diff --git a/Cargo.toml b/Cargo.toml
index ff8eea3..962af30 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,6 +14,7 @@ categories = ["game-development"]
 
 [dependencies]
 itertools = "0.13"
+tracing = { version = "0.1", optional = true }
 
 [dependencies.polyanya]
 version = "0.7.1"
@@ -47,8 +48,9 @@ features = [
 default-features = false
 
 [features]
-default = []
+default = ["debug-with-gizmos"]
 linuxci = ["bevy/x11"]
+debug-with-gizmos = ["bevy/bevy_gizmos"]
 
 [profile.dev.package."*"]
 opt-level = 3
diff --git a/examples/demo.rs b/examples/demo.rs
index eb01ad4..6c98ce3 100644
--- a/examples/demo.rs
+++ b/examples/demo.rs
@@ -1,12 +1,11 @@
 use std::f32::consts::{FRAC_PI_2, PI};
 
 use bevy::{
-    color::palettes, ecs::entity::EntityHashSet, math::vec2, pbr::NotShadowCaster, prelude::*,
-    render::view::RenderLayers,
+    color::palettes, ecs::entity::EntityHashSet, math::vec2, prelude::*, render::view::RenderLayers,
 };
 use polyanya::Triangulation;
 use rand::Rng;
-use vleue_navigator::prelude::*;
+use vleue_navigator::{prelude::*, NavMeshDebug};
 
 #[path = "helpers/agent3d.rs"]
 mod agent3d;
@@ -71,6 +70,7 @@ fn main() {
         )
         .add_systems(FixedUpdate, random_obstacle)
         .insert_resource(Time::<Fixed>::from_seconds(0.25))
+        .insert_resource(NavMeshDebug(palettes::tailwind::RED_800.into()))
         .run();
 }
 
@@ -283,8 +283,7 @@ fn new_obstacle(
             };
             commands
                 .spawn((
-                    transform,
-                    GlobalTransform::default(),
+                    SpatialBundle::from_transform(transform),
                     PrimitiveObstacle::Rectangle(larger_primitive),
                     Lifetime(Timer::from_seconds(
                         rng.gen_range(20.0..40.0),
@@ -309,8 +308,7 @@ fn new_obstacle(
             };
             commands
                 .spawn((
-                    transform,
-                    GlobalTransform::default(),
+                    SpatialBundle::from_transform(transform),
                     PrimitiveObstacle::Circle(larger_primitive),
                     Lifetime(Timer::from_seconds(
                         rng.gen_range(20.0..40.0),
@@ -335,8 +333,7 @@ fn new_obstacle(
             };
             commands
                 .spawn((
-                    transform,
-                    GlobalTransform::default(),
+                    SpatialBundle::from_transform(transform),
                     PrimitiveObstacle::Ellipse(larger_primitive),
                     Lifetime(Timer::from_seconds(
                         rng.gen_range(20.0..40.0),
@@ -358,8 +355,7 @@ fn new_obstacle(
                 Capsule2d::new(primitive.radius + radius, primitive.half_length * 2.0);
             commands
                 .spawn((
-                    transform,
-                    GlobalTransform::default(),
+                    SpatialBundle::from_transform(transform),
                     PrimitiveObstacle::Capsule(larger_primitive),
                     Lifetime(Timer::from_seconds(
                         rng.gen_range(20.0..40.0),
@@ -381,8 +377,7 @@ fn new_obstacle(
                 RegularPolygon::new(primitive.circumradius() + radius, primitive.sides);
             commands
                 .spawn((
-                    transform,
-                    GlobalTransform::default(),
+                    SpatialBundle::from_transform(transform),
                     PrimitiveObstacle::RegularPolygon(larger_primitive),
                     Lifetime(Timer::from_seconds(
                         rng.gen_range(20.0..40.0),
@@ -406,8 +401,7 @@ fn new_obstacle(
             );
             commands
                 .spawn((
-                    transform,
-                    GlobalTransform::default(),
+                    SpatialBundle::from_transform(transform),
                     PrimitiveObstacle::Rhombus(larger_primitive),
                     Lifetime(Timer::from_seconds(
                         rng.gen_range(20.0..40.0),
@@ -439,7 +433,7 @@ fn display_mesh(
         return;
     }
 
-    let Some(navmesh) = navmeshes.get(navmesh_handle) else {
+    if navmeshes.get(navmesh_handle).is_none() {
         return;
     };
     if let Some(entity) = *current_mesh_entity {
@@ -463,22 +457,6 @@ fn display_mesh(
                 material: MATERIAL_NAVMESH,
                 ..default()
             })
-            .with_children(|main_mesh| {
-                main_mesh.spawn((
-                    PbrBundle {
-                        mesh: meshes.add(navmesh.to_wireframe_mesh()).into(),
-                        material: MATERIAL_NAVMESH,
-                        transform: Transform::from_translation(Vec3::new(
-                            -(MESH_WIDTH as f32) / 2.0,
-                            0.1,
-                            -(MESH_HEIGHT as f32) / 2.0,
-                        )),
-                        ..default()
-                    },
-                    NotShadowCaster,
-                    RenderLayers::none().with(1),
-                ));
-            })
             .id(),
     );
 }
diff --git a/src/lib.rs b/src/lib.rs
index c862dba..7d4c180 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -43,10 +43,25 @@ pub mod prelude {
 #[derive(Debug, Clone, Copy)]
 pub struct VleueNavigatorPlugin;
 
+/// Controls wether to display the NavMesh with gizmos.
+/// When this resource is present, the NavMesh will be visible.
+#[cfg(feature = "debug-with-gizmos")]
+#[derive(Resource, Clone, Copy, Debug)]
+pub struct NavMeshDebug(
+    /// Color to display the NavMesh with
+    pub Color,
+);
+
 impl Plugin for VleueNavigatorPlugin {
     fn build(&self, app: &mut App) {
         app.register_asset_loader(asset_loaders::NavMeshPolyanyaLoader)
             .init_asset::<NavMesh>();
+
+        #[cfg(feature = "debug-with-gizmos")]
+        app.add_systems(
+            Update,
+            display_navmesh.run_if(resource_exists::<NavMeshDebug>),
+        );
     }
 }
 
@@ -290,7 +305,7 @@ impl NavMesh {
     }
 
     #[inline]
-    fn inverse_transform(&self) -> Transform {
+    pub(crate) fn inverse_transform(&self) -> Transform {
         Transform {
             translation: -self.transform.translation,
             rotation: self.transform.rotation.inverse(),
@@ -311,6 +326,41 @@ fn get_vectors(
     vectors.iter().cloned().map(Vec3::from)
 }
 
+#[cfg(feature = "debug-with-gizmos")]
+/// Use gizmos to display navmeshes
+pub fn display_navmesh(
+    live_navmeshes: Query<&Handle<NavMesh>>,
+    mut gizmos: Gizmos,
+    navmeshes: Res<Assets<NavMesh>>,
+    controls: Res<NavMeshDebug>,
+) {
+    use bevy::math::vec3;
+    for mesh in &live_navmeshes {
+        if let Some(navmesh) = navmeshes.get(mesh) {
+            let inverse_transform = navmesh.inverse_transform();
+            let navmesh = navmesh.get();
+            for polygon in &navmesh.polygons {
+                let mut v = polygon
+                    .vertices
+                    .iter()
+                    .map(|i| &navmesh.vertices[*i as usize].coords)
+                    .map(|v| inverse_transform.transform_point(vec3(v.x, v.y, 0.0)))
+                    .collect::<Vec<_>>();
+                if !v.is_empty() {
+                    let first = polygon.vertices[0];
+                    let first = &navmesh.vertices[first as usize];
+                    v.push(inverse_transform.transform_point(vec3(
+                        first.coords.x,
+                        first.coords.y,
+                        0.0,
+                    )));
+                    gizmos.linestrip(v, controls.0);
+                }
+            }
+        }
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use polyanya::Trimesh;