I've made my own debug drawer class that inherits btIDebugDraw, and registered it. It works OK, but everything is drawn in wireframe using the drawLine function. By inspecting the code in btCollisionWorld::debugDrawWorld(), I see that most functions in btIDebugDraw are never used. For example, btCollisionWorld has it's own simplified version for drawing spheres.
Is this done on purpose for some reason, or is it simply not ported completely to btIDebugDraw yet?
I can make my own system to draw everything (like "renderme" in the demo applications), but it would be nicer to use the debug drawing functionality and still get better-looking solid spheres, boxes and shaded triangles.
If it's just not done yet, I can try to make a patch.
Cheers,
Ola