Strain sensing compositions including a polymeric matrix material and a mechanophore component distributed throughout the polymeric material and covalently bonded to the polymeric material are provided. The mechanophore component undergoes a visible color change and the strain sensing composition exhibits a continuous three-dimensional (3D) spatial strain distribution including at least one color gradient upon direct or indirect impact by an object. Methods of forming strain sensing compositions are also provided. Methods of evaluating a strain distribution associated with an impact of a surrogate material comprising a mechanophore component are also provided.