add first draft of contact point query in shared memory API

b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -35,6 +35,7 @@ btCollisionObject::btCollisionObject()
 		m_rollingFriction(0.0f),
 		m_internalType(CO_COLLISION_OBJECT),
 		m_userObjectPointer(0),
+		m_userIndex2(-1),
 		m_userIndex(-1),
 		m_hitFraction(btScalar(1.)),
 		m_ccdSweptSphereRadius(btScalar(0.)),

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -93,8 +93,10 @@ protected:
 
 	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
 
-    void*			m_userObjectPointer;
-    
+	void*			m_userObjectPointer;
+
+	int				m_userIndex2;
+	
     int	m_userIndex;
 
 	///time of impact calculation
@@ -476,6 +478,12 @@ public:
 	{
 		return m_userIndex;
 	}
+	
+	int	getUserIndex2() const
+	{
+		return m_userIndex2;
+	}
+	
 	///users can point to their objects, userPointer is not used by Bullet
 	void	setUserPointer(void* userPointer)
 	{
@@ -487,6 +495,11 @@ public:
 	{
 		m_userIndex = index;
 	}
+	
+	void	setUserIndex2(int index)
+	{
+		m_userIndex2 = index;
+	}
 
 	int	getUpdateRevisionInternal() const
 	{

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -106,7 +106,9 @@ btMultiBody::btMultiBody(int n_links,
 		m_awake(true),
 		m_canSleep(canSleep),
 		m_sleepTimer(0),
-		
+		m_userObjectPointer(0),
+		m_userIndex2(-1),
+		m_userIndex(-1),
 		m_linearDamping(0.04f),
 		m_angularDamping(0.04f),
 		m_useGyroTerm(true),

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -577,6 +577,38 @@ void addJointTorque(int i, btScalar Q);
 		m_baseName = name;
 	}
 
+	///users can point to their objects, userPointer is not used by Bullet
+	void*	getUserPointer() const
+	{
+		return m_userObjectPointer;
+	}
+
+	int	getUserIndex() const
+	{
+		return m_userIndex;
+	}
+
+	int	getUserIndex2() const
+	{
+		return m_userIndex2;
+	}
+	///users can point to their objects, userPointer is not used by Bullet
+	void	setUserPointer(void* userPointer)
+	{
+		m_userObjectPointer = userPointer;
+	}
+
+	///users can point to their objects, userPointer is not used by Bullet
+	void	setUserIndex(int index)
+	{
+		m_userIndex = index;
+	}
+
+	void	setUserIndex2(int index)
+	{
+		m_userIndex2 = index;
+	}
+
 private:
     btMultiBody(const btMultiBody &);  // not implemented
     void operator=(const btMultiBody &);  // not implemented
@@ -653,6 +685,10 @@ private:
     bool m_canSleep;
     btScalar m_sleepTimer;
 
+	void* m_userObjectPointer;
+	int m_userIndex2;
+	int m_userIndex;
+
 	int	m_companionId;
 	btScalar	m_linearDamping;
 	btScalar	m_angularDamping;