diff --git a/crates/parry3d/examples/custom_dispatcher.rs b/crates/parry3d/examples/custom_dispatcher.rs
index 5179cdd2..a56975b1 100644
--- a/crates/parry3d/examples/custom_dispatcher.rs
+++ b/crates/parry3d/examples/custom_dispatcher.rs
@@ -12,6 +12,8 @@ use parry3d::{
     shape::{Ball, Cuboid, FeatureId, Shape, ShapeType, TypedShape},
 };
 
+pub struct CustomBall(pub Ball);
+
 fn main() {
     let cube = Cuboid::new(Vector::new(1.0, 1.0, 1.0));
     let ball = CustomBall(Ball::new(1.0));
@@ -24,8 +26,6 @@ fn main() {
     dbg!(contact);
 }
 
-pub struct CustomBall(pub Ball);
-
 impl PointQuery for CustomBall {
     fn project_local_point(&self, pt: &Point<f32>, solid: bool) -> PointProjection {
         self.0.project_local_point(pt, solid)
@@ -95,8 +95,31 @@ impl QueryDispatcher for CustomBallDispatcher {
         g1: &dyn Shape,
         g2: &dyn Shape,
     ) -> Result<bool, Unsupported> {
-        let dispatcher = DefaultQueryDispatcher;
-        dispatcher.intersection_test(pos12, g1, g2)
+        let (ball1, ball2) = (
+            g1.downcast_ref::<CustomBall>(),
+            g2.downcast_ref::<CustomBall>(),
+        );
+
+        match (ball1, ball2) {
+            (Some(ball1), Some(ball2)) => {
+                let p12 = Point::from(pos12.translation.vector);
+                return Ok(parry3d::query::details::intersection_test_ball_ball(
+                    &p12, &ball1.0, &ball2.0,
+                ));
+            }
+            (Some(ball1), None) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.intersection_test(pos12, &ball1.0, g2)
+            }
+            (None, Some(ball2)) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.intersection_test(pos12, g1, &ball2.0)
+            }
+            _ => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.intersection_test(pos12, g1, g2)
+            }
+        }
     }
 
     fn distance(
@@ -105,8 +128,31 @@ impl QueryDispatcher for CustomBallDispatcher {
         g1: &dyn Shape,
         g2: &dyn Shape,
     ) -> Result<f32, Unsupported> {
-        let dispatcher = DefaultQueryDispatcher;
-        dispatcher.distance(pos12, g1, g2)
+        let (ball1, ball2) = (
+            g1.downcast_ref::<CustomBall>(),
+            g2.downcast_ref::<CustomBall>(),
+        );
+
+        match (ball1, ball2) {
+            (Some(ball1), Some(ball2)) => {
+                let p2 = Point::from(pos12.translation.vector);
+                return Ok(parry3d::query::details::distance_ball_ball(
+                    &ball1.0, &p2, &ball2.0,
+                ));
+            }
+            (Some(ball1), None) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.distance(pos12, &ball1.0, g2)
+            }
+            (None, Some(ball2)) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.distance(pos12, g1, &ball2.0)
+            }
+            _ => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.distance(pos12, g1, g2)
+            }
+        }
     }
 
     fn contact(
@@ -116,8 +162,30 @@ impl QueryDispatcher for CustomBallDispatcher {
         g2: &dyn Shape,
         prediction: f32,
     ) -> Result<Option<Contact>, Unsupported> {
-        let dispatcher = DefaultQueryDispatcher;
-        dispatcher.contact(pos12, g1, g2, prediction)
+        let (ball1, ball2) = (
+            g1.downcast_ref::<CustomBall>(),
+            g2.downcast_ref::<CustomBall>(),
+        );
+
+        match (ball1, ball2) {
+            (Some(ball1), Some(ball2)) => {
+                return Ok(parry3d::query::details::contact_ball_ball(
+                    pos12, &ball1.0, &ball2.0, prediction,
+                ));
+            }
+            (Some(ball1), None) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.contact(pos12, &ball1.0, g2, prediction)
+            }
+            (None, Some(ball2)) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.contact(pos12, g1, &ball2.0, prediction)
+            }
+            _ => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.contact(pos12, g1, g2, prediction)
+            }
+        }
     }
 
     fn closest_points(
@@ -127,8 +195,30 @@ impl QueryDispatcher for CustomBallDispatcher {
         g2: &dyn Shape,
         max_dist: f32,
     ) -> Result<ClosestPoints, Unsupported> {
-        let dispatcher = DefaultQueryDispatcher;
-        dispatcher.closest_points(pos12, g1, g2, max_dist)
+        let (ball1, ball2) = (
+            g1.downcast_ref::<CustomBall>(),
+            g2.downcast_ref::<CustomBall>(),
+        );
+
+        match (ball1, ball2) {
+            (Some(ball1), Some(ball2)) => {
+                return Ok(parry3d::query::details::closest_points_ball_ball(
+                    pos12, &ball1.0, &ball2.0, max_dist,
+                ));
+            }
+            (Some(ball1), None) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.closest_points(pos12, &ball1.0, g2, max_dist)
+            }
+            (None, Some(ball2)) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.closest_points(pos12, g1, &ball2.0, max_dist)
+            }
+            _ => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.closest_points(pos12, g1, g2, max_dist)
+            }
+        }
     }
 
     fn cast_shapes(
@@ -139,8 +229,34 @@ impl QueryDispatcher for CustomBallDispatcher {
         g2: &dyn Shape,
         options: ShapeCastOptions,
     ) -> Result<Option<ShapeCastHit>, Unsupported> {
-        let dispatcher = DefaultQueryDispatcher;
-        dispatcher.cast_shapes(pos12, local_vel12, g1, g2, options)
+        let (ball1, ball2) = (
+            g1.downcast_ref::<CustomBall>(),
+            g2.downcast_ref::<CustomBall>(),
+        );
+
+        match (ball1, ball2) {
+            (Some(ball1), Some(ball2)) => {
+                return Ok(parry3d::query::details::cast_shapes_ball_ball(
+                    pos12,
+                    local_vel12,
+                    &ball1.0,
+                    &ball2.0,
+                    options,
+                ));
+            }
+            (Some(ball1), None) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.cast_shapes(pos12, local_vel12, &ball1.0, g2, options)
+            }
+            (None, Some(ball2)) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.cast_shapes(pos12, local_vel12, g1, &ball2.0, options)
+            }
+            _ => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.cast_shapes(pos12, local_vel12, g1, g2, options)
+            }
+        }
     }
 
     fn cast_shapes_nonlinear(
@@ -153,15 +269,59 @@ impl QueryDispatcher for CustomBallDispatcher {
         end_time: f32,
         stop_at_penetration: bool,
     ) -> Result<Option<ShapeCastHit>, Unsupported> {
-        let dispatcher = DefaultQueryDispatcher;
-        dispatcher.cast_shapes_nonlinear(
-            motion1,
-            g1,
-            motion2,
-            g2,
-            start_time,
-            end_time,
-            stop_at_penetration,
-        )
+        let (ball1, ball2) = (
+            g1.downcast_ref::<CustomBall>(),
+            g2.downcast_ref::<CustomBall>(),
+        );
+
+        match (ball1, ball2) {
+            (Some(ball1), Some(ball2)) => {
+                return parry3d::query::details::cast_shapes_nonlinear(
+                    motion1,
+                    &ball1.0,
+                    motion2,
+                    &ball2.0,
+                    start_time,
+                    end_time,
+                    stop_at_penetration,
+                );
+            }
+            (Some(ball1), None) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.cast_shapes_nonlinear(
+                    motion1,
+                    &ball1.0,
+                    motion2,
+                    g2,
+                    start_time,
+                    end_time,
+                    stop_at_penetration,
+                )
+            }
+            (None, Some(ball2)) => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.cast_shapes_nonlinear(
+                    motion1,
+                    g1,
+                    motion2,
+                    &ball2.0,
+                    start_time,
+                    end_time,
+                    stop_at_penetration,
+                )
+            }
+            _ => {
+                let dispatcher = DefaultQueryDispatcher;
+                dispatcher.cast_shapes_nonlinear(
+                    motion1,
+                    g1,
+                    motion2,
+                    g2,
+                    start_time,
+                    end_time,
+                    stop_at_penetration,
+                )
+            }
+        }
     }
 }