Regarding the collision issue

I want to use a static mesh as a boundary. When the player enters this boundary, they will take damage and be knocked back, similar to lava. However, I am facing difficulties in setting up the collision for this static mesh. I need to know the position and direction of collision between the player and the lava at the moment the player enters the lava. This clearly requires collision detection rather than overlap detection.

However, if I use collision, the player’s body won’t enter the lava area. On the other hand, if I use overlap, I won’t be able to obtain the normal impulse information like in collision events. Is there a way to both respond to collision events and allow the player’s body to enter the lava area without actually blocking them? If there is a method like that, how should I configure the collision settings for the player capsule and the lava area?