Been building and using Jeeps for 20 years in the offroad scene. Been making full roll cages and utilizing harnessess on most all of the units I have built. Most of the previous posts are correct.
Harnesses are not DOT approved. They aren't made to stretch and provide some slack during a collision. If you tightent them appropriately, you willnot be able to move at all... like to check blind spots or to back up or get your Big Mac at McDonalds.
Mounting your harness to the floor would result in broken shoulders and collar bones in a collision, to say the least.
Without a submarine belt, the fifth point, you possibly can slip out from under and get really f-cked up. This is important during high speed.
You have zero good mounting points for a bar in your car unless you apply a properly mounted cage. Mount them to the floor and when you apply force to the mounting points, they will tear away and you go for a ride through the window or the roof. Put in a cheesy bar and the effects will be just as bad plus you'll have a pipe being thrown around your car to make a mural of your skull pieces and brain noodles.
A damn cage and not a bar. The bar will fold like tin foil in a wreck. A roll cage will be made of proper sized DOM tubing, or better, welded to strong reinforced points a frame if available, gussets applied and braced in all o f the critical areas. The cage is in itself will encompass the intterior of the vehicle and will take into account collisions of all different areas and angles.
Sorry if I come across as harsh but this is no place to half ass anything.
Look at some videos or pics of ghetto cages after collisions. Click the link below. This is of a Mustang out my local track who had a cheap bolt in cage. Notice the pic of it on its lid and the feet of the cage punched through the floor boards. Also notice how the cage did nothing to prevent roof collapse.
http://jalopnik.com/5390934/mustang-cover-boy-tries-to-corner-flips-over-tire-wall