Irrlicht Engine

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void BulletToIrr(const btVector3& in, core::vector3df& result)
{
    //result.set(in.getX(), in.getY(), -in.getZ());
	result.set(in.getX(), in.getY(), in.getZ());
} 

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void btDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
		{
			//glBegin(GL_LINES);
			//	glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
			//	glVertex3d(from.getX(), from.getY(), from.getZ());
			//	glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
			//	glVertex3d(to.getX(), to.getY(), to.getZ());
			//glEnd();

			//printf(">> TDebugNode::drawLine\n");

			if (m_debugNode != NULL)
			{
				core::vector3df v1, v2;
				BulletToIrr(from, v1);
				BulletToIrr(to, v2);

				// this solves the color bug in btRaycastVehicle
				btScalar r = fromColor.x();
				if (r <= 1) r *= 255;  // 0..1 to 0..255

				btScalar g = fromColor.y();
				if (g <= 1) g *= 255;  // 0..1 to 0..255

				btScalar b = fromColor.z();
				if (b <= 1) b *= 255;  // 0..1 to 0..255

				// handle bullet simplex debug color bug...
				//video::SColor icolor(255, (u32)fromColor.x() * 255.0, (u32)fromColor.y() * 255.0, (u32)fromColor.z() * 255.0);
				video::SColor icolor(255, (u32)r, (u32)g, (u32)b);

				video::S3DVertex vert1(v1, v1, icolor, core::vector2df());
				video::S3DVertex vert2(v2, v2, icolor, core::vector2df());
			
				m_debugNode->addLine(vert1, vert2); 
			}
		}

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// The coefficient of friction between the tyre and the ground. 
// Should be about 0.8 for realistic cars, but can increased for better handling.
// Set large (10000.0) for kart racers
m_wheelFriction = 10; //BT_LARGE_FLOAT;

// The stiffness constant for the suspension. 
// 10.0 - Offroad buggy, 50.0 - Sports car, 200.0 - F1 Car
m_suspensionStiffness = 10.f;

// The damping coefficient for when the suspension is expanding. 
// See the comments for m_wheelsDampingCompression for how to set k.
// m_wheelsDampingRelaxation should be slightly larger than m_wheelsDampingCompression, eg 0.2 to 0.5
m_suspensionDamping = 0.2f;

// The damping coefficient for when the suspension is compressed. 
// Set to k * 2.0 * btSqrt(m_suspensionStiffness) so k is proportional to critical damping.
// k = 0.0 undamped & bouncy, k = 1.0 critical damping
// 0.1 to 0.3 are good values
m_suspensionCompression = 0.1f;

// The maximum length of the suspension (metres)
m_suspensionRestLength = 0.1f * PHYSCAR_SCALE;

// Reduces the rolling torque applied from the wheels that cause the vehicle to roll over.
// This is a bit of a hack, but it's quite effective. 0.0 = no roll, 1.0 = physical behaviour.
// If m_frictionSlip is too high, you'll need to reduce this to stop the vehicle rolling over.
// You should also try lowering the vehicle's centre of mass
m_rollInfluence = 1.0f; 

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// the bad one
m_physicsWorld->getDynamicsWorld()->addRigidBody(m_rigidBody, m_filterGroup, m_filterMask);
			
// the good one
m_physicsWorld->getDynamicsWorld()->addRigidBody(m_rigidBody);