contact callback, contact test - performance

[marios]

It is better to register contact callback, for body or call contact test every physics tick to improve performance.
How much worse is calling contact test every tick, or better, or performance is the same both methods?

[Erwin Coumans]

Performance should be similar, they both execute the same code.

The main difference is that the regular code (stepSimulation + contact callback) uses the broadphase culling.
If you only call contact test for few pairs, it shouldn't matter.

Thanks,
Erwin