C# Collision detection

Hello,

I'm pulling my hair out, I need to detect collisions in ARcore game.

The player's avatar and enemies/nices have a rigibody and a collider capsule, I must have made a mistake but I haven't seen it for three days. (For information, the enemies/nices are GameObjects with "rigidbody" and "capsule collider" which have in children a nice and an enemy who evolve during the game.)

I wrote this code to attach to enemies:

Code (CSharp):

1.     void OnCollisionStay(Collision other)
2.     {
3.         Debug.text = "Name = " + other.gameObject.name + "\n" + "Tag = " + other.gameObject.tag;
4.         if (other.gameObject.name == "Soldier" || other.gameObject.tag == "ZombieOrHumain")
5.         {
6.             if(other.transform.GetChild(0).gameObject.activeSelf && other.gameObject != transform.gameObject)
7.             {
8.                 if (!zombiesAttack)
9.                 {
10.                     StartCoroutine("ZombieAttack");
11.                     other.gameObject.GetComponent<PointDeVie>().setHP(other.gameObject.GetComponent<PointDeVie>().getHP() - 4);
12.                 }
13.             }
14.         }
15.         rb.angularVelocity = Vector3.zero;
16.         rb.velocity = Vector3.zero;
17.     }
18.     void OnCollisionExit(Collision other)
19.     {
20.         if (other.gameObject.name == "Soldier" || other.gameObject.tag == "ZombieOrHumain")
21.         {
22.             if (other.transform.GetChild(0).gameObject.activeSelf && other.gameObject != transform.gameObject)
23.             {
24.                 StopCoroutine("ZombieAttack");
25.                 zombiesAttack = false;
26.             }
27.         }
28.     }

colliders and rigidbody capsules have these settings:


And collisions are not detected and you never enter OnCollisionStay, I don't understand why...

For the record, I'm working on this game: