added get methods for constraints

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -844,3 +844,15 @@ void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 	m_constraintSolver = solver;
 }
 
+int		btDiscreteDynamicsWorld::getNumConstraints() const
+{
+	return int(m_constraints.size());
+}
+btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index)
+{
+	return m_constraints[index];
+}
+const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
+{
+	return m_constraints[index];
+}

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -138,6 +138,13 @@ public:
 
 	virtual void	setConstraintSolver(btConstraintSolver* solver);
 	
+	virtual	int		getNumConstraints() const;
+
+	virtual btTypedConstraint* getConstraint(int index)	;
+
+	virtual const btTypedConstraint* getConstraint(int index) const;
+
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -69,6 +69,12 @@ class btDynamicsWorld : public btCollisionWorld
 
 		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
 		
+		virtual	int		getNumConstraints() const {	return 0;		}
+		
+		virtual btTypedConstraint* getConstraint(int index)		{			return 0;		}
+		
+		virtual const btTypedConstraint* getConstraint(int index) const	{		return 0;	}
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H