I've been a bit off this week so I'm still playing with integration (and debugging).
As far as I understand, bullet debug drawing will draw the collision objects by specifying DBG_DrawWireframe, this apparently also produces output for their transformation as well. What is DBG_FastWireframe supposed to do? I've searched the whole bullet src (using the windows search) with no matches.
Considering what gets drawn depends of the renderer, perhaps those should have been called Draw and DrawFast?
I cannot find any match for DBG_DrawFeaturesText either. Is it meant to be used together with some user-provided feature or callback?
What is DBG_EnableSatComparison for? I see this being used in ConcavePhysicsDemo.cpp only, bound to 'm' but I don't see anything happen. I suppose Sat stands for Summed Area Table. Can someone please give a 10,000ft view on how they are used in Bullet? Perhaps to evaluate friction and restitution forces?