Check out this answer for a lot of details. You may be able to use one of the events listed in that answer directly, depending on your needs.
But, otherwise, you can get Contact
objects by either "collecting" them from one of those events, or by extracting them from Body.ContactList
(which is a linked list made up of ContactEdge
objects).
Note, of course, that a Contact
might not actually be touching (it just indicates a potential collision). Use Contact.IsTouching()
to check for that.