title: Unity 3D collision detection for object totally within another object
body: <p>I'm working on a game project right now, and I'm confused by the collision detection system in unity.</p>
  
  <p>It seems that when a object is totally within another object, say a small capsule is within a large box, no collision information would be generated by the engine.</p>
  
  <p>Is there any way to detect collision of this kind?</p>
  
  <p>Also, what is the difference between using isTrigger and isKinematic?
  They seems to me to be doing the same thing, so I think I need more explanation on the difference.(except for the difference in function calls: OnTriggerEnter and OnCollisionEnter)</p>
  
  <p>Thanks in advance!</p>