I have implemented the Bullet Physics engine into my android program with the NDK (I am using Vuforia's imagetarget example for android), and it is set up and working correctly, however I would like to render/draw my collision boxes/planes to see my rigid bodies (btRigidBody)/collision shapes (btCollisionShape), I'm positive this is possible but I can't find any tutorials on how to do it!

我已经实现了子弹物理引擎到我的Android程序与NDK(我使用的是Vuforia的Android的图像目标示例)，它是设置和工作正常，但我想渲染/绘制我的碰撞框/平面来看到我的刚体(BtRigidBody)/碰撞形状(BtCollisionShape)，我肯定这是可能的，但我找不到任何如何做到这一点的教程！

I have taken the hello world Bullet physics tutorial on their wiki page and modified it to apply the transformations from the falling physics body to a 3d object I have in opengl es 2.0 to view the collision bodies, here is the code I am using to render to object:

我已经在他们的维基页面上使用了Hello World子弹物理教程，并对其进行了修改，以应用从坠落的物理体到我在OpenGL ES 2.0中查看碰撞物体的3D对象的变换，以下是我用来渲染到对象的代码：

void drawRigidBody(btRigidBody* body,QCAR::Matrix44F modelViewMatrix, unsigned int textureID)
{
btTransform trans;
body->getMotionState()->getWorldTransform(trans);
    LOG("sphere pos: (x %f , y %f, z %f)",trans.getOrigin().getX(),trans.getOrigin().getY(),trans.getOrigin().getZ());


    float physicsMatrix[16];
    trans.getOpenGLMatrix(physicsMatrix);

    SampleUtils::scalePoseMatrix(kObjectScale, kObjectScale, kObjectScale,
            &modelViewMatrix.data[0]);

    QCAR::Matrix44F modelViewProjection, objectMatrix;
    SampleUtils::multiplyMatrix(&modelViewMatrix.data[0], physicsMatrix, &objectMatrix.data[0]);
    SampleUtils::multiplyMatrix(&projectionMatrix.data[0], &objectMatrix.data[0], &modelViewProjection.data[0]);



    glVertexAttribPointer(vertexHandle, 3, GL_FLOAT, GL_FALSE, 0,
            (const GLvoid*) &signVerts[0]);
    glVertexAttribPointer(normalHandle, 3, GL_FLOAT, GL_FALSE, 0,
            (const GLvoid*) &signNormals[0]);
    glVertexAttribPointer(textureCoordHandle, 2, GL_FLOAT, GL_FALSE, 0,
            (const GLvoid*) &signTexCoords[0]);

    glEnableVertexAttribArray(vertexHandle);
    glEnableVertexAttribArray(normalHandle);
    glEnableVertexAttribArray(textureCoordHandle);

    glActiveTexture(GL_TEXTURE0);
    glBindTexture(GL_TEXTURE_2D, textureID);
    glUniformMatrix4fv(mvpMatrixHandle, 1, GL_FALSE,
            (GLfloat*)&modelViewProjection.data[0] );
    glDrawArrays(GL_TRIANGLES, 0, signNumVerts);
}

EDIT: looking at the code for btBoxShape i noticed you can grab the box vertices and normals:

编辑：查看btBoxShape的代码，我注意到您可以获取长方体的顶点和法线：

btVector3** vertices= wallShape->getVertices();
btVector3**normals = wallShape->getNormals();

but you can't grab a list of indices to draw the vertex points in a certain order!

但是你不能用一系列的索引来按一定的顺序画顶点！

If I recall correctly, this is not the proper way to draw debug shapes in Bullet. Did you read the user manual (PDF), page 16?

如果我没记错的话，这不是在项目符号中绘制调试形状的正确方法。您是否阅读了第16页的用户手册(PDF)？

You are supposed to implement your own debug drawer class which implements btIDebugDraw, and in this class you implement the drawLine method.

您应该实现您自己的调试抽屉类，该类实现btIDebugDraw，并且在这个类中实现DrawLine方法。

You pass this debug drawer to bullet with setDebugDrawer, and then enable it with world->getDebugDrawer->setDebugMode(debugMode);

您可以使用setDebugDrawer将此调试抽屉传递给项目符号，然后使用world->getDebugDrawer->setDebugMode(debugMode)；启用它

To draw the world, call world->debugDrawWorld();

要绘制世界，请调用world->debugDrawWorld()；

This then calls drawLine on your custom function numerous times until a wireframe model of the physics world has been drawn.

然后，在您的自定义函数上多次调用DrawLine，直到绘制出物理世界的线框模型。