When objects collide in any game engine, information about the collision event becomes available. By recording a variety of information upon the moment of impact, the game engine can respond in a realistic manner. For example, in a game involving physics, if an object falls to the ground from a height, then the engine needs to know which part of the object hit the ground first. With that information, it can correctly and realistically control the object's reaction to the impact.
Of course, Unity handles these kinds of collisions and stores the information on your behalf, and you only have to retrieve it in order to do something with it.
In the example of opening a door, we would need to detect collisions between the player character's collider and a collider on or near the door. It would make little sense to detect collisions elsewhere, as we would likely need to trigger the animation of the door when the player is near enough to walk through it, or to expect it to open...
