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Rigidbody jump script collision help.

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Hello. Lately I was searching for perfect rigidbody collision script. What I mean by that is something to check where character is touching the ground and switch grounded properly. I have found many ideas with tags on the floor, which is no go since tagging everything will be kinda chaotic, second idea was to check for velocity but it doesn't work. So I kept digging myself and well, I've found out about collision flags but I don't know how to apply them properly.

Code (CSharp):
  1.     void...
Rigidbody jump script collision help.

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