The following code gives expected values for “point” and “norm”, but “normalImpulse” and “tangentImpulse” are always zero:

private void OnCollisionEnter2D(Collision2D collision){

ContactPoint2D[ ] p=collision.contacts;

for (int i = 0; i < p.Length; i++)

print(“{pt=” + p*.point.x + “,” + p .point.y + “, norm=” + p.normal.x + “,” + p.normal.y + “, force(n,t)=” + p_.normalImpulse + “,” + p*.tangentImpulse + “}”);
}*
The object with this code has both “Polygon Collider 2D” and “Rigidbody 2D” components and is of body type “dynamic”. The other was first set to just “Polygon Collider 2D”, then I added a “Riginbody2D” to it and tried body types “static”, “kinematic”, and “dynamic” (with both XY & XYZ constraints). Same results in all cases.
I am using Unity 5.6.2f1_*