Contact and Target Bodies

One general rule of thumb is to make the harder material the target and
the softer material the contact.

The flatter face the target and the smaller radius of curvature face the
contact.
Symmetric Behavior:
The Contact surfaces are constrained from penetrating
the Target surfaces and the Target surfaces are
constrained from penetrating the Contact surfaces.
 
Asymmetric Behavior:
Only the Contact surfaces are constrained from
penetrating the Target surfaces.
.