OnCollisionStay with multiple collisions?

I'm trying to make a character controller with a rigidbody and box collider. To detect if the character is on the ground, I'm running through each of the contact points and checking its normal compared to the ground layer.This works well except for when the character is in a corner/wall that is "part" of the ground, for example on a triangular ramp mesh.

On the ground, I can find the contacts, see immediately that the normal is up, and happily determine that my player is on the ground (normal in red):



Great. The box is on the ground and colliding fine. But when we nudge to the left just a bit more, into the ramp mesh (which is one piece and on the ground layer), this happens:



There are plenty of collisions, but it ONLY detects the collisions with the ramp and no longer collides with the ground. Why is this? How can I get it to collide with the ramp AND with the ground?

 

-deleted- (misinterpreted the question)

 

Did you ever resolve this? I am running into the same problem. It seems OnCollisionStay(Collision contacts) only returns at most 16 contacts and stops returning the ones on the ground when I walk up against a wall...