How to access the position and friction applied to faces/vertices of soft body object when colliding with a rigid body?

I wonder, how can I detect when a soft body touches a rigid body object using Haxe? What I need eventually is to be able to detect how much friction is being applied to the soft body vertices and where the vertices are in space over time (for each frame).

If I’m not mistaken, I think I saw an example somewhere in Armory examples but I cannot find it now. Can someone point me to that example if it can provide me a clue on how I can do what I described above? If there is no such an example, I would appreciate if someone can tell me how I can get the vertices and the friction/force applied to them over time.