only update aabb of active objects, thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )

move debug aabb rendering from updateAabb to debugDrawWorld

Demos/BspDemo/BspDemo.cpp

@@ -217,6 +217,9 @@ void BspDemo::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	renderme();
 
 	glFlush();

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -246,6 +246,9 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
 		int numSimSteps = 0;
 		numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
 		
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+
 #ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
 		if (!numSimSteps)
 			printf("Interpolated transforms\n");

Demos/ColladaDemo/ColladaDemo.cpp

@@ -212,6 +212,9 @@ void ColladaDemo::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	renderme();
 
 	glFlush();
@@ -226,7 +229,8 @@ void ColladaDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-	m_dynamicsWorld->updateAabbs();
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
 
 	renderme();
 

Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp

@@ -377,6 +377,9 @@ void ConcaveConvexcastDemo::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 	
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	convexcastBatch.move (dt);
 	convexcastBatch.cast (m_dynamicsWorld);
 	renderme();

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -326,6 +326,9 @@ void ConcaveDemo::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+	
 	renderme();
 
     glFlush();

Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp

@@ -351,6 +351,9 @@ void ConcaveRaycastDemo::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 	
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+	
 	raycastBar.move (dt);
 	raycastBar.cast (m_dynamicsWorld);
 	renderme();

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -208,6 +208,10 @@ void ConstraintDemo::clientMoveAndDisplay()
 			dt = 1.0/420.f;
 
 		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
+
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	
 		bool verbose = false;
 		if (verbose)
 		{
@@ -241,8 +245,8 @@ void ConstraintDemo::displayCallback(void) {
 
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	
+	if (m_dynamicsWorld)
-	m_dynamicsWorld->updateAabbs();
+		m_dynamicsWorld->debugDrawWorld();
 
 	drawLimit();
 

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -372,6 +372,9 @@ void ConvexDecompositionDemo::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	renderme();
 
 	glFlush();
@@ -386,7 +389,8 @@ void ConvexDecompositionDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-	m_dynamicsWorld->updateAabbs();
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
 
 	renderme();
 

Demos/GenericJointDemo/GenericJointDemo.cpp

@@ -116,7 +116,11 @@ void GenericJointDemo::clientMoveAndDisplay()
 		ms = minFPS;
 
 	if (m_dynamicsWorld)
+	{
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	}
 
 	renderme();
 
@@ -130,7 +134,7 @@ void GenericJointDemo::displayCallback()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
 	if (m_dynamicsWorld)
-		m_dynamicsWorld->updateAabbs();
+		m_dynamicsWorld->debugDrawWorld();
 
 	renderme();
 

Demos/GimpactTestDemo/GimpactTestDemo.cpp

@@ -598,6 +598,10 @@ void GimpactConcaveDemo::clientMoveAndDisplay()
 
 	m_clock.reset();
 	m_dynamicsWorld->stepSimulation(dt);
+
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	m_steps_done++;
 
 	//m_dynamicsWorld->stepSimulation(dts);

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -1890,6 +1890,9 @@ void ConcaveDemo::clientMoveAndDisplay()
 	m_clock.reset();
 	m_dynamicsWorld->stepSimulation(dt);
 
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	renderme();
 
     glFlush();

Demos/RagdollDemo/RagdollDemo.cpp

@@ -369,7 +369,12 @@ void RagdollDemo::clientMoveAndDisplay()
 		ms = minFPS;
 
 	if (m_dynamicsWorld)
+	{
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+
+	}
 
 	renderme(); 
 

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -147,6 +147,9 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
 
 	m_dynamicsWorld->stepSimulation(dt);
 	
+	//optional but useful: debug drawing
+	m_dynamicsWorld->debugDrawWorld();
+
 	renderme();
 
     glFlush();

Demos/VehicleDemo/VehicleDemo.cpp

@@ -453,6 +453,9 @@ void VehicleDemo::clientMoveAndDisplay()
 			dt = 1.0/420.f;
 
 		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+
 
 //#define VERBOSE_FEEDBACK
 #ifdef VERBOSE_FEEDBACK

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -125,7 +125,7 @@ void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 
 void	btDiscreteDynamicsWorld::debugDrawWorld()
 {
-	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
 	{
 		int i;
 
@@ -156,6 +156,14 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 				debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
 			}
+			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
+			{
+				btPoint3 minAabb,maxAabb;
+				btVector3 colorvec(1,0,0);
+				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+				m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
+			}
+
 		}
 	
 		for (  i=0;i<this->m_vehicles.size();i++)
@@ -636,8 +644,6 @@ void	btDiscreteDynamicsWorld::updateAabbs()
 {
 	PROFILE("updateAabbs");
 	
-	
-	btVector3 colorvec(1,0,0);
 	btTransform predictedTrans;
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
@@ -646,7 +652,8 @@ void	btDiscreteDynamicsWorld::updateAabbs()
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-		//	if (body->IsActive() && (!body->IsStatic()))
+			//only update aabb of active objects
+			if (body->isActive())
 			{
 				btPoint3 minAabb,maxAabb;
 				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
@@ -674,10 +681,6 @@ void	btDiscreteDynamicsWorld::updateAabbs()
 
 
 				}
-				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-				{
-					m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
-				}
 			}
 		}
 	}