How to retrieve contact forces from impulse in Blender?

Hi, I am working on retrieving contact forces during a simulation in Blender, I wonder to know is it possible to retrieve contact forces from collision impulses calculated by Blender and if yes, I wonder to know how I can obtain those impulses in Blender’s python API. Generally, do you think it’s possible to implement the whole contact force retrieval in Blender’s python API? or python modules are needed? Thank you