Any way to directly get forces from the physics engine?

In many game engines it is possible to get the forces being considered by the physics engine. Normally this is just for visualization, and in fact Roblox Studio has a way to visualize collisions, but not forces as far as I can tell. Is there any way to obtain forces? This could be useful for calculating stress and making certain joints breakable. I also remember this being a feature of Constraints. I can’t find anything about that now though.

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