Help Collision detection problom

Code:

using System.Collections;

using System.Collections.Generic;

using UnityEngine;

using Obi;



[RequireComponent(typeof(ObiSolver))]

public class CollisionEventHandlerchuang : MonoBehaviour

{

    ObiSolver solver;

    public int contactCount;

    private bool collisionOccurred = false;



    void Awake()

    {

        solver = GetComponent<ObiSolver>();

    }



    void OnEnable()

    {

        solver.OnParticleCollision += Solver_OnCollision;

    }



    void OnDisable()

    {

        solver.OnParticleCollision -= Solver_OnCollision;

    }



    void Solver_OnCollision(object sender, Obi.ObiSolver.ObiCollisionEventArgs e)

    {



        contactCount = 0;

        collisionOccurred = false;



        //foreach (var contact in e.contacts)

        //{

        //    if (contact.distance < 0.001f)

        //    {

        //        collisionOccurred = true;

        //        contactCount++;

        //    }

        //}



        var world = ObiColliderWorld.GetInstance();



        // just iterate over all contacts in the current frame:

        foreach (Oni.Contact contact in e.contacts)

        {

            // if this one is an actual collision:

            Debug.Log("no bang chuang");

            if (contact.distance < 0.01)

            {

                ObiColliderBase col = world.colliderHandles[contact.bodyB].owner;

                if (col != null)

                {

                    Debug.Log("bang chuang");

                    collisionOccurred = true;

                    contactCount++;

                }

            }

        }



    }



    public bool IsCollisionOccurred()

    {

        return collisionOccurred;

    }



    public int GetContactCount()

    {

        return contactCount;

    }



    void OnDrawGizmos()

    {

        // Existing OnDrawGizmos code

    }

}

Code:

using System.Collections.Generic;

using Unity.MLAgents;

using UnityEngine;

using Obi;



public class SatelliteEnvController : MonoBehaviour

{

   

    public ObiSolverInitializer obiSolverInitializer;



    public CollisionEventHandlerchuang collisionHandlerchuang;

    public CollisionEventHandler collisionHandler;





    void Start()

    {

   

        ResetScene();

        obiSolverInitializer.InitializeObiSolverPosition();



        collisionHandlerchuang = FindObjectOfType<CollisionEventHandlerchuang>();

        collisionHandler = FindObjectOfType<CollisionEventHandler>();



        if (collisionHandlerchuang == null)

        {

            Debug.LogError("CollisionEventHandlerchuang not found in the scene.");

        }

        if (collisionHandler == null)

        {

            Debug.LogError("CollisionEventHandler not found in the scene.");

        }



    }



    void FixedUpdate()

    {

        if (collisionHandlerchuang != null)

        {

            bool collisionOccurred = collisionHandlerchuang.IsCollisionOccurred();

            int contactCount = collisionHandlerchuang.GetContactCount();



            Debug.Log("Collision occurred: " + collisionOccurred);

            Debug.Log("Number of contacts: " + contactCount);



        }

    }