How to draw/render a Bullet Physics collision body/shape?

I have implemented the Bullet Physics engine into my android program with the NDK (I am using Vuforia's imagetarget example for android), and it is set up and working correctly, however I would like to render/draw my collision boxes/planes to see my rigid bodies (btRigidBody)/collision shapes (btCollisionShape), I'm positive this is possible but I can't find any tutorials on how to do it!

I have taken the hello world Bullet physics tutorial on their wiki page and modified it to apply the transformations from the falling physics body to a 3d object I have in opengl es 2.0 to view the collision bodies, here is the code I am using to render to object:

void drawRigidBody(btRigidBody* body,QCAR::Matrix44F modelViewMatrix, unsigned int textureID)
{
btTransform trans;
body->getMotionState()->getWorldTransform(trans);
    LOG("sphere pos: (x %f , y %f, z %f)",trans.getOrigin().getX(),trans.getOrigin().getY(),trans.getOrigin().getZ());


    float physicsMatrix[16];
    trans.getOpenGLMatrix(physicsMatrix);

    SampleUtils::scalePoseMatrix(kObjectScale, kObjectScale, kObjectScale,
            &modelViewMatrix.data[0]);

    QCAR::Matrix44F modelViewProjection, objectMatrix;
    SampleUtils::multiplyMatrix(&modelViewMatrix.data[0], physicsMatrix, &objectMatrix.data[0]);
    SampleUtils::multiplyMatrix(&projectionMatrix.data[0], &objectMatrix.data[0], &modelViewProjection.data[0]);



    glVertexAttribPointer(vertexHandle, 3, GL_FLOAT, GL_FALSE, 0,
            (const GLvoid*) &signVerts[0]);
    glVertexAttribPointer(normalHandle, 3, GL_FLOAT, GL_FALSE, 0,
            (const GLvoid*) &signNormals[0]);
    glVertexAttribPointer(textureCoordHandle, 2, GL_FLOAT, GL_FALSE, 0,
            (const GLvoid*) &signTexCoords[0]);

    glEnableVertexAttribArray(vertexHandle);
    glEnableVertexAttribArray(normalHandle);
    glEnableVertexAttribArray(textureCoordHandle);

    glActiveTexture(GL_TEXTURE0);
    glBindTexture(GL_TEXTURE_2D, textureID);
    glUniformMatrix4fv(mvpMatrixHandle, 1, GL_FALSE,
            (GLfloat*)&modelViewProjection.data[0] );
    glDrawArrays(GL_TRIANGLES, 0, signNumVerts);
}

EDIT: looking at the code for btBoxShape i noticed you can grab the box vertices and normals:

btVector3** vertices= wallShape->getVertices();
btVector3**normals = wallShape->getNormals();

but you can't grab a list of indices to draw the vertex points in a certain order!