in joints there are hyaline cartilage ,but do they come in contact of each other?

There are three types of joints:

• fibrous  - joined by dense irregular connective tissue.
• cartilaginous - joined by cartilage
• synovial  - the bones have a synovial cavity and are united by the dense irregular connective tissue.

In the cartilaginous joints, the hyaline cartilage of both bones join together in turn to form the joint.