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Cylinder Ground Collision
I want to recreate how some games do ground collision, which has a flat bottom allowing stable and safe movement on the edge of objects. The height will not lower like a capsule or sphere and you can "float" on the edge. It's also important that I can get a point of collision, like a SphereCast has with a sphere (RaycastHit.point/.normal), because then I can implement travelling along slopes.
It seems to be end up being a cylinder or circle, because a cube/square can collide on its corner and then rotate and lose it.
Here is an example in Quake III Arena: https://i.imgur.com/C1oGP8M.gifv
I can't find any information on explanations of how other games did this, and was wondering what the most performant/intuitive/accurate way to do this would be in your opinion. I've been testing things but haven't gotten a good idea on a surefire way.