[Collision.Response.Contact] Make contactId thread-safe

[fredroy]

~~for thread-safety, and each thread/simu would have its own pool of contact id~~

~~An other solution would be to put a guard_lock/mutex each time the ids are accessed but it would share the same pool of contact id to the whole set of thread/simu~~

Make the counter of ContactId atomic. A side effect is to remove the ability to restore previous contactid which was destroyed and set in a side container. I dont think we really need to save some "ids" because we will never overrun the 64 bit integer IMO (18446744073709551615 is quite big 🙃)

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• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
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[fredroy]

[ci-build][with-all-tests]

[hugtalbot]

Error Win: ContactIdentifier.h(39): error C2492: 'sofa::component::collision::response::contact::ContactIdentifier::cpt': data with thread storage duration may not have dll interface

[fredroy]

[ci-build][with-all-tests]