[AO migration] query contact points

[aclegg3]

Motivation and Context

ArticulatedObject migration PR split from #1226.
Contains all contact point query related changes from #1247 originally implemented by @eundersander.

Note: I extracted functionality from BulletDebugManager to keep this isolated.

How Has This Been Tested

Added a C++ unit test.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[eundersander]

A couple hacks here that I'd rather not see merged to master. If you are under a time crunch and need to merge as-is, let's at least document the tech debt somewhere.

[eundersander]

Your plan to remove the logging sounds good. The rest looks good, too.