The servlet API lacks this feature because it was created in a time when many believed that the query string and the message body was just two different ways of sending parameters, not realizing that the purposes of the parameters are fundamentally different.
The query string parameters ?foo=bar are a part of the URL because they are involved in identifying a resource (which could be a collection of many resources), like "all persons aged 42":
GET /persons?age=42
The message body parameters in POST or PUT are there to express a modification to the target resource(s). Fx setting a value to the attribute "hair":
PUT /persons?age=42
hair=grey
So it is definitely RESTful to use both query parameters and body parameters at the same time, separated so that you can use them for different purposes. The feature is definitely missing in the Java servlet API.