Yes, heating food to a certain point (above 110 degrees fahrenheit, I believe) begins to "kill" the food. Sometimes it can be detrimental to your health as well, because the heat destroys certain enzymes that may be in the food which your body needs to break it down. If your body doesn't have the enzymes on hand, it will take nutrients FROM your cells to create the needed enzymes.
Alternatively, your body just won't be able to break the cooked food down as easily and "undigested" food will enter the large intestines. Yes, it'll eventually break down of course, but what happens then is that you can acquire allergies to the undigested foods over time. (This same concept happens more often when you eat sugary foods)