Flex Retrieve de contact points (the pair sdf mesh x cloth mesh)

I have a soft-body (created programatically as a cloth mesh in the sphere cloth example) and a rigid body created as a SDF collision mesh.

The two bodies collides and I can retrieve the up to 6 contact points of soft-body by the Flex API

How can I retrieve the respective rigid-body contact point pair for each soft-body contact point?

There is a way of to retrieve the closest point between soft-body contact point and rigid-body SDF by using AABB structure and Flex API?