collision detection on child rigidbodies

Hello!

I have an object which is rigidbody and has multiple children that are, too, rigidbodies. I would like to detect collisions (which happened on either the children or the parent object) in the parent. What is the common way to do it?

First, you can’t detect a collision on a rigidbody : you detect it on the Collider. Subtle difference yet important.

Then, to detect a collision on a collider, ou to attach a script on that object with a Collision Event call back, like OnCollisionEnter /Exit / Stay, same for triggers.