how get collision callback of two specific objects using bullet physics?

I have got problem implementing collision callback into my project. I would like to have detection between two specific objects. I have got normall collision but I want one object to stop or change color or whatever when colides with another. I wrote code from bullet wiki:

int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds();
    for (int i=0;i    {
        btPersistentManifold* contactManifold =  dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
        btCollisionObject* obA = static_cast(contactManifold->getBody0());
        btCollisionObject* obB = static_cast(contactManifold->getBody1());

        int numContacts = contactManifold->getNumContacts();
        for (int j=0;j
        {
            btManifoldPoint& pt = contactManifold->getContactPoint(j);
            if (pt.getDistance()<0.f)
            {
                const btVector3& ptA = pt.getPositionWorldOnA();
                const btVector3& ptB = pt.getPositionWorldOnB();
                const btVector3& normalOnB = pt.m_normalWorldOnB;
                bool x = (ContactProcessedCallback)(pt,fallRigidBody,earthRigidBody);
                if(x)
                    printf("collision\n");

            }
        }
    }

where fallRigidBody is a dynamic body - a sphere and earthRigiBody is static body - StaticPlaneShape and sphere isn't touching earthRigidBody all the time. I have got also other objects that are colliding with sphere and it works fine. But the program detects collision all the time. It doesn't matter if the objects are or aren't colliding.

I have also added after declarations of rigid body:

    earthRigidBody->setCollisionFlags(earthRigidBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
fallRigidBody->setCollisionFlags(fallRigidBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);

So can someone tell me what I am doing wrong? Maybe it is something simple?