Collision can be detected simply using the following lines of code with box2D.

if((contact.fixtureA == aimFixture && contact.fixtureB == tarFixture) ||
     (contact.fixtureA == tarFixture&& contact.fixtureB == aimFixture ))
        NSLog(@"Collision between aim fixture and target fixture detected!");

Here aimFixture & tarFixture are two custom fixtures whose collision you want to find out.



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