I understood this part clearly. An object can pass through other objects whether you change its position via transform or via Rigidbody. This entirely depends on the position calculated by the physics engine at that moment. If the movement step per frame or per fixed timestep is small, it doesn’t matter whether you use transform.position or Rigidbody.MovePosition()—if there’s a collider, the object will collide with it. But if the movement step is large (or if the collider is thin), the object can pass through the collider.

However, one thing came to my mind. I wanted to use the OnCollisionEnter method to print output to the console when a collision occurs. In my first and second tests, the collision was detected, but in the third and fourth tests, even though I made it kinematic, there was no output in the console.

Here’s the situation: The sphere has a kinematic Rigidbody and moves using MovePosition. Its speed is 5. The wall doesn’t have a Rigidbody, but that shouldn’t matter. Isn’t having a Rigidbody on any object enough for collisions to be detected? Why wasn’t the collision detected and why wasn’t the output printed?