Proposal: CollisionObject pairwise contact structure

[jslee02]

This is a very rough idea based on offline talk with @mkoval, so I'm very open to hearing any idea to make the idea more concrete.

The current contact structure Contact is created per contact. This structure is quite basic, but it would be useful to have a contact structure per CollisionObject pair.

First, the contact points are returned from the collision detector per collision object pairs anyways. So it wouldn't require additional work to collect the contact points per collision object pair.

Second, it would require less effort to collect contacts for a specific collision object. In the current API, we should search all the Contacts anyways, but with the new Contact we would have less number of Contacts to search for the same result.

Third, it would make easier to implement a collision option like maxNumContactPairs.

Note that this is not for DART 6.0.

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