Any idea how do i use contactPairTest?

[StaticWorld]

Does anyone here have an example of how to use contactPairTest?

contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);

I got the first 2 inputs already but i am kind of confuse on how to i set up the ContactResultCallback.
And after calling the function, if i want to get a boolean if there is any collision, i am assuming that i need to call
resultCallback->needsCollision(btBroadphaseProxy* proxy0);
how do i go about setting up btBroadphaseProxy?

i want to test if there is intersection between 2 objects and return a boolean .

[StaticWorld]

nvm found what i wanted.
If anyone wants to know how to use ContactPairTest(), you can take a look at
the convex hull distance demo, the code to set it up is in lines 307 to 339 in ConvexHullDistanceDemo.cpp