This command will return the handle of the specified manifold index. You can then examine the properties for this manifold with b2GetManifoldNormalX, b2GetManifoldNormalY, and b2GetManifoldPointCount. You can retrieve the number of manifolds in a contact with b2GetContactManifoldCount. The parameter should be the integer handle of the contact that was returned by the previously listed command.
Syntax
Return as Integer = b2GetContactManifold(ID as Integer, Index as
Integer)