It is my belief that God does not force anyone to worship or believe in him. He wants those who willfully do so. With that being said I would not say we are predestined. But he is all knowing God. He knew us before we was even in our mother's womb. He knows who will make it to heaven. We still have to go through the process.
2 Peter 3:9 The Lord is not slack concerning his promise, as some men count slackness; but is longsuffering to us-ward, not willing that any should perish, but that all should come to repentance