PhysX 2.7 had a convex mesh descriptor that contained (after cooking) a list of triangles that tessellated the convex hull. With this list it was a simple matter to render the convex shape with GL_TRIANGLES.
PhysX 3.2 has a PxConvexGeometry type that references a PxConvexMesh type. The PxConvexMesh has a list of vertices for the 3D object, and a list of polygons, presumably triangles, given by
PxConvexMesh::getPolygonData(PxU32 idx, PxHullPolygon &data)
However, the PxHullPolygon type contains only the number of vertices and the plane equation. I am not sure how to go about drawing that polygon. Is there a way to get the actual vertices of the k-th polygon? Is there a better way to render a PxConvexMeshGeometry with openGL?