Contact point coordinates of two bodies

Hi,

is there a simply way to get the coordinates of contact point of two bodies e.g sphere-sphere or sphere-box?
Now I'm using this script:

    for i in O.interactions:
        if not i.isReal: continue
        cp = i.geom.contactPoint

I want to made a thermal model, and I need those information to build a thermal resistance matrix.

BR
Przemek