Detect a Collision, not a Contact in Box2D

Question

First, let me define how I perceive these two concepts:

Collision happens when Object A collides/bumps/runs into Object B. As in they come into contact with each other, but with a high velocity.

Contact happens when Object A touches Object B. As in they come into contact with [very] low velocity. As in they just touch.

In Box2D, we assign ContactListeners to the PhysicsSystem in order to detect a contact. My question is, how do we detect a collision?

I'm using AndEngine in my project.

Answer 1

You can check the relative velocity of the two bodies in the BeginContact function of the contact listener.