It is upto the user to provide this function if they want to use the True Axis Physics SDK debug rendering features. This can be done though the function TA::PhysicsRender::RenderPolygonCallBack. This function is used to render collision objects. It is called during TA::Physics::Render.
typedef void (TAC_CALL *RenderPolygonCallBack)(int nNumVertices, const Vec3* pv3VertexList);