[Feature Request] missing FeatureId from `TOI` result by `castShape`

[jcyuan]

I'm implementing the Kinematic Character Controller, and I found that I need the touching face info which is missing from the castShape result. so would like to open this feature request although I know you are very busy, but this is a very common need like what castRayAndGetNormal gives me. so hope you can add it. really appreciate it!