Fix Bullet collision returning wrong contact type

[yurirocha15]

Description

When using Bullet collision, the collision response contact type is wrong. This is due to a typo in the bullet_utils.h which stores the first type into both contacts.

This PR fixes this issue and updates the continuous collision detection test to include a check for the contact type.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[rhaschke]

Nice catch!

[codecov]

Codecov Report

Merging #2829 (7679fe4) into master (f8f8281) will decrease coverage by 0.01%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #2829      +/-   ##
==========================================
- Coverage   60.81%   60.81%   -0.00%     
==========================================
  Files         366      366              
  Lines       31717    31717              
==========================================
- Hits        19287    19285       -2     
- Misses      12430    12432       +2     

Impacted Files	Coverage Δ
...detection_bullet/bullet_integration/bullet_utils.h	81.20% <100.00%> (ø)
...on/pick_place/src/approach_and_translate_stage.cpp	73.38% <0.00%> (-0.64%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	77.87% <0.00%> (-0.38%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.13% <0.00%> (-0.13%)	⬇️
...raint_samplers/src/default_constraint_samplers.cpp	80.72% <0.00%> (+0.30%)	⬆️

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[v4hn]

thank you for the patch. 🏅

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!