setDebugObjectColor

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1195,6 +1195,46 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle)
 	return status->m_userDebugDrawArgs.m_debugItemUniqueId;
 }
 
+b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_USER_DEBUG_DRAW;
+	command->m_updateFlags = 0;
+	return  (b3SharedMemoryCommandHandle)command;
+}
+
+
+
+void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
+	command->m_updateFlags |= USER_DEBUG_SET_CUSTOM_OBJECT_COLOR;
+	command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
+	command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
+	command->m_userDebugDrawArgs.m_objectDebugColorRGB[0] = objectColorRGB[0];
+	command->m_userDebugDrawArgs.m_objectDebugColorRGB[1] = objectColorRGB[1];
+	command->m_userDebugDrawArgs.m_objectDebugColorRGB[2] = objectColorRGB[2];
+}
+
+void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
+	command->m_updateFlags |= USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR;
+	command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
+	command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
+
+}
+
+
+
 
 ///request an image from a simulated camera, using a software renderer.
 b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
@@ -1244,6 +1284,17 @@ void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHa
 	command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION;
 }
 
+void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3])
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
+    for (int i = 0; i<3; i++)
+    {
+        command->m_requestPixelDataArguments.m_lightColor[i] = lightColor[i];
+    }
+    command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR;
+}
 
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
 {

examples/SharedMemory/PhysicsClientC_API.h

@@ -89,14 +89,21 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle p
 b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime);
 b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId);
 b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
+
+b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
+void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]);
+void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
+
 ///All debug items unique Ids are positive: a negative unique Id means failure.
 int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle);
 
+
 ///request an image from a simulated camera, using a software renderer.
 b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
 void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
 void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
 void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]);
+void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]);
 void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
 void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -3531,7 +3531,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							for( int i=0;i<numRb;i++)
 							{
 								btCollisionObject* colObj = importer->getRigidBodyByIndex(i);
-
 								if (colObj)
 								{
 									btRigidBody* rb = btRigidBody::upcast(colObj);
@@ -3594,7 +3593,54 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						SharedMemoryStatus& serverCmd = serverStatusOut;
 						serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
 						hasStatus = true;
-						
+
+						if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
+						{
+							int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
+							InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+							if (body)
+							{
+								btCollisionObject* destColObj = 0;
+
+								if (body->m_multiBody)
+								{
+									if (clientCmd.m_userDebugDrawArgs.m_linkIndex == -1)
+									{
+										destColObj = body->m_multiBody->getBaseCollider();
+									}
+									else
+									{
+										if (clientCmd.m_userDebugDrawArgs.m_linkIndex >= 0 && clientCmd.m_userDebugDrawArgs.m_linkIndex < body->m_multiBody->getNumLinks())
+										{
+											destColObj = body->m_multiBody->getLink(clientCmd.m_userDebugDrawArgs.m_linkIndex).m_collider;
+										}
+									}
+
+								}
+								if (body->m_rigidBody)
+								{
+									destColObj = body->m_rigidBody;
+								}
+
+								if (destColObj)
+								{
+									if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)
+									{
+										destColObj->removeCustomDebugColor();
+										serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
+									}
+									if (clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR)
+									{
+										btVector3 objectColorRGB;
+										objectColorRGB.setValue(clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[0],
+											clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[1],
+											clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[2]);
+										destColObj->setCustomDebugColor(objectColorRGB);
+										serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
+									}
+								}
+							}
+						}
 
 						if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
 						{

examples/SharedMemory/SharedMemoryCommands.h

@@ -139,13 +139,15 @@ struct RequestPixelDataArgs
 	int m_pixelWidth;
 	int m_pixelHeight;
 	float m_lightDirection[3];
+    float m_lightColor[3];
 };
 
 enum EnumRequestPixelDataUpdateFlags
 {
 	REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
-	REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4,
+	REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2,
-	REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=8,
+	REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4,
+    REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8,
 	//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
 	
 };
@@ -524,7 +526,10 @@ enum EnumUserDebugDrawFlags
     USER_DEBUG_HAS_LINE=1,
 	USER_DEBUG_HAS_TEXT=2,
 	USER_DEBUG_REMOVE_ONE_ITEM=4,
-	USER_DEBUG_REMOVE_ALL=8	
+	USER_DEBUG_REMOVE_ALL=8,	
+	USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16,
+	USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32,
+
 };
 
 struct UserDebugDrawArgs
@@ -541,6 +546,10 @@ struct UserDebugDrawArgs
 	double m_textPositionXYZ[3];
 	double m_textColorRGB[3];
 	double m_textSize;
+
+	double m_objectDebugColorRGB[3];
+	int m_objectUniqueId;
+	int m_linkIndex;
 };
 
 

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -75,6 +75,8 @@ struct TinyRendererVisualShapeConverterInternalData
 	b3AlignedObjectArray<int> m_segmentationMaskBuffer;
 	btVector3 m_lightDirection;
 	bool m_hasLightDirection;
+    btVector3 m_lightColor;
+    bool m_hasLightColor;
 	SimpleCamera m_camera;
 	
 	
@@ -83,7 +85,8 @@ struct TinyRendererVisualShapeConverterInternalData
 	m_swWidth(START_WIDTH),
 	m_swHeight(START_HEIGHT),
 	m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
-	m_hasLightDirection(false)
+	m_hasLightDirection(false),
+    m_hasLightColor(false)
 	{
 	    m_depthBuffer.resize(m_swWidth*m_swHeight);
 	    m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
@@ -117,6 +120,11 @@ void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float
 	m_data->m_hasLightDirection = true;
 }
 
+void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z)
+{
+    m_data->m_lightColor.setValue(x, y, z);
+    m_data->m_hasLightColor = true;
+}
 
 void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
 {
@@ -704,6 +712,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
     
     lightDirWorld.normalize();
     
+    btVector3 lightColor(1.0,1.0,1.0);
+    if (m_data->m_hasLightColor)
+    {
+        lightColor = m_data->m_lightColor;
+    }
+    
   //  printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
     for (int i=0;i<m_data->m_swRenderInstances.size();i++)
     {
@@ -737,6 +751,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                     renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
                     renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
                     renderObj->m_lightDirWorld = lightDirWorld;
+                    renderObj->m_lightColor = lightColor;
                 }
             }
             TinyRenderer::renderObject(*renderObj);
@@ -900,4 +915,4 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
         return registerTexture(image, width, height);
     }
     return -1;
-}
+}

examples/SharedMemory/TinyRendererVisualShapeConverter.h

@@ -33,6 +33,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
     void getWidthAndHeight(int& width, int& height);
 	void setWidthAndHeight(int width, int height);
 	void setLightDirection(float x, float y, float z);
+    void setLightColor(float x, float y, float z);
 
     void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
     

examples/TinyRenderer/TinyRenderer.cpp

@@ -19,6 +19,7 @@ struct Shader : public IShader {
     
     Model* m_model;
     Vec3f m_light_dir_local;
+    Vec3f m_light_color;
     Matrix& m_modelMat;
 	Matrix m_invModelMat;
 
@@ -32,9 +33,10 @@ struct Shader : public IShader {
     mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
     //mat<3,3,float> ndc_tri;     // triangle in normalized device coordinates
 
-    Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA)
+    Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA)
     :m_model(model),
     m_light_dir_local(light_dir_local),
+    m_light_color(light_color),
     m_modelView1(modelView),
     m_projectionMatrix(projectionMatrix),
     m_modelMat(modelMat),
@@ -83,6 +85,10 @@ struct Shader : public IShader {
         color.bgra[1] *= m_colorRGBA[1];
         color.bgra[2] *= m_colorRGBA[2];
         color.bgra[3] *= m_colorRGBA[3];
+        
+        color.bgra[0] *= m_light_color[0];
+        color.bgra[1] *= m_light_color[1];
+        color.bgra[2] *= m_light_color[2];
 
         return false;
     }
@@ -260,6 +266,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
 	int height = renderData.m_rgbColorBuffer.get_height();
 
 	Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
+    Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]);
     Model* model = renderData.m_model;
     if (0==model)
         return;
@@ -278,7 +285,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
     {
         Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
         Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
-        Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
+        Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
         		
 		//printf("Render %d triangles.\n",model->nfaces());
 		for (int i=0; i<model->nfaces(); i++) 

examples/TinyRenderer/TinyRenderer.h

@@ -18,6 +18,7 @@ struct TinyRenderObjectData
     Matrix m_viewportMatrix;
 	btVector3 m_localScaling;
 	btVector3 m_lightDirWorld;
+    btVector3 m_lightColor;
 	
     //Model (vertices, indices, textures, shader)
     Matrix m_modelMatrix;

examples/pybullet/pybullet.c

@@ -1647,8 +1647,45 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
 	Py_INCREF(Py_None);
 	return Py_None;
 }
-	
 
+static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds)
+{
+	PyObject* objectColorRGBObj = 0;
+	double objectColorRGB[3];
+
+	int objectUniqueId = -1;
+	int linkIndex = -2;
+
+	static char *kwlist[] = { "objectUniqueId", "linkIndex","objectDebugColorRGB", NULL };
+
+	if (0 == sm) {
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|O", kwlist,
+		&objectUniqueId, &linkIndex, &objectColorRGBObj))
+		return NULL;
+
+	if (objectColorRGBObj)
+	{
+		if (pybullet_internalSetVectord(objectColorRGBObj, objectColorRGB))
+		{
+			b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm);
+			b3SetDebugObjectColor(commandHandle, objectUniqueId, linkIndex, objectColorRGB);
+			b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		}
+	}
+	else
+	{
+		b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm);
+		b3RemoveDebugObjectColor(commandHandle, objectUniqueId, linkIndex);
+		b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+	
 
 static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args) 
 {
@@ -2237,17 +2274,18 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
 
 
 /// Render an image from the current timestep of the simulation, width, height are required, other args are optional
-// getCameraImage(w, h, view[16], projection[16], lightpos[3])
+// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3])
 static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds)
 {
 	/// request an image from a simulated camera, using a software renderer.
 	struct b3CameraImageData imageData;
-	PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0;
+	PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
 	int width, height;
 	int size = PySequence_Size(args);
 	float viewMatrix[16];
 	float projectionMatrix[16];
 	float lightDir[3];
+    float lightColor[3];
 	// inialize cmd
 	b3SharedMemoryCommandHandle command;
 
@@ -2260,9 +2298,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	command = b3InitRequestCameraImage(sm);
 
 	// set camera resolution, optionally view, projection matrix, light direction
-	static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection",NULL };
+	static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL };
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj))
 	{
 		return NULL;
 	}
@@ -2273,11 +2311,16 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	{
 		b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
 	}
-	//set light pos only if function succeeds
+	//set light direction only if function succeeds
 	if (pybullet_internalSetVector(lightDirObj, lightDir))
 	{
 		b3RequestCameraImageSetLightDirection(command, lightDir);
 	}
+    //set light color only if function succeeds
+    if (pybullet_internalSetVector(lightColorObj, lightColor))
+    {
+        b3RequestCameraImageSetLightColor(command, lightColor);
+    }
 
 
 	if (b3CanSubmitCommand(sm))
@@ -3421,6 +3464,10 @@ static PyMethodDef SpamMethods[] = {
 	 "remove all user debug draw items"
 	  },
 
+	  {	"setDebugObjectColor", (PyCFunction)pybullet_setDebugObjectColor, METH_VARARGS | METH_KEYWORDS,
+		"Override the wireframe debug drawing color for a particular object unique id / link index."
+		"If you ommit the color, the custom color will be removed."
+	  },
 
 
     {"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -122,6 +122,7 @@ protected:
 	///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
 	int			m_updateRevision;
 
+	btVector3	m_customDebugColorRGB;
 
 public:
 
@@ -136,7 +137,8 @@ public:
 		CF_CHARACTER_OBJECT = 16,
 		CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
 		CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing
-		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128
+		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
+		CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
 	};
 
 	enum	CollisionObjectTypes
@@ -556,6 +558,26 @@ public:
 		return m_updateRevision;
 	}
 
+	void	setCustomDebugColor(const btVector3& colorRGB)
+	{
+		m_customDebugColorRGB = colorRGB;
+		m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
+	}
+
+	void	removeCustomDebugColor()
+	{
+		m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
+	}
+
+	bool getCustomDebugColor(btVector3& colorRGB) const
+	{
+		bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
+		if (hasCustomColor)
+		{
+			colorRGB = m_customDebugColorRGB;
+		}
+		return hasCustomColor;
+	}
 
 	inline bool checkCollideWith(const btCollisionObject* co) const
 	{

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1572,6 +1572,8 @@ void	btCollisionWorld::debugDrawWorld()
 							}
 						};
 
+						colObj->getCustomDebugColor(color);
+
 						debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
 					}
 					if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))