// Drawing the box
void display() {
// We look at each body and get its screen position
Vec2 pos = box2d.getBodyPixelCoord(body);
// Get its angle of rotation
float a = body.getAngle();
parent.rectMode(PConstants.CENTER);
parent.pushMatrix();
parent.translate(pos.x, pos.y);
parent.rotate(-a);
parent.fill(127);
parent.stroke(0);
parent.strokeWeight(2);
parent.rect(0, 0, w, h);
parent.popMatrix();
}