ScriptReference/Physics.ComputePenetration

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ScriptReference/Physics.ComputePenetration

https://docs.unity3d.com/ScriptReference/Physics.ComputePenetration.html

[mvi]

Note you can easily wrap this with a simpler method signature to create a simple collider-collider intersection test, e.g.

public static bool Intersects(this BoxCollider a, Collider b)  
{  
    return Physics.ComputePenetration(a, a.transform.position, a.transform.rotation, b, b.transform.position, b.transform.rotation, out _, out _);  
}