Set scene as delegate
//set your scene as SKPhysicsContactDelegate
class yourScene: SKScene, SKPhysicsContactDelegate
self.physicsWorld.contactDelegate = self;
Then you have to implement one or the other of the contact functions: optional func didBegin(contact:) and/or optional fund didEnd(contact:) method to fill in your contact logic e.g. like
//order
let bodies = (contact.bodyA.categoryBitMask <= contact.bodyB.categoryBitMask) ? (A:contact.bodyA,B:contact.bodyB) : (A:contact.bodyB,B:contact.bodyA)
//real handler
if ((bodies.B.categoryBitMask & boxBody) == boxBody){
if ((bodies.A.categoryBitMask & groundBody) == groundBody) {
let vector = bodies.B.velocity
bodies.B.velocity = CGVectorMake(vector.dx, vector.dy * 4)
}else{
let vector = bodies.A.velocity
bodies.A.velocity = CGVectorMake(vector.dx, vector.dy * 10)
}
}