Finding the contact force between two extruded solids

I am modeling the Shearer haulage mechanism in Simscape 2019b. There is a rack and sprocket mechanism and I have the extruded model for rack and sprocket. The export option as convex hull is not available in 2019b. The spatial contact is not working as the export option is not available. I am using non involute sprocket with varying rack bar pitch, because of which the rack and pinion can not be used. Is there any way to measure the contact force between two extruded solids in 2019b.