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void updateContactMap(btCollisionDispatcher* collision_dispatcher) {
    int num_manifolds = collision_dispatcher->getNumManifolds();
    for (int i = 0; i < num_manifolds; ++i) {
        btPersistentManifold* contact_manifold =  collision_dispatcher->getManifoldByIndexInternal(i);
        // sometimes you get a manifold with zero contacts so filter for that case
        if (contact_manifold->getNumContacts() > 0) {
            const btCollisionObject* object_A = contact_manifold->getBody0();                           
            const btCollisionObject* object_B = contact_manifold->getBody1();                           
            // ... do something
        }
    }
}