diff --git a/Source/Engine/Physics/Joints/D6Joint.cpp b/Source/Engine/Physics/Joints/D6Joint.cpp
index 5a2e2bff1..c19eb719d 100644
--- a/Source/Engine/Physics/Joints/D6Joint.cpp
+++ b/Source/Engine/Physics/Joints/D6Joint.cpp
@@ -196,6 +196,73 @@ float D6Joint::GetCurrentSwingZAngle() const
     return _joint ? static_cast<PxD6Joint*>(_joint)->getSwingZAngle() : 0.0f;
 }
 
+#if USE_EDITOR
+
+#include "Engine/Debug/DebugDraw.h"
+
+float GetAngle(float angle, D6JointMotion motion)
+{
+    switch (motion)
+    {
+    case D6JointMotion::Limited:
+        return angle * DegreesToRadians;
+    case D6JointMotion::Free:
+        return PI;
+    default:
+        return 0.0f;
+    }
+}
+
+void D6Joint::OnDebugDrawSelected()
+{
+    const Vector3 source = GetPosition();
+    const Vector3 target = GetTargetPosition();
+    const Quaternion sourceRotation = GetOrientation();
+    const Quaternion targetRotation = GetTargetOrientation();
+    const float swingSize = 15.0f;
+    const float twistSize = 9.0f;
+    const Color swingColor = Color::Green.AlphaMultiplied(0.6f);
+    const Color twistColor = Color::Yellow.AlphaMultiplied(0.5f);
+    DebugDraw::DrawWireArrow(source, sourceRotation, swingSize / 100.0f * 0.5f, Color::Red, 0, false);
+    if (_motion[(int32)D6JointAxis::SwingY] == D6JointMotion::Locked && _motion[(int32)D6JointAxis::SwingZ] == D6JointMotion::Locked)
+    {
+        // Swing is locked
+    }
+    else if (_motion[(int32)D6JointAxis::SwingY] == D6JointMotion::Free && _motion[(int32)D6JointAxis::SwingZ] == D6JointMotion::Free)
+    {
+        // Swing is free
+        DEBUG_DRAW_SPHERE(BoundingSphere(source, swingSize), swingColor, 0, false);
+    }
+    else
+    {
+        // Swing is limited
+        const float angleY = GetAngle(_limitSwing.YLimitAngle, _motion[(int32)D6JointAxis::SwingY]);
+        const float angleZ = GetAngle(_limitSwing.ZLimitAngle, _motion[(int32)D6JointAxis::SwingZ]);
+        DEBUG_DRAW_CONE(source, sourceRotation, swingSize, angleY, angleZ, swingColor, 0, false);
+    }
+    if (_motion[(int32)D6JointAxis::Twist] == D6JointMotion::Locked)
+    {
+        // Twist is locked
+    }
+    else if (_motion[(int32)D6JointAxis::Twist] == D6JointMotion::Free)
+    {
+        // Twist is free
+        DEBUG_DRAW_ARC(source, sourceRotation, twistSize, TWO_PI, twistColor, 0, false);
+    }
+    else
+    {
+        // Twist is limited
+        const float lower = _limitTwist.Lower * DegreesToRadians;
+        const float upper = Math::Max(lower, _limitTwist.Upper * DegreesToRadians);
+        DEBUG_DRAW_ARC(source, sourceRotation * Quaternion::Euler(0, 0, lower), twistSize, upper - lower, twistColor, 0, false);
+    }
+
+    // Base
+    Joint::OnDebugDrawSelected();
+}
+
+#endif
+
 void D6Joint::Serialize(SerializeStream& stream, const void* otherObj)
 {
     // Base
diff --git a/Source/Engine/Physics/Joints/D6Joint.h b/Source/Engine/Physics/Joints/D6Joint.h
index 111caccba..7274ae503 100644
--- a/Source/Engine/Physics/Joints/D6Joint.h
+++ b/Source/Engine/Physics/Joints/D6Joint.h
@@ -161,7 +161,7 @@ public:
 
 /// <summary>
 /// Physics joint that is the most customizable type of joint. This joint type can be used to create all other built-in joint 
-/// types, and to design your own custom ones, but is less intuitive to use.Allows a specification of a linear 
+/// types, and to design your own custom ones, but is less intuitive to use. Allows a specification of a linear 
 /// constraint (for example for a slider), twist constraint (rotating around X) and swing constraint (rotating around Y and Z). 
 /// It also allows you to constrain limits to only specific axes or completely lock specific axes.
 /// </summary>
@@ -325,6 +325,9 @@ public:
 public:
 
     // [Joint]
+#if USE_EDITOR
+    void OnDebugDrawSelected() override;
+#endif
     void Serialize(SerializeStream& stream, const void* otherObj) override;
     void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
 
diff --git a/Source/Engine/Physics/Joints/DistanceJoint.cpp b/Source/Engine/Physics/Joints/DistanceJoint.cpp
index 770bbdc18..5df279801 100644
--- a/Source/Engine/Physics/Joints/DistanceJoint.cpp
+++ b/Source/Engine/Physics/Joints/DistanceJoint.cpp
@@ -88,6 +88,39 @@ float DistanceJoint::GetCurrentDistance() const
     return _joint ? static_cast<PxDistanceJoint*>(_joint)->getDistance() : 0.0f;
 }
 
+#if USE_EDITOR
+
+#include "Engine/Debug/DebugDraw.h"
+
+void DistanceJoint::OnDebugDrawSelected()
+{
+    const Vector3 source = GetPosition();
+    const Vector3 target = GetTargetPosition();
+    Vector3 dir = target - source;
+    const float len = dir.Length();
+    dir *= 1.0f / len;
+    Vector3 start = source, end = target;
+    float max = 0, min = 0;
+    if (_flags & DistanceJointFlag::MinDistance)
+    {
+        min = Math::Min(_minDistance, len);
+        start += dir * min;
+        DEBUG_DRAW_LINE(source, start, Color::Red * 0.6f, 0, false);
+    }
+    if (_flags & DistanceJointFlag::MaxDistance)
+    {
+        max = Math::Min(_maxDistance, len - min);
+        end -= dir * max;
+        DEBUG_DRAW_LINE(end, target, Color::Red * 0.6f, 0, false);
+    }
+    DEBUG_DRAW_LINE(start, end, Color::Green * 0.6f, 0, false);
+
+    // Base
+    Joint::OnDebugDrawSelected();
+}
+
+#endif
+
 void DistanceJoint::Serialize(SerializeStream& stream, const void* otherObj)
 {
     // Base
diff --git a/Source/Engine/Physics/Joints/DistanceJoint.h b/Source/Engine/Physics/Joints/DistanceJoint.h
index 245bc7bea..05dad5d0c 100644
--- a/Source/Engine/Physics/Joints/DistanceJoint.h
+++ b/Source/Engine/Physics/Joints/DistanceJoint.h
@@ -148,6 +148,9 @@ public:
 public:
 
     // [Joint]
+#if USE_EDITOR
+    void OnDebugDrawSelected() override;
+#endif
     void Serialize(SerializeStream& stream, const void* otherObj) override;
     void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
 
diff --git a/Source/Engine/Physics/Joints/FixedJoint.cpp b/Source/Engine/Physics/Joints/FixedJoint.cpp
index b163a78f2..7c01e3e3c 100644
--- a/Source/Engine/Physics/Joints/FixedJoint.cpp
+++ b/Source/Engine/Physics/Joints/FixedJoint.cpp
@@ -9,6 +9,20 @@ FixedJoint::FixedJoint(const SpawnParams& params)
 {
 }
 
+#if USE_EDITOR
+
+#include "Engine/Debug/DebugDraw.h"
+
+void FixedJoint::OnDebugDrawSelected()
+{
+    DEBUG_DRAW_LINE(GetPosition(), GetTargetPosition(), Color::BlueViolet * 0.6f, 0, false);
+
+    // Base
+    Joint::OnDebugDrawSelected();
+}
+
+#endif
+
 PxJoint* FixedJoint::CreateJoint(JointData& data)
 {
     const PxTransform trans0(C2P(data.Pos0), C2P(data.Rot0));
diff --git a/Source/Engine/Physics/Joints/FixedJoint.h b/Source/Engine/Physics/Joints/FixedJoint.h
index 35fa74016..d2ee0f583 100644
--- a/Source/Engine/Physics/Joints/FixedJoint.h
+++ b/Source/Engine/Physics/Joints/FixedJoint.h
@@ -11,6 +11,13 @@
 API_CLASS() class FLAXENGINE_API FixedJoint : public Joint
 {
 DECLARE_SCENE_OBJECT(FixedJoint);
+public:
+
+    // [Joint]
+#if USE_EDITOR
+    void OnDebugDrawSelected() override;
+#endif
+
 protected:
 
     // [Joint]
diff --git a/Source/Engine/Physics/Joints/HingeJoint.cpp b/Source/Engine/Physics/Joints/HingeJoint.cpp
index 4f30e5319..1d100d4ae 100644
--- a/Source/Engine/Physics/Joints/HingeJoint.cpp
+++ b/Source/Engine/Physics/Joints/HingeJoint.cpp
@@ -73,6 +73,40 @@ float HingeJoint::GetCurrentVelocity() const
     return _joint ? static_cast<PxRevoluteJoint*>(_joint)->getVelocity() : 0.0f;
 }
 
+#if USE_EDITOR
+
+#include "Engine/Debug/DebugDraw.h"
+
+void HingeJoint::OnDebugDrawSelected()
+{
+    const Vector3 source = GetPosition();
+    const Vector3 target = GetTargetPosition();
+    const Quaternion xRotation = Quaternion::LookRotation(Vector3::UnitX, Vector3::UnitY);
+    const Quaternion sourceRotation = GetOrientation() * xRotation;
+    const Quaternion targetRotation = GetTargetOrientation() * xRotation;
+    const float size = 15.0f;
+    const Color color = Color::Green.AlphaMultiplied(0.6f);
+    DebugDraw::DrawWireArrow(source, sourceRotation, size / 100.0f * 0.5f, Color::Red, 0, false);
+    DebugDraw::DrawWireArrow(target, targetRotation, size / 100.0f * 0.5f, Color::Blue, 0, false);
+    if (_flags & HingeJointFlag::Limit)
+    {
+        const float upper = Math::Max(_limit.Upper, _limit.Lower);
+        const float range = Math::Abs(upper - _limit.Lower);
+        DEBUG_DRAW_ARC(source, sourceRotation * Quaternion::Euler(0, 0, _limit.Lower - 90.0f), size, range * DegreesToRadians, color, 0, false);
+        DEBUG_DRAW_WIRE_ARC(source, sourceRotation * Quaternion::Euler(0, 0, upper - 90.0f), size, (360.0f - range) * DegreesToRadians, Color::Red.AlphaMultiplied(0.6f), 0, false);
+    }
+    else
+    {
+        DEBUG_DRAW_ARC(source, sourceRotation, size, TWO_PI, color, 0, false);
+    }
+    DEBUG_DRAW_LINE(source, target, Color::Green * 0.6f, 0, false);
+
+    // Base
+    Joint::OnDebugDrawSelected();
+}
+
+#endif
+
 void HingeJoint::Serialize(SerializeStream& stream, const void* otherObj)
 {
     // Base
diff --git a/Source/Engine/Physics/Joints/HingeJoint.h b/Source/Engine/Physics/Joints/HingeJoint.h
index 92ce9e3a2..cea8a30ff 100644
--- a/Source/Engine/Physics/Joints/HingeJoint.h
+++ b/Source/Engine/Physics/Joints/HingeJoint.h
@@ -156,6 +156,9 @@ public:
 public:
 
     // [Joint]
+#if USE_EDITOR
+    void OnDebugDrawSelected() override;
+#endif
     void Serialize(SerializeStream& stream, const void* otherObj) override;
     void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
 
diff --git a/Source/Engine/Physics/Joints/Joint.cpp b/Source/Engine/Physics/Joints/Joint.cpp
index 984d90ba1..d688041ff 100644
--- a/Source/Engine/Physics/Joints/Joint.cpp
+++ b/Source/Engine/Physics/Joints/Joint.cpp
@@ -168,26 +168,44 @@ void Joint::OnTargetChanged()
     }
 }
 
+Vector3 Joint::GetTargetPosition() const
+{
+    Vector3 position = _targetAnchor;
+    if (Target)
+    {
+        position = Target->GetOrientation() * position + Target->GetPosition();
+    }
+    return position;
+}
+
+Quaternion Joint::GetTargetOrientation() const
+{
+    Quaternion rotation = _targetAnchorRotation;
+    if (Target)
+    {
+        rotation = Target->GetOrientation() * rotation;
+    }
+    return rotation;
+}
+
 #if USE_EDITOR
 
 #include "Engine/Debug/DebugDraw.h"
+#include "Engine/Graphics/RenderView.h"
 
 void Joint::DrawPhysicsDebug(RenderView& view)
 {
-    DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(GetPosition(), 3.0f), Color::BlueViolet * 0.8f, 0, true);
-    if (Target)
+    if (view.Mode == ViewMode::PhysicsColliders)
     {
-        DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(Target->GetPosition() + _targetAnchor, 4.0f), Color::AliceBlue * 0.8f, 0, true);
+        DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(GetPosition(), 3.0f), Color::BlueViolet * 0.8f, 0, true);
+        DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(GetTargetPosition(), 4.0f), Color::AliceBlue * 0.8f, 0, true);
     }
 }
 
 void Joint::OnDebugDrawSelected()
 {
     DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(GetPosition(), 3.0f), Color::BlueViolet * 0.8f, 0, false);
-    if (Target)
-    {
-        DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(Target->GetPosition() + _targetAnchor, 4.0f), Color::AliceBlue * 0.8f, 0, false);
-    }
+    DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(GetTargetPosition(), 4.0f), Color::AliceBlue * 0.8f, 0, false);
 
     // Base
     Actor::OnDebugDrawSelected();
diff --git a/Source/Engine/Physics/Joints/Joint.h b/Source/Engine/Physics/Joints/Joint.h
index e8da71c91..f2950874f 100644
--- a/Source/Engine/Physics/Joints/Joint.h
+++ b/Source/Engine/Physics/Joints/Joint.h
@@ -137,8 +137,6 @@ public:
     /// <param name="angular">The result angular force.</param>
     API_FUNCTION() void GetCurrentForce(API_PARAM(Out) Vector3& linear, API_PARAM(Out) Vector3& angular) const;
 
-public:
-
     /// <summary>
     /// Creates native join object.
     /// </summary>
@@ -169,16 +167,18 @@ protected:
         Vector3 Pos1;
     };
 
+    Vector3 GetTargetPosition() const;
+    Quaternion GetTargetOrientation() const;
     virtual PxJoint* CreateJoint(JointData& data) = 0;
+#if USE_EDITOR
+    virtual void DrawPhysicsDebug(RenderView& view);
+#endif
 
 private:
 
     void Delete();
     void SetActors();
     void OnTargetChanged();
-#if USE_EDITOR
-    void DrawPhysicsDebug(RenderView& view);
-#endif
 
 public:
 
diff --git a/Source/Engine/Physics/Joints/SliderJoint.cpp b/Source/Engine/Physics/Joints/SliderJoint.cpp
index 46318bd2d..8b04dae68 100644
--- a/Source/Engine/Physics/Joints/SliderJoint.cpp
+++ b/Source/Engine/Physics/Joints/SliderJoint.cpp
@@ -56,6 +56,30 @@ float SliderJoint::GetCurrentVelocity() const
     return _joint ? static_cast<PxPrismaticJoint*>(_joint)->getVelocity() : 0.0f;
 }
 
+#if USE_EDITOR
+
+#include "Engine/Debug/DebugDraw.h"
+
+void SliderJoint::OnDebugDrawSelected()
+{
+    const Vector3 source = GetPosition();
+    const Vector3 normal = GetOrientation() * Vector3::Right;
+    float min = -100.0f, max = 100.0f;
+    if (_flags & SliderJointFlag::Limit)
+    {
+        min = _limit.Lower;
+        max = _limit.Upper;
+        if (max < min)
+            Swap(min, max);
+    }
+    DEBUG_DRAW_LINE(source + normal * min, source + normal * max, Color::Green * 0.6f, 0, false);
+
+    // Base
+    Joint::OnDebugDrawSelected();
+}
+
+#endif
+
 void SliderJoint::Serialize(SerializeStream& stream, const void* otherObj)
 {
     // Base
diff --git a/Source/Engine/Physics/Joints/SliderJoint.h b/Source/Engine/Physics/Joints/SliderJoint.h
index 432e61c35..b9a11c0a0 100644
--- a/Source/Engine/Physics/Joints/SliderJoint.h
+++ b/Source/Engine/Physics/Joints/SliderJoint.h
@@ -86,6 +86,9 @@ public:
 public:
 
     // [Joint]
+#if USE_EDITOR
+    void OnDebugDrawSelected() override;
+#endif
     void Serialize(SerializeStream& stream, const void* otherObj) override;
     void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
 
diff --git a/Source/Engine/Physics/Joints/SphericalJoint.cpp b/Source/Engine/Physics/Joints/SphericalJoint.cpp
index c1874c3fc..83a959e51 100644
--- a/Source/Engine/Physics/Joints/SphericalJoint.cpp
+++ b/Source/Engine/Physics/Joints/SphericalJoint.cpp
@@ -43,6 +43,33 @@ void SphericalJoint::SetLimit(const LimitConeRange& value)
     }
 }
 
+#if USE_EDITOR
+
+#include "Engine/Debug/DebugDraw.h"
+
+void SphericalJoint::OnDebugDrawSelected()
+{
+    const Vector3 source = GetPosition();
+    const Vector3 target = GetTargetPosition();
+    const float size = 15.0f;
+    const Color color = Color::Green.AlphaMultiplied(0.6f);
+    DebugDraw::DrawWireArrow(source, GetOrientation(), size / 100.0f * 0.5f, Color::Red, 0, false);
+    if (_flags & SphericalJointFlag::Limit)
+    {
+        DEBUG_DRAW_CONE(source, GetOrientation(), size, _limit.YLimitAngle * DegreesToRadians, _limit.ZLimitAngle * DegreesToRadians, color, 0, false);
+    }
+    else
+    {
+        DEBUG_DRAW_SPHERE(BoundingSphere(source, size), color, 0, false);
+    }
+    DEBUG_DRAW_LINE(source, target, Color::Green * 0.6f, 0, false);
+
+    // Base
+    Joint::OnDebugDrawSelected();
+}
+
+#endif
+
 void SphericalJoint::Serialize(SerializeStream& stream, const void* otherObj)
 {
     // Base
diff --git a/Source/Engine/Physics/Joints/SphericalJoint.h b/Source/Engine/Physics/Joints/SphericalJoint.h
index c2df39808..67d7e8e07 100644
--- a/Source/Engine/Physics/Joints/SphericalJoint.h
+++ b/Source/Engine/Physics/Joints/SphericalJoint.h
@@ -76,6 +76,9 @@ public:
 public:
 
     // [Joint]
+#if USE_EDITOR
+    void OnDebugDrawSelected() override;
+#endif
     void Serialize(SerializeStream& stream, const void* otherObj) override;
     void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;