Get accumulated force/torque in a link

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Is there a way to have access to the accumulated forces/torques in a link in the actual step, before those forces are applied? I mean the dBodyGetForce/Toque, called in the callback ConnectBeforePhysicsUpdate? I want to update the force/torque before they are applied in the link.

It seems to me that we only can have access of the forces/torques applied in previous step, is that right?