Hi! I'm working on a platformer where I'm finding that it would be super great to be able to have a kinematic body behave like a normal dynamic body except in a very few corner cases. If we had contact.normalImpulse / tangent impulse we could apply this force in a script to get the body to behave like a dynamic rigidbody, but have the option of modifying this or ignoring this based on certain conditions. For instance, right now when using a dynamic rigidbody i get jittering when moving from ground on to slopes and if I could control the direction of the normal in the collision response (or just eliminate the vertical component), I'd be able to get the behavior i'd like. as it is right now, when full kinematic contacts is enabled, contact.normalImpulse is always zero which doesn't do me any good. I'm having to do all kinds of hacks now like casting a capsule every frame to see if I'm about to run into a slope, or even using a kinematic body with full contacts, and then trying to do my own collision response solving in C# and of course it's not going to be as nice as the one that box2D already has.