NASA has 3D mapped only a handful of asteroids. Find them at:

3D Resources – NASA Science

These are:

https://science.nasa.gov/3d-resources/asteroid-101955-bennu/
https://science.nasa.gov/3d-resources/asteroid-25143-itokawa/
https://science.nasa.gov/3d-resources/asteroid-8567-1996-hw1/
https://science.nasa.gov/3d-resources/asteroid-6489-golevka/
https://science.nasa.gov/3d-resources/asteroid-4486-mithra/
https://science.nasa.gov/3d-resources/asteroid-4179-toutatis/
https://science.nasa.gov/3d-resources/asteroid-1620-geographos/
https://science.nasa.gov/3d-resources/asteroid-433-eros/
https://science.nasa.gov/3d-resources/asteroid-216-kleopatra/
https://science.nasa.gov/3d-resources/asteroid-4-vesta-a/

To see which of these asteroids are featured in the game, check out the full NASA object list publication and wall poster:
http://thewarpancestor.com/creative-contributions-to-science/the-full-nasa-object-list

This short podcast features a hunt to check the consistency and accuracy of texture for the NASA asteroids used in the Superstring Transition: Warp Ancestor simulation in Unity.