),
+                Vec3::new(1.0, -1.0, -1.0),
+                Vec3::new(-1.0, 1.0, 1.0),
+                Vec3::new(1.0, -1.0, 1.0),
+                Vec3::new(1.0, 1.0, 1.0),
+                Vec3::new(1.0, 1.0, -1.0),
+                Vec3::new(0.0, 1.4, 0.0),
+                Vec3::new(0.0, -1.4, 0.0),
+                Vec3::new(0.0, 0.0, -1.6),
+                Vec3::new(0.0, 0.0, 1.6),
+            ],
+            border_radius: None,
+        });
+
+    // Sphere
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Icosphere {
+                radius: 1.0,
+                ..Default::default()
+            })),
+            material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+            ..Default::default()
+        })
+        .insert(Transform {
+            translation: Vec3::new(3.0, 15., 3.0),
+            ..Default::default()
+        })
+        .insert(GlobalTransform::identity())
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::Sphere { radius: 1.0 });
+
+    // Cylinder
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Capsule {
+                radius: 0.5,
+                depth: 2.0,
+                ..Default::default()
+            })),
+            material: materials.add(Color::GREEN.into()),
+            ..Default::default()
+        })
+        .insert(Transform {
+            translation: Vec3::new(3., 15., -7.),
+            ..Default::default()
+        })
+        .insert(GlobalTransform::identity())
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::Cylinder {
+            half_height: 1.0,
+            radius: 0.5,
+        });
+
+    // Cone
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Capsule {
+                radius: 0.5,
+                depth: 2.0,
+                ..Default::default()
+            })),
+            material: materials.add(Color::RED.into()),
+            ..Default::default()
+        })
+        .insert(Transform {
+            translation: Vec3::new(5., 15., -7.),
+            ..Default::default()
+        })
+        .insert(GlobalTransform::identity())
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::Cone {
+            half_height: 2.0,
+            radius: 1.0,
+        });
+
+    // Capsule
+    commands
+        .spawn_bundle(PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Capsule {
+                radius: 0.5,
+                depth: 2.0,
+                ..Default::default()
+            })),
+            material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+            ..Default::default()
+        })
+        .insert(Transform {
+            translation: Vec3::new(0., 15., 0.),
+            ..Default::default()
+        })
+        .insert(GlobalTransform::identity())
+        .insert(RigidBody::Dynamic)
+        .insert(CollisionShape::Capsule {
+            radius: 0.5,
+            half_segment: 1.0,
+        });
+
+    // light
+    commands.spawn_bundle(PointLightBundle {
+        transform: Transform::from_xyz(-4.0, 9.0, -4.0),
+        ..Default::default()
+    });
+}
diff --git a/src/lib.rs b/src/lib.rs
index b20a5708..f6c06782 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -35,7 +35,8 @@
 //!
 //! * `3d` Enable simulation on the 3 axes `x`, `y`, and `z`. Incompatible with the feature `2d`.
 //! * `2d` Enable simulation only on the first 2 axes `x` and `y`. Incompatible with the feature `3d`, therefore require to disable the default features.
-//! * `debug-2d` Render 2d collision shapes. Works only in 2d, support for 3d may be added later.
+//! * `debug-2d` Render 2d collision shapes
+//! * `debug-3d` Render 3d collision shapes
 //! * `enhanced-determinism` Enable rapier's [enhanced-determinism](https://rapier.rs/docs/user_guides/rust/determinism)
 //!
 //!