This is a change I made quite a while ago. Contact materials are now associated with collision shapes (so that you can have multiple different materials in the collision material of any given body). See https://github.com/projectchrono/chrono/blob/main/CHANGELOG.md#changed-collision-shapes-and-contact-materials (by the way, the CHANGELOG file is a good resource for all major API changes in Chrono). And look in the various demos distributed with Chrono.
--Radu
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