Only one question regarding physics, and is to know if Unity has a function, that it can accept two colliders as parameters to test if the two colliders are colliding, and if it is colliding in which point and normal? It is like OnCollisionEnter/Stay/Exit event, but instead of an event a function.
Thank you in advance
No, there is no such function, but you could make one, by simply storing the value of OnCollisionEnter/Stay/Exit in a local variable, and accessing that from your function. That said, what is your issue that you need a function instead of the event handlers? They should work interchangeable for any situation i can see.
Buffer the result from OnCollisionXXX(). PhysX does collisions using a broad-phase technique, which is very efficient. Writing your own individual pairwise test can easily sprawl into an O(n^2) situation.