IsOverlappingBehavior.cs

public class IsOverlappingBehavior : MonoBehavior
{
    public CapsuleCollider capsule;
    
    public bool IsOverlapping { get; private set; }
    
    private void Update()
    {
        IsOverlapping = false;
        
        // CapsuleCollider only has local space center/height/radius properties
        // and OverlapCapsule expects world space start/end/radius.
        Vector3 point0 = ???;
        Vector3 point1 = ???;
        float radius = ???;
        
        var colliders = Physics.OverlapCapsule(point0, point1, radius);
        foreach (var collider in colliders) {
            if (collider != capsule) {
                IsOverlapping = true;
                break;
            }
        }
    }
}