MonoBehaviour.OnCollisionStay(Collision)

Parameters

Description

OnCollisionStay is called once per frame for every Collider or Rigidbody that touches another Collider or Rigidbody.

In contrast to OnTriggerStay, OnCollisionStay is passed the Collision class and not a Collider. The Collision class contains information about contact points, impact velocity etc. If you don't use collisionInfo in the function, leave out the collisionInfo parameter as this avoids unneccessary calculations.

Note: Collision events are only sent if one of the colliders also has a non-kinematic rigidbody attached. Collision events will be sent to disabled MonoBehaviours, to allow enabling Behaviours in response to collisions.

Collision stay events are not sent for sleeping Rigidbodies.

using UnityEngine;
using System.Collections;

public class ExampleClass : MonoBehaviour
{
    void OnCollisionStay(Collision collisionInfo)
    {
        // Debug-draw all contact points and normals
        foreach (ContactPoint contact in collisionInfo.contacts)
        {
            Debug.DrawRay(contact.point, contact.normal, Color.white);
        }
    }
}

OnCollisionStay can be a co-routine, simply use the yield statement in the function.