Look on some demos

1. Not defined collision, collide automatic (group = -1) https://brm.io/matter-js/demo/#mixed

2. Defined mask + category - use for precize collision https://brm.io/matter-js/demo/#collisionFiltering

3. Not defined collision, callback event (group = -1) - may be best for you https://brm.io/matter-js/demo/#sensors

4. Collision by group, group = Body.nextGroup(true) https://brm.io/matter-js/demo/#car All grouped not collide between us, but can collide with others groups.

My example https://mlich.zam.slu.cz/js-matter/js-sorter/mechanical-sorter.htm