create a separate document for each book-bookshelf combination.
doc 1 = book 1,shelf 1
doc 2 = book 1,shelf 3
doc 3 = book 2,shelf 1
etc.

then your queries are q=book_id   to get all bookshelfs a given book is on
or q=shelf_id to get all books on a given bookshelf.

Biggest problem people face with Solr schema design is thinking either
object orientedly or RDBMs orientedly. You need to think differently.
Solr/Lucene find text and they find it very fast over huge amounts of data. 

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