Hello, I am designing a physics engine that utilizes Unity Physics for its excellent collision detection implementation. I have hulls created from a dataset of vertices. I'd like to identify which vertex of the hull was involved in the collision without searching with comparison using the ModifiableContactPoint.Position to find the vertex in the dataset that was involved in the collision (it would be nice to have the index into the hull's vertices). Is there any way to use an index of some sort as output from Unity Physics to get insight about which vertex in the hull was responsible for the collision? Thanks a lot, I am looking for feedback on this problem.