iDebugDraw = new JPCTDebugDraw(world, buffer);
      iDebugDraw.setDebugMode(DebugDrawModes.DRAW_WIREFRAME);
      dynamicWorld.setDebugDrawer(iDebugDraw);

                dynamicWorld.debugDrawWorld();

package jpctbullet;

import java.awt.Color;
import java.awt.Graphics;
import javax.vecmath.Vector3f;

import com.threed.jpct.*;

import com.bulletphysics.linearmath.IDebugDraw;
import com.bulletphysics.linearmath.VectorUtil;

public class JPCTDebugDraw extends IDebugDraw{
  private int _debugMode;
  private World _world;
  private FrameBuffer _buffer;
  
  private SimpleVector Vec3fToSVec(Vector3f vector)
  {
    // JPCT uses a inverted ZY axis and coordinates so flip them
    return new SimpleVector(vector.x, -vector.y, -vector.z);
  }
  
  
  public JPCTDebugDraw(World w, FrameBuffer b)
  {
    _world = w;
    _buffer = b;
  }
  
  
  public void setDebugMode(int debugMode)
  {
    _debugMode = debugMode;
  }
  
  public int getDebugMode()
  {
    return _debugMode;
  }
  
  
  public void drawLine(Vector3f from, Vector3f to, Vector3f color)
  { 
    if(_debugMode > 0)
    {
      Camera cam = _world.getCamera();
      Graphics g = _buffer.getGraphics();
      Color lastColour = g.getColor();

      SimpleVector pointA = Interact2D.project3D2D(cam, _buffer, Vec3fToSVec(from));
      SimpleVector pointB = Interact2D.project3D2D(cam, _buffer, Vec3fToSVec(to));
      
      g.setColor(new Color(color.x, color.y, color.z));
      
      // do not know why, but some times pointB is null
      if(pointA != null && pointB != null){
        g.drawLine((int)pointA.x, (int)pointA.y, (int)pointB.x, (int)pointB.y);
      }
      g.setColor(lastColour);
    }
  }
  
  
  public void draw3dText(Vector3f location, String textString)
  {
    Camera cam = _world.getCamera();
    Graphics g = _buffer.getGraphics();
    SimpleVector loc = Interact2D.project3D2D(cam, _buffer, Vec3fToSVec(location));
    
    g.drawString(textString, (int)loc.x, (int)loc.y);
  }
  
  
  public void drawContactPoint(Vector3f pointOnB, Vector3f normalOnB, float distance, int lifeTime, Vector3f color)
  {
    
  }
  
  
  public void reportErrorWarning(String warningString)
  {
    System.out.println(warningString);
  }

}

      playerAngle = playerBody.getAngularVelocity();
      if(lastPlayerAngle != playerAngle){
         player.rotateZ(lastPlayerAngle - playerAngle);
        lastPlayerAngle = playerAngle;
      }