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DisplayBone.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class DisplayBone : MonoBehaviour {

    public bool DisplayAxes = true;
    public bool DisplayNames = true;

    void DrawBones( Transform t ) {

        foreach ( Transform child in t ) {
            Gizmos.color = Color.black;
            Gizmos.DrawLine( t.position, child.position );

            Gizmos.DrawSphere( t.position, 0.0025f );

            if ( DisplayNames == true ) {
#if UNITY_EDITOR
                Gizmos.color = Color.black;
                UnityEditor.Handles.Label( t.position + ( child.position - t.position ) / 2.0f, child.name );
#endif
            }
            if ( DisplayAxes == true ) {
                float len = 0.01f;
                Vector3 loxalX = new Vector3( len, 0, 0 );
                Vector3 loxalY = new Vector3( 0, len, 0 );
                Vector3 loxalZ = new Vector3( 0, 0, len );
                loxalX = child.rotation * loxalX;
                loxalY = child.rotation * loxalY;
                loxalZ = child.rotation * loxalZ;

                Gizmos.color = Color.red;
                Gizmos.DrawLine( child.position, child.position + loxalX );

                Gizmos.color = Color.green;
                Gizmos.DrawLine( child.position, child.position + loxalY );

                Gizmos.color = Color.blue;
                Gizmos.DrawLine( child.position, child.position + loxalZ );

            }

            DrawBones( child );
        }

    }

    void OnDrawGizmos() {
        DrawBones( transform );
    }
}