rigidBody's contactName and contactCount

[highend3djojan-]

Created 2 cubes which are touched/penetrated each other and changed them to active rigidbodies.
Changed rigidSolver1.contactData "on" to query contactName and contactCount. (Found so somewhere)
And in scriptEditor:

print mc.getAttr("rigidBody1.contactName")
  output: [()]
print mc.getAttr("rigidBody1.contactCount")
  output: 0

Why?! Shouldnt contactName be the other shape/rigidbody, and contactCount 1 ?

[highend3djojan-]

Does they have values only when objects are touched but NOT PENETRATED?
If so, what's the simplest method to find penetration? (other than change current frame to get the penetration warning and confirm then)
Any other way without using rigid bodies? Forget about boolean intersection, plz!

[thnkr]

an expression like this works for me:

if (rigidBody2.contactCount) {
    for ($i = 0; $i < `getAttr -size rigidBody2.contactName`; $i ++) {
        print (frame +  "\t" + `getAttr  ("rigidBody2.contactName[" + $i + "]")` + "\n");
    }
}