Collision filters and callbacks

[Boltzmann]

I have implemented a physics manager and physics object classes to wrap bullet and I've implemented the option to set collision filters, but also the option for collision callbacks. However, when two objects are filtered not to collide with each other, the callback correspondent to their collision isn't called... is there a way to make it work correctly? I want to have triggers basically, but with collision filters!

[Boltzmann]

Also, another problem I'm having is that setting the world transform matrix of a rigidbody isn't working at all (i store the world transform matrix when I initialize the rigid body) and neither is setting the rotation manually (setting rotation only works when the object is not rotating and if i apply torque after setting the rotation, the object will go back to the rotation it had before I set the new rotation...)

can someone help me?