title: Bullet Physics Broadphase Filter Callback to filter individual shapes inside a compound body
body: <p>Is there a way to set a Broadphase Filter Callback in Bullet Physics as follow:</p>
  
  <p>Compound dynamic bodies built from two shapes, say a cylinder and a box, where cylinders can only collide with cylinders inside other dynamic bodies, and boxes can only collide with a third kind of body, wich is a static sphere</p>
  
  <p>No other collisions are allowed: cylinders with spheres, must NOT collide; boxes with boxes, must NOT collide either</p>
  
  <p>The following image shows what I've described above</p>
  
  <p><img src="https://i.stack.imgur.com/eAJxS.png" alt="collision-filter"></p>