rigidbody: Add function to perform convex sweep test

This is a experimental collision detection function, so the API might
change in the future.

Note: The simulation needs to be stepped before this function can be
used, otherwise the rigid body world might not be valid.

Patch [#34989]  Bullet Convex sweep test API
by Vilem Novak (pildanovak), thanks!

intern/rigidbody/RBI_api.h

@@ -110,6 +110,12 @@ extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int co
 /* Remove RigidBody from dynamics world */
 extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body);
 
+/* Collision detection */
+
+void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object,
+								const float loc_start[3], const float loc_end[3],
+	                            float v_location[3],  float v_hitpoint[3],  float v_normal[3], int *r_hit);
+
 /* ............ */
 
 /* Create new RigidBody instance */