control/specify force for the point of collision

[shivanimall]

Currently, the way collision can be simulated seems somewhat out of user control. Here is what I mean: I can make an object (say B) collide with object A; this results in arbitrary contact forces at the point of collision.

However, I am tying to control/specify the amount of force applied on object B by object A instead of getting an arbitrary force value due to the simulated collision between A and B.
Is there a direct way to solve this?

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