Contact helpers about bepuphysics2 HOT 2 CLOSED

After adding an UnsafeManifoldViewer (8ee8de0) for raw access with the intention of wrapping it in enumerators for ease of use, I've become increasingly dubious about pulling contact data from the solver.

1. Contact callbacks provide manifolds in a convenient AOS layout and don't require an AOSOA unpacking step.
2. Pulling contact data out of the solver only works for pairs which have actually generated constraints, so it's useless for 'detector' use cases.
3. Users could easily be confused by the involvement of constraint handles when trying to request collision detection related information.
4. The tendrils it creates are confusing enough even to me. It required an extension of ContactConstraintAccessors and an awkward per-constraint interface implementation. (Not that big of a problem since all the contact constraints are autogenerated, but it still adds cognitive overhead.)

The ContactLineExtractor in the demos shows a way of pulling contact data out of the solver for users interested in that sort of usage.

For now, I'm backing out the UnsafeManifoldViewer and focusing on the contact callback usability.

from bepuphysics2.

dd2e555 has a ContactEventsDemo. Combined with the contact line extractor in the DemoRenderer, this is about as far as I think I'll go for the first release.

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