added first draft of C-API, btConvexHullShape takes float* instead of btPoint*, added getGravity to btRigidBody

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -18,7 +18,8 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 
 
-btConvexHullShape ::btConvexHullShape (btPoint3* points,int numPoints,int stride)
+
+btConvexHullShape ::btConvexHullShape (const float* points,int numPoints,int stride)
 {
 	m_points.resize(numPoints);
 	unsigned char* pointsBaseAddress = (unsigned char*)points;

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -30,7 +30,10 @@ class btConvexHullShape : public btPolyhedralConvexShape
 	std::vector<btPoint3>	m_points;
 
 public:
-	btConvexHullShape(btPoint3* points,int numPoints, int stride=sizeof(btPoint3));
+	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive float (x,y,z), the striding defines the number of bytes between each point, in memory.
+	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
+	///btConvexHullShape make an internal copy of the points.
+	btConvexHullShape(const float* points=0,int numPoints=0, int stride=sizeof(btPoint3));
 
 	void addPoint(const btPoint3& point)
 	{

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -191,6 +191,12 @@ void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
 	}
 }
 
+
+void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
+{
+	removeCollisionObject(body);
+}
+
 void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
 {
 	body->setGravity(m_gravity);

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -126,6 +126,8 @@ public:
 
 	virtual void	addRigidBody(btRigidBody* body);
 
+	virtual void	removeRigidBody(btRigidBody* body);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -56,6 +56,8 @@ class btDynamicsWorld : public btCollisionWorld
 
 		virtual void	addRigidBody(btRigidBody* body) = 0;
 
+		virtual void	removeRigidBody(btRigidBody* body) = 0;
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -88,7 +88,12 @@ public:
 	void			applyForces(btScalar step);
 	
 	void			setGravity(const btVector3& acceleration);  
-	
+
+	const btVector3&	getGravity() const
+	{
+		return m_gravity;
+	}
+
 	void			setDamping(btScalar lin_damping, btScalar ang_damping);
 	
 	inline const btCollisionShape*	getCollisionShape() const {

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -89,6 +89,11 @@ void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
 	}
 }
 
+void	btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
+{
+	removeCollisionObject(body);
+}
+
 void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
 {
 	body->setGravity(m_gravity);

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -70,6 +70,8 @@ public:
 
 	virtual void	addRigidBody(btRigidBody* body);
 
+	virtual void	removeRigidBody(btRigidBody* body);
+	
 	virtual void	updateAabbs();
 };