This command will return the tangent impulse of the specified contact point on the specified manifold. The ManifoldID should be the integer handle of the manifold that was returned by b2GetContactManifold. The Index should be the contact point's Index number. You can retrieve the number of contact points in a manifold with b2GetManifoldPointCount.
Syntax
Return as Float = b2GetManifoldContactPointTangentImpulse(ManifoldID as Integer,
Index as Integer)