For Rigid Dynamics systems, you can specify a Contact Distance probe. This probes produces a distance result, per time point, between the Contact and Target sides of a specified (or system generated) Contact Region.
Scoping
You scope this probe directly to an existing Contact Region.
Output
The application presents the Contact Distance probe results in the Graph and Tabular Data windows.
In addition, the application automatically inserts a tether (red line) between the contact sides. You can then animate the result to visually observe the change in contact distance over time, as illustrated below.