I know the TNG episode which you're talking about - it's called "The Next Phase." LaForge and Ro get phased out of the normal time-space continuum and they can walk through walls, but no-one can see or hear them. You talked about why they don't fall through floors, and actually this is mentioned in the book "The Starfleet Survival Guide" (yes, I know, I'm a complete geek/Trekkie). In the book, it says that if you are only phased out only a little bit, you can manually "push" yourself through normally solid objects and barriers. However, if you are phased out too far, you won't have to live with it long, because you'll uncontrollably pass through barriers and eventually fall through whatever you were originally standing on, leaving you to die in space. But then, how come the two out-of-phase people don't fall when they jump up and down in frustration? Because it's sci-fi, that's why.
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