Hint:
As suggested by @achille hui, one may use the substitution $u\leadsto\cot t$, to get $\mathrm{d}t=-\sin^2t\,\mathrm{d}u$, and using the fact that
$$\sin t=\dfrac1{\sqrt{1+\cot^2t}}=\dfrac1{\sqrt{1+u^2}},\tag{$0\lt t\lt\pi$}$$
we have
$$\int \dfrac{c}{\sin t\sqrt{\sin^2 t-c^2}}\,\mathrm{d}t=-c\int\dfrac{\tfrac{1}{\sqrt{1+u^2}}}{\sqrt{\left(\tfrac{1}{\sqrt{1+u^2}}\right)^2-c^2}}\,\mathrm{d}u=-c\int\dfrac1{\sqrt{1-c^2(1+u^2)}}\,\mathrm{d}u.$$ Making use of the substitution $1+u^2\leadsto v$ shows that the evaluation of this integral boils down to computing the familiar $$\int\dfrac1{\sqrt{v-v^2}}\mathrm dv.$$