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HowTo Enable jBullet DebugMode

I would like to render the physics world of jBullet to debug some issues in my game, and I am not finding too much on enabling the debugDraw method of jBullet. Do I need to write my own debugDraw ...
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Rotating a cube using jBullet collisions

How would one go about rotating/flipping a cube with the physics of jBullet? Here is my Draw method for my cube object: public void Draw() { // center point posX, posY, posZ float ...