What software and what contact algorithm? Some software uses a nodal contact algorithm that relies on the proximity of one node to a predefined contact node. Other softwares use a surface designation and check to see if a node has penetrated the surface definition. There are various forms of these and other implementations as well.
For the first of the two algorithms mentioned above, it is nice and easy to defined contact if it is clearer when the two objects will impact and, in that case, I can see brick on brick being convenient. For the second of the options, element type isn't terribly meaningful.
I'm sure other implementations rely on other definitions.