Find raycast collision coordinates of an impending entire object?

Rather than just a point, is it possible to find the raycast collision coordinates of an impending entire object? Would the only way to do this be to extrapolate key points and raycast from a limited set of points from the impending object, or does Unity have further support for detecting surface coordinates when two objects intersect?

Raycast is not the only collision casting method anymore. SphereCast and CapsuleCast should be useful to you. Approximate the shape of your mesh with some of these, in the same way you would with normal static colliders, or colliders parented to bones.

http://unity3d.com/support/documentation/ScriptReference/Physics.html