Get contact points instead of single contact hit in sweep queries

I think PhysX does not have support for it so I wonder if someone can point me into the right direction to modify the source code to do it.

Basically when you do a sweep query lets say a box against a plane, the sweep only returns one collision point. What I need is the sweep returning all “contact points” so if both are perfectly aligned the sweep should return 4 points, each one for each corner in the box.

I hope someone can put me in the correct track.