diff --git a/scene/3d/physics/ray_cast_3d.cpp b/scene/3d/physics/ray_cast_3d.cpp
index dc50ecccc0e..0cb722a77eb 100644
--- a/scene/3d/physics/ray_cast_3d.cpp
+++ b/scene/3d/physics/ray_cast_3d.cpp
@@ -41,7 +41,7 @@ void RayCast3D::set_target_position(const Vector3 &p_point) {
 		if (is_inside_tree()) {
 			_update_debug_shape_vertices();
 		}
-	} else if (debug_shape) {
+	} else if (debug_instance.is_valid()) {
 		_update_debug_shape();
 	}
 }
@@ -186,11 +186,17 @@ void RayCast3D::_notification(int p_what) {
 				set_physics_process_internal(false);
 			}
 
-			if (debug_shape) {
+			if (debug_instance.is_valid()) {
 				_clear_debug_shape();
 			}
 		} break;
 
+		case NOTIFICATION_VISIBILITY_CHANGED: {
+			if (is_inside_tree() && debug_instance.is_valid()) {
+				RenderingServer::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
+			}
+		} break;
+
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
 			if (!enabled) {
 				break;
@@ -200,6 +206,9 @@ void RayCast3D::_notification(int p_what) {
 			_update_raycast_state();
 			if (prev_collision_state != collided && get_tree()->is_debugging_collisions_hint()) {
 				_update_debug_shape_material(true);
+				if (is_inside_tree() && debug_instance.is_valid()) {
+					RenderingServer::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
+				}
 			}
 		} break;
 	}
@@ -416,7 +425,7 @@ void RayCast3D::set_debug_shape_thickness(const int p_debug_shape_thickness) {
 		if (is_inside_tree()) {
 			_update_debug_shape_vertices();
 		}
-	} else if (debug_shape) {
+	} else if (debug_instance.is_valid()) {
 		_update_debug_shape();
 	}
 }
@@ -448,13 +457,13 @@ const Color &RayCast3D::get_debug_shape_custom_color() const {
 void RayCast3D::_create_debug_shape() {
 	_update_debug_shape_material();
 
-	Ref<ArrayMesh> mesh = memnew(ArrayMesh);
+	if (!debug_instance.is_valid()) {
+		debug_instance = RenderingServer::get_singleton()->instance_create();
+	}
 
-	MeshInstance3D *mi = memnew(MeshInstance3D);
-	mi->set_mesh(mesh);
-
-	add_child(mi);
-	debug_shape = mi;
+	if (debug_mesh.is_null()) {
+		debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+	}
 }
 
 void RayCast3D::_update_debug_shape_material(bool p_check_collision) {
@@ -494,19 +503,17 @@ void RayCast3D::_update_debug_shape() {
 		return;
 	}
 
-	if (!debug_shape) {
+	if (!debug_instance.is_valid()) {
 		_create_debug_shape();
 	}
 
-	MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape);
-	Ref<ArrayMesh> mesh = mi->get_mesh();
-	if (!mesh.is_valid()) {
+	if (!debug_instance.is_valid() || debug_mesh.is_null()) {
 		return;
 	}
 
 	_update_debug_shape_vertices();
 
-	mesh->clear_surfaces();
+	debug_mesh->clear_surfaces();
 
 	Array a;
 	a.resize(Mesh::ARRAY_MAX);
@@ -516,32 +523,36 @@ void RayCast3D::_update_debug_shape() {
 
 	if (!debug_line_vertices.is_empty()) {
 		a[Mesh::ARRAY_VERTEX] = debug_line_vertices;
-		mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
-		mesh->surface_set_material(surface_count, debug_material);
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
+		debug_mesh->surface_set_material(surface_count, debug_material);
 		++surface_count;
 	}
 
 	if (!debug_shape_vertices.is_empty()) {
 		a[Mesh::ARRAY_VERTEX] = debug_shape_vertices;
-		mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLE_STRIP, a, Array(), Dictionary(), flags);
-		mesh->surface_set_material(surface_count, debug_material);
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLE_STRIP, a, Array(), Dictionary(), flags);
+		debug_mesh->surface_set_material(surface_count, debug_material);
 		++surface_count;
 	}
+
+	RenderingServer::get_singleton()->instance_set_base(debug_instance, debug_mesh->get_rid());
+	if (is_inside_tree()) {
+		RenderingServer::get_singleton()->instance_set_scenario(debug_instance, get_world_3d()->get_scenario());
+		RenderingServer::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
+		RenderingServer::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
+	}
 }
 
 void RayCast3D::_clear_debug_shape() {
-	if (!debug_shape) {
-		return;
+	ERR_FAIL_NULL(RenderingServer::get_singleton());
+	if (debug_instance.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_instance);
+		debug_instance = RID();
 	}
-
-	MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape);
-	if (mi->is_inside_tree()) {
-		mi->queue_free();
-	} else {
-		memdelete(mi);
+	if (debug_mesh.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_mesh->get_rid());
+		debug_mesh = Ref<ArrayMesh>();
 	}
-
-	debug_shape = nullptr;
 }
 
 RayCast3D::RayCast3D() {
diff --git a/scene/3d/physics/ray_cast_3d.h b/scene/3d/physics/ray_cast_3d.h
index 7b7f6981143..40f22236022 100644
--- a/scene/3d/physics/ray_cast_3d.h
+++ b/scene/3d/physics/ray_cast_3d.h
@@ -53,7 +53,6 @@ class RayCast3D : public Node3D {
 	uint32_t collision_mask = 1;
 	bool exclude_parent_body = true;
 
-	Node *debug_shape = nullptr;
 	Ref<Material> debug_material;
 	Color debug_shape_custom_color = Color(0.0, 0.0, 0.0);
 	int debug_shape_thickness = 2;
@@ -72,6 +71,9 @@ class RayCast3D : public Node3D {
 	bool hit_from_inside = false;
 	bool hit_back_faces = true;
 
+	RID debug_instance;
+	Ref<ArrayMesh> debug_mesh;
+
 protected:
 	void _notification(int p_what);
 	void _update_raycast_state();
diff --git a/scene/3d/physics/shape_cast_3d.cpp b/scene/3d/physics/shape_cast_3d.cpp
index 5e6302cb81b..ada238c7f27 100644
--- a/scene/3d/physics/shape_cast_3d.cpp
+++ b/scene/3d/physics/shape_cast_3d.cpp
@@ -64,11 +64,17 @@ void ShapeCast3D::_notification(int p_what) {
 				set_physics_process_internal(false);
 			}
 
-			if (debug_shape) {
+			if (debug_instance.is_valid()) {
 				_clear_debug_shape();
 			}
 		} break;
 
+		case NOTIFICATION_VISIBILITY_CHANGED: {
+			if (is_inside_tree() && debug_instance.is_valid()) {
+				RenderingServer::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
+			}
+		} break;
+
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
 			if (!enabled) {
 				break;
@@ -86,6 +92,9 @@ void ShapeCast3D::_notification(int p_what) {
 				if (prev_collision_state == collided && !collided) {
 					_update_debug_shape();
 				}
+				if (is_inside_tree() && debug_instance.is_valid()) {
+					RenderingServer::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
+				}
 			}
 		} break;
 	}
@@ -217,7 +226,7 @@ void ShapeCast3D::set_target_position(const Vector3 &p_point) {
 		if (is_inside_tree()) {
 			_update_debug_shape_vertices();
 		}
-	} else if (debug_shape) {
+	} else if (debug_instance.is_valid()) {
 		_update_debug_shape();
 	}
 }
@@ -532,13 +541,13 @@ const Color &ShapeCast3D::get_debug_shape_custom_color() const {
 void ShapeCast3D::_create_debug_shape() {
 	_update_debug_shape_material();
 
-	Ref<ArrayMesh> mesh = memnew(ArrayMesh);
+	if (!debug_instance.is_valid()) {
+		debug_instance = RenderingServer::get_singleton()->instance_create();
+	}
 
-	MeshInstance3D *mi = memnew(MeshInstance3D);
-	mi->set_mesh(mesh);
-
-	add_child(mi);
-	debug_shape = mi;
+	if (debug_mesh.is_null()) {
+		debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+	}
 }
 
 void ShapeCast3D::_update_debug_shape_material(bool p_check_collision) {
@@ -578,7 +587,7 @@ void ShapeCast3D::_update_debug_shape() {
 		return;
 	}
 
-	if (!debug_shape) {
+	if (!debug_instance.is_valid()) {
 		_create_debug_shape();
 	}
 
@@ -588,13 +597,11 @@ void ShapeCast3D::_update_debug_shape() {
 		return;
 	}
 
-	MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape);
-	Ref<ArrayMesh> mesh = mi->get_mesh();
-	if (!mesh.is_valid()) {
+	if (!debug_instance.is_valid() || debug_mesh.is_null()) {
 		return;
 	}
 
-	mesh->clear_surfaces();
+	debug_mesh->clear_surfaces();
 
 	Array a;
 	a.resize(Mesh::ARRAY_MAX);
@@ -604,30 +611,34 @@ void ShapeCast3D::_update_debug_shape() {
 
 	if (!debug_shape_vertices.is_empty()) {
 		a[Mesh::ARRAY_VERTEX] = debug_shape_vertices;
-		mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
-		mesh->surface_set_material(surface_count, debug_material);
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
+		debug_mesh->surface_set_material(surface_count, debug_material);
 		++surface_count;
 	}
 
 	if (!debug_line_vertices.is_empty()) {
 		a[Mesh::ARRAY_VERTEX] = debug_line_vertices;
-		mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
-		mesh->surface_set_material(surface_count, debug_material);
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
+		debug_mesh->surface_set_material(surface_count, debug_material);
 		++surface_count;
 	}
+
+	RenderingServer::get_singleton()->instance_set_base(debug_instance, debug_mesh->get_rid());
+	if (is_inside_tree()) {
+		RenderingServer::get_singleton()->instance_set_scenario(debug_instance, get_world_3d()->get_scenario());
+		RenderingServer::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
+		RenderingServer::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
+	}
 }
 
 void ShapeCast3D::_clear_debug_shape() {
-	if (!debug_shape) {
-		return;
+	ERR_FAIL_NULL(RenderingServer::get_singleton());
+	if (debug_instance.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_instance);
+		debug_instance = RID();
 	}
-
-	MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape);
-	if (mi->is_inside_tree()) {
-		mi->queue_free();
-	} else {
-		memdelete(mi);
+	if (debug_mesh.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_mesh->get_rid());
+		debug_mesh = Ref<ArrayMesh>();
 	}
-
-	debug_shape = nullptr;
 }
diff --git a/scene/3d/physics/shape_cast_3d.h b/scene/3d/physics/shape_cast_3d.h
index 9052db90469..19b73e3f722 100644
--- a/scene/3d/physics/shape_cast_3d.h
+++ b/scene/3d/physics/shape_cast_3d.h
@@ -55,7 +55,6 @@ class ShapeCast3D : public Node3D {
 	bool collide_with_areas = false;
 	bool collide_with_bodies = true;
 
-	Node *debug_shape = nullptr;
 	Ref<Material> debug_material;
 	Color debug_shape_custom_color = Color(0.0, 0.0, 0.0);
 	Vector<Vector3> debug_shape_vertices;
@@ -76,6 +75,9 @@ class ShapeCast3D : public Node3D {
 
 	Array _get_collision_result() const;
 
+	RID debug_instance;
+	Ref<ArrayMesh> debug_mesh;
+
 protected:
 	void _notification(int p_what);
 	void _update_shapecast_state();