To implement required game mechanics, you can switch off the physical body of an object in your game.
For example, you may need to make a static wall penetrable for your game character when a certain event occurs. For this purpose, you should set up an animation that will switch off the object’s rigidbody and thus make it non-physical.
In the image below, you can see the Rigidbody toggle switch next to the Rigidbody type in the Inspector panel. When you switch the Rigidbody on and off, all the settings, like friction and bounciness, remain unchanged.