The force on a collider which is penetrating the other collider

Questions & Answers
1

I shot a projectile at high speed and found that it bounces even though I set the coefficient of restitution of both colliders 0. I suppose that it happens because the collider is penetrating the other and then some repulsive force is applied to the colliders.

I want to know the vector of the force; direction and magnitude.

Thank you.

2

If a collider penetrates other it gets pushed out but it doesnt add a force to do that, anyway you should be able to get the direction and magnitude of the force by using the velocity property of the rigidbody

GetComponent<RigidBody>().velocity