function OnCollisionStay(collision : Collision) {
// Check if the collider we hit has a rigidbody
// Then apply the force
for (var contact : ContactPoint in collision.contacts) {
print(contact.thisCollider.name + " hit " + contact.otherCollider.name);
// Visualize the contact point
Debug.DrawRay(contact.point, contact.normal, Color.white);
}
}
Check it out in the scripting reference under Collision.contacts