ControllerColliderHit.rigidbody

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public Rigidbody rigidbody;

Description

The rigidbody that was hit by the controller.

Null if we didn't touch a rigidbody but a static collider.

using UnityEngine;

public class Example : MonoBehaviour
{
    // Activate the gravity of other object we touch
    void OnControllerColliderHit(ControllerColliderHit hit)
    {
        if (hit != null)
        {
            hit.rigidbody.useGravity = true;
        }
    }
}