how to view all forces on rigidbody

Alright guys i figured this one out myself, or at least a workaround for it.

i was getting zeroes (or near zeroes) across the board for the collisions on different sphere colliders, despite gravity being in effect. Unfortunately with, unity's gravity, as soon as the rigidbody stopped moving, the OnCollisionStay method stopped being called, and the last value i could get out of the Collision passed to it was zeroes across the board.

The workaround for this was to make a "fake" gravity script:

 using UnityEngine;
 using System.Collections;
 
 public class fakeGravity : MonoBehaviour {
     public float G;
     // Use this for initialization
     void Start () {
     
     }
     
     // Update is called once per frame
     void FixedUpdate () {
         GetComponent<Rigidbody>().AddForce(-transform.up * G, ForceMode.Acceleration);
     }
 }
 

Note: it is important that this is in a FixedUpdate function otherwise gravity could be applied twice once in a while making the physics engine resolve it with an impulse twice as high.

I've yet to isolate each wheel, as the way children are handled, i cant put the script on each individual collider as children cant have rigidbodies, however, I was able to prove to myself that it was working with this script and offsetting the positions of the wheels and checking if the series of collisions had different impulses. Sure enough, as I moved one pair closer to the CG, i saw one value grow while the other fell:

 using UnityEngine;
 using System.Collections;
 
 public class customWheelCollider : MonoBehaviour {
 
     Collision currentCollision;
     // Use this for initialization
     void Start () {
         
     }
     
     // Update is called once per frame
     void FixedUpdate () {
 
     }
     void OnCollisionEnter (Collision col){
         currentCollision = col;
     }
     void OnCollisionStay(Collision col){
         currentCollision = col;
         print(currentCollision.impulse);
     }
     void OnCollisionExit(Collision col)
     {
         currentCollision = null;
     }
 }