How to detect whether the "box2d" rigid body is in the rising stage, falling stage, or landing stage?

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How to detect whether the “box2d” rigid body is in the rising stage, falling stage, or landing stage?

I use ‘ApplyImpulse’ to achieve the jumping of game characters. Now I need to know whether the rigid body is in the rising stage, falling stage, or landing (jumping completed) stage?

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How can I accurately detect it? Thank you