How do I get a collision's contact normal without using any non-kinematic rigidbodies?

I want to have a ball bounce off of different surfaces (static colliders and a couple of kinematic rigidbodies) without using actual rigidbody physics. The only problem is that OnTriggerEnter gives you no contact position/normal, and OnCollisionEnter needs to have at least one of the objects be a non-kinematic rigidbody for it to be called.