How to query every contact points from a shape?

[sduval]

I am trying to query every triangles inside a shape.

I thought that dispatching all collision pairs and then iterating the Persistent Manifold would have done the trick but I realized that the persistent Manifold only keep up to 4 btManifoldPoint. In other words, when performing a query on a triangle mesh, only up to 4 triangles are returned.

The only solution I could find was to grab all the contact points through the global "gContactAddedCallback" callback. Is it an advisable solution? Do you have any other solution to propose?