Hello, I am using Unity Physics as a collision solution for my custom physics engine, however, the collision scheme only requires the closest points of the hulls without any other additional information. Therefore, I think I would like to disable EPA, since I only need closest points. Also, I don't need any contact jacobians(can be disabled with flag) or the solver itself. Perhaps an option here is to rework the narrowphase system myself and delete the scheduling code for the solver and jacobian related tasks. I am looking for ideas. Thanks a lot, feedback is considerably helpful and appreciated.