How to detect collision between objects in a third script?

I need to know when two objects are colliding in a third script, for example:

I have two objects, firstObject and secondObject, but in these objects I don’t want to attached scripts, a third script in a other object has a reference to this object, and in this script I want to know when the two objects are colliding, something like this:

public bool TheseObjectsAreColliding(GameObject firstObject, GameObject secondObject)

Is there a way to do that?

No, there’s no way to do it without adding small scripts onto one of those other objects to send a message to your main script to tell you when a collision has happened.