Water Behaviour

Abstract MonoBehaviour class than can be used as utility for easier water sampling from your game object component.
You can treat is as a MonoBehaviour facade to WaterSampler.
It uses WaterSampler asyncrhonously, so it always generates one frame delay while sampling water, which is totally fine in most cases.

public abstract class WaterBehaviour : MonoBehaviour
{
    // used to configure component from inspector
    [Serializable]
    public class WaterSamplerConfig { /* .. */ }
 
    // access to config that is exposed for configuration via inspector
    public WaterSamplerConfig SamplerConfig {get; };
    public int FrameDividerOffset { get; };
 
    // check this inside InnerFixedUpdate if you want to schedule
    protected bool isSchedulingFrane { get; };
    // direct access to array with points you are going to sample
    protected Vector3[] samplingPoints { get; };
 
 
    // Unity callbacks
    protected virtual void Awake();
    protected virtual void OnEnable();
    protected virtual void OnDisable();
    protected virtual void OnDestroy();
    protected virtual void OnFixedUpdate(); // in most cases, do not override this function (see InnerFixedUpdate)
 
 
    // prepare sampler side before settingg any points
    protected void PrepareSamplingPointsSize(int size);
    protected void SetSamplingPoint(int index, Vector3 point);
    protected void SetSamplingPoints(Vector3[] points);
 
    protected int GetResultCount(); // return amount of available results
    protected WaterSampler.HitResult GetResult(int index);
    protected void GetResults(out ArraySegment<WaterSampler.HitResult> results);
 
 
    // override this function for actual fixed update behaviour
    // only inside this function you can schedule points
    protected virtual void InnerFixedUpdate() { }
}

FloatingBody is built-in implementation of WaterBehaviour.

public class FloatingBody : WaterBehaviour
{
    // getters and setters for all properties you see in the inspector
    public Vector3 CenterOfMass { get; set; }
    public float BuoyancyForce { get; set; }
    public bool IgnoreMass { get; set; }
    public float NormalAlignment { get; set; }
    public float Instability { get; set; }
    public float SubmergeDrag { get; set; }
    public float SubmergeAngularDrag { get; set; }
 
 
    public float CurrentSubmergeLevel { get; } // range 0-1 thats means fraction of points that are under water
    public Rigidbody Rigidbody { get; } // return attached rigidbody
 
 
    // modify contact points (all in local space of game object)
    public Vector3 GetContactPoint(int index);
    public void SetContactPoint(int index, Vector3 point);
    public void RemoveContactPoint(int index);
    public void AddContactPoint(Vector3 point);
 
    // return last hit result for point with given index
    // useful e.g. to check if given part of body is above or under water without creating additional sampler or object for that
    public WaterSampler.HitResult GetContactPointHit(int index);
}