The following topics are covered in this section:

• 9.6.1. Contact Overview
• 9.6.2. Contact Formulation Theory
• 9.6.3. Contact Settings
• 9.6.4. Supported Contact Types
• 9.6.5. Setting Contact Conditions Manually
• 9.6.6. Contact Ease of Use Features
• 9.6.7. Contact in Rigid Dynamics
• 9.6.8. Best Practices for Specifying Contact Conditions