Contact Normal Collision Force vs Static Force

[shivanimall]

Is there any way to distinguish between colliding forces and static forces? Imagine an object falling to the ground, after the motion of collision is over, the system becomes static and stable at some point. I continue to get force values after collision which correspond to static forces. However, I am only interested in collision forces until the point of collision. Is there a way to extract this information?

I found this discussion from 2015, and wondering if anything has changed?
https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=35381#p35381

Please let me know if my question is unclear, thank you!