How to test collision between 2 objects already colliding?

Questions & Answers
1

Is there an equivalent for rigidbody.SweepTest that works when the distance is set to 0 ?

2

can’t you just use OnCollisionEnter and OnCollisionExit to keep track of which objects currently are in contact?

3

There is an OnCollisionStay method that should fire on any frame where 2 objects are touching. I believe this fires on every frame other then the frame where the collision occurs and the frame where the collision ends.