How to set FBO so that it displays depth and color buffer in two separate textures, in one render pass?
Just attach a suitable texture to the FBOs depth join point:
glFramebufferTexture2DEXT(GL_FRAMEBUFFER_EXT, GL_DEPTH_ATTACHMENT_EXT,GL_TEXTURE_2D, textureId, 0);
.. and another texture to the color attachment point. See more details.