CCD not working correctly with custom collision dispatcher

[pouleyKetchoupp]

Hi,

When using a custom dispatcher for collision filtering, CCD is not always working well because it still uses the default filtering logic when doing the sweep test.

This line in the sweep result is filtering collision out based on the default logic whether there's a custom dispatcher or not:

bullet3/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

Lines 801 to 802 in ce26271

	if (!ClosestConvexResultCallback::needsCollision(proxy0))
	return false;

And the custom dispatcher is called as well below:

bullet3/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

Lines 814 to 815 in ce26271

	if (!m_dispatcher->needsCollision(m_me, otherObj))
	return false;

Should the first check be removed entirely, or just enabled when there's no custom dispatcher? At the moment it seems it's not possible to properly setup a custom dispatcher for CCD.

Thank you!

Edit: Link to the original issue in Godot: godotengine/godot#53219