[ODE] Get accumulated torque originated in contact joints

[STenyaK]

I'd like to know the torque that was generated on a body due to contact  
joints (due to collisions and not user-applied torques).

I've tried using dBodyGetTorque at different times in my main loop (before  
everything, after processing dSpaceCollide, after dWorldStep, after  
dJointGroupEmpty, ... but got no positive results (it returned only the  
torques applied by me).

Is there any way this can be done? Thanks in advance.

-- 
Saludos,
     STenyaK

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