MonoBehaviour.OnTriggerStay(Collider)

Parameters

Description

OnTriggerStay is called once per physics update for every Collider other that is touching the trigger.

Note: Trigger events are only sent if one of the colliders also has a rigidbody attached. Trigger events are sent to disabled MonoBehaviours to allow enabling Behaviours in response to collisions.

Это сообщение отправляется триггеру и коллайдеру, который соприкасается с триггером.

using UnityEngine;
using System.Collections;

public class ExampleClass : MonoBehaviour {
    void OnTriggerStay(Collider other) {
        if (other.attachedRigidbody)
            other.attachedRigidbody.AddForce(Vector3.up * 10);
        
    }
}

OnTriggerStay can be a co-routine, simply use the yield statement in the function.