You can use
Physics.OverlapCapsule to get two Colliders overlapped with a CapsulCollider as above. This method takes the position and the size of a capsule and returns all Colliders overlapped by the capsule.
You can get the Colliders by configuring a Kinematic Rigidbody Trigger Collier and handling the
OnTriggerEnter message, but the method is handy.