Add void btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

The user should derive its own class from ContactResultCallback and implement the following callback (similar to the gContactAddedCallback):

virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;

src/BulletCollision/CollisionDispatch/btManifoldResult.h

@@ -34,6 +34,8 @@ extern ContactAddedCallback		gContactAddedCallback;
 ///btManifoldResult is a helper class to manage  contact results.
 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
 {
+protected:
+
 	btPersistentManifold* m_manifoldPtr;
 
 	//we need this for compounds