Thats false, you collide with it, the Physics Engine just don’t try to prevent you from enter it.
I don’t know which methode you use to define when your character is grounded. But it should be the same for the “raycasting methode” and the “on collision” methode. Just check if your detected object is a trigger (or kinematic) before set grounded to true. (grounded is the variable which defines whether you have contact with the ground, obviously:) )