Help with rendering physics.

#include "stdafx.h"

//Globals for using the PhysX SDK
NxPhysicsSDK* g_pPhysics;
NxScene* g_pScene;

//Set the gravity.
NxVec3 DefaultGravity(0,-9.8,0);

NxActor* groundPlane = NULL;
NxActor* Box = NULL;

int PhyInitialize()
{
	g_pPhysics	=	NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);

	if(!g_pPhysics)
	{
		MessageBoxA(NULL,"The PhysX SDK could not be initial;ized","Sorry",MB_OK);
		return 0;
	}

	// Set the physics parameters
	g_pPhysics->setParameter(NX_SKIN_WIDTH, 0.01);
	// Set the debug visualization parameters
	g_pPhysics->setParameter(NX_VISUALIZATION_SCALE, 1);
	g_pPhysics->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
	g_pPhysics->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);

	NxSceneDesc SceneDesc;
	SceneDesc.gravity	= DefaultGravity;
	SceneDesc.simType	= NX_SIMULATION_SW;
	g_pScene = g_pPhysics->createScene(SceneDesc);	
	
	NxMaterial* defaultMaterial = g_pScene->getMaterialFromIndex(0);
	defaultMaterial->setRestitution(0.1);
	defaultMaterial->setDynamicFriction(0.5);
	defaultMaterial->setStaticFriction(0.5);
	
	if(g_pScene)
	  StartPhysics();
		RenderActors();

	UpdateTime();
	return 1;
}

NxActor* CreatePlane()
{
// Create a plane with default descriptor
	NxPlaneShapeDesc planeDesc;
	NxActorDesc actorDesc;
 	actorDesc.shapes.pushBack(&planeDesc);
	return g_pScene->createActor(actorDesc);
}

NxActor* CreateBox()
{
	// Set the box starting height to 3.5m so box starts off falling onto the ground
	NxReal boxStartHeight = 3.5;

	// Add a single-shape actor to the scene
	NxActorDesc actorDesc;
	NxBodyDesc bodyDesc;

	// The actor has one shape, a box, 1m on a side
	NxBoxShapeDesc boxDesc;
	boxDesc.dimensions.set(0.5,0.5,0.5);
	actorDesc.shapes.pushBack(&boxDesc);

	actorDesc.body = &bodyDesc
	actorDesc.density = 10;
	actorDesc.globalPose.t = NxVec3(0,boxStartHeight,0);
	return g_pScene->createActor(actorDesc);
}

NxReal UpdateTime()
{
	NxReal deltaTime;
	#ifndef LINUX
	static __int64
	gTime,gLastTime;
	__int64 freq;
	QueryPerformanceCounter((LARGE_INTEGER*)&gTime);

	// Get current count
	QueryPerformanceFrequency((LARGE_INTEGER *)&freq);
 
	// Get processor freq
	deltaTime = (double)(gTime - gLastTime)/(double)freq;
#else
	static clock_t gTime, gLastTime;
	gTime = clock();
	deltaTime = (NxReal)((double)(gTime - gLastTime) / 1000000.0);
#endif
	gLastTime = gTime;
	return deltaTime;
}

void StartPhysics()
{
// Update the time step
NxReal deltaTime = UpdateTime();

// Start collision and dynamics for delta time since the last frame
g_pScene->simulate(deltaTime);
g_pScene->flushStream();
}

void RenderActors()
{
	// Render all the actors in the scene
	NxU32 nbActors = g_pScene->getNbActors();
	NxActor** actors = g_pScene->getActors();
}