Make collision objects phase through each other and keep collision detection.

Is there a way to make colliders not physically touch each other but phase through each other yet still detect they overlap each other without using ontrigger events or using trigger colliders?

 

I can't use trigger colliders because I am using a non convex mesh collider, which do not work with triggers.

 

Or use a convex collider for a non-convex rendered mesh. Or a composite of convex colliders.