Collision contact in unity for free moving collider

Hello, I need some help from Unity power user...

I'm making a game in unity and need to register all collision contact with the collider. I'm porting a code originally from Blitz3D.

The problem is that the only code that register collision contact is OnCollisionStay(Collision collision) and only work with Rigidbody.

The twist is that I need to freely move the collider for exotic physic sytem. Kinematic rigidbody does not compute collision and Rigidbody are mess up by internal physics engine. Character controller does not compute more than one contact per collider too (I need multiple contacts).

I need to emulate the sphere to polygon collision from Blitz3D for full effect. Blitz3D also returned the closest triangle from the colliding mesh which allow further computation. I'm not trying to shoehorn Blitz Code here, the concept i'm developing really need that kind of collision computation.

Collision is the basis of interactivity, if I can't this right I'm stuck to a finite number of game types.