[ODE] Forces applyed by solver to body

[LR]

Hi,
 
Is it possible to know the lastest force applyed by solver to a body ?
(latest force or/and latest torque)
 
For exemple, when a box is on the floor, i know G (gravity vector), I would
like to know R (the reaction vector, computed by the solver).
 
In general case, i know G, i would like to know R .... 
 
Thank you
 

Laurent Ricatti, 
Director, Product Development
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anyKode
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