Raycast on an animated character (non-convex non-kinematic) to get hit texture's pixel color

Hi,

I'd like to raycast on a controlled animated character and get the texture coordinates of the texture's pixel at the hit point.
It seems like the bakemesh function can't help me since Unity 5 (Non-convex MeshCollider with non-kinematic Rigidbody is no longer supported since Unity 5.)
Getting the 3D coordinates of the hit would be interesting too...

Do you see an other option ?

Thanks !