Btukfyl

I'm looking for an easy way to use debug draw in a very simple bullet physics application to develop my understanding of the interface for DebugDraw. My code, which is basically the code from [Demos/HelloWorld/]1 in bullet3 package, is modified a bit to work with modern c++ stl objects.
I looked up the older post but none are helpful for me. The bullet support for the C++ code has been taken down which doesn't help me either

In the code I do the following:

1. Declare the properties of the world


2. Declare a world and initialize it with the properties declared in 1


3. Declare a DebugDrawer object and initialize the world with this object


4. Create rigid bodies, initialize their properties and add it to the world


5. run the simulation (and attempt to run the debugDraw)

The code is a bit lengthy and I've posted only the snippet that gives insight to what I'm trying to do. My version of entire hello world code can be found here

The code snippet looks like this:

int main(int argc, char *argv)

{



    std::cout << "attempt to run hello world like program using modern c++ and with GUI debugDrawn";



    //create the properties of the world

     . . .

     . . .



    // declare and initialize the world with the above properties

    btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher, interface, solver, collisonConfig);

    world->setGravity(btVector3(0.0, -9.81, 0));



    //initialize visualization framework

    GLDebugDrawer *debugDraw = new GLDebugDrawer;

    debugDraw->setDebugMode(1); 

    world->setDebugDrawer(debugDraw); 





    //create placeholder for shapes, some kind of array

    std::vector<btCollisionShape*> collisionShapes;



    //Create and initialize multiple rigid  

    //bodies with specific properties

     . . .



    for(size_t i=0; i<collisionShapes.size(); ++i){



        //some more initialization code

        . . .

        . . .



        //adding the rigid bodies to the wold

        world->addRigidBody(rbody[i]);

    }



    //do some simulation

    for (size_t i = 0; i < 20; ++i) {

        world->stepSimulation(1.f/60.f, 10);



        //print positions of all objects

        for (int j = 0; j<world->getNumCollisionObjects(); ++j){



            btCollisionObject *obj = world->getCollisionObjectArray()[j];

            btRigidBody* bdy = btRigidBody::upcast(obj);



            if(bdy && bdy->getMotionState()){

                btTransform trans;

                bdy->getMotionState()->getWorldTransform(trans);



                //render the rigid bodies in the world

                //DOESN'T WORK

                world->debugDrawWorld();



                //this works 

                std::cout << "world pos: " << trans.getOrigin().getX() <<"nY: " << trans.getOrigin().getY() << "nZ:" << trans.getOrigin().getZ() << "n";

            }

        }



    }



    releaseResources(collisionShapes, rbody, myMotionstate);



    return 0;

}

This code works fine when I run it on bash, and prints the updated positions of the rigid bodies but I don't see any screen that renders the objects in a graphics.

I'm not sure what else I'm missing and where should the line `world->DebugDrawWorld()' be placed. Any help will be really appreciated.

thank you