How to output all forces acting on a body with Rigidbody?

Question

Unity

The game has the ability to apply forces to objects, while there is a need to display all the forces that are currently acting on it. To do this, you need somewhere to have a list of forces acting on the body, which is not in Rigidbody. You can store the forces yourself, and then apply them using addforce, but there are forces that are set by default: support reactions, elasticity. How to be with them? Maybe there are some developments, such as a self-written physics script or something else (I didn’t find anything normal)?