The debug drawer for Bullet Physics using the line drawer

debug_drawer.cpp

#include "debug_drawer.h"

DebugDrawer::DebugDrawer(GLuint program, btDynamicsWorld *world,
    const glm::mat4 &projViewMatrix, float thickness)
    : m_world(world)
    , m_thickness(thickness)
{
    m_lineDrawer = new LineDrawer(program, projViewMatrix);
}

DebugDrawer::~DebugDrawer()
{
    delete m_lineDrawer;
}

void DebugDrawer::setProjViewMatrix(const glm::mat4 &projViewMatrix)
{
    m_lineDrawer->setProjViewMatrix(projViewMatrix);
}

void DebugDrawer::setDebugMode(int debugMode)
{
    m_debugMode = debugMode;
}

int DebugDrawer::getDebugMode() const
{
    return m_debugMode;
}

void DebugDrawer::drawContactPoint(const btVector3 &pointOnB, const btVector3 &normalOnB,
    btScalar distance, int lifeTime, const btVector3 &color)
{
}

void DebugDrawer::drawLine(const btVector3 &from, const btVector3 &to,
    const btVector3 &color)
{
    m_lineDrawer->draw(
        glm::vec3(from.x(), from.y(), from.z()),
        glm::vec3(to.x(), to.y(), to.z()),
        glm::vec3(color.x(), color.y(), color.z()), m_thickness);
}

void DebugDrawer::draw3dText(const btVector3 &location, const char *textString)
{
}

void DebugDrawer::reportErrorWarning(const char *warningString)
{
}

debug_drawer.h

#ifndef DEBUG_DRAWER_H
#define DEBUG_DRAWER_H

#define GLM_FORCE_PURE
#include "glm/glm.hpp"

#include <btBulletDynamicsCommon.h>
#include "line_drawer.h"

class DebugDrawer : public btIDebugDraw
{
public:
    DebugDrawer(GLuint program, btDynamicsWorld *world,
        const glm::mat4 &projViewMatrix, float thickness = 0.05f);
    ~DebugDrawer();

    void setProjViewMatrix(const glm::mat4 &projViewMatrix);

    // Debug mode methods
    virtual void setDebugMode(int debugMode) override;
    virtual int getDebugMode() const override;

    // Drawing methods
    virtual void drawContactPoint(const btVector3 &pointOnB, const btVector3 &normalOnB,
        btScalar distance, int lifeTime, const btVector3 &color) override;
    virtual void drawLine(const btVector3 &from, const btVector3 &to,
        const btVector3 &color) override;

    // Unused
    virtual void draw3dText(const btVector3 &location, const char *textString) override;
    virtual void reportErrorWarning(const char *warningString) override;

private:
    int m_debugMode = 1;
    btDynamicsWorld *m_world;
    LineDrawer *m_lineDrawer;
    float m_thickness;
};

#endif // DEBUG_DRAWER_H

Line drawer: https://gist.github.com/8Observer8/96f061b23f4b874e91e2c0a4042f127e