Position of probe and penetration depth

[Kks]

Hi,
I am using sensable haptics with vizard 4.0.
And I have to calculate the amount of force felt when probe hit any object in virtual environment. But, I am getting problem in finding exact or closest position of probe when it touches. Actually, current position will help me to find depth of penetration and force exerted.

And, I am not able to find about "how much object deformed due to hitting of probe."

So, please reply me.

Thanks!!!