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Rigidbodies colliding with each other ignore mass, details inside.

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I am using a unity script that lets me pick up an object and walk around with it, and it follows my mouse, if you've ever played Amnesia or Penumbra you know exactly what I'm talking about. When I pick up a heavy object, like a table, I drag it slower and its harder to move around, because it has a higher mass. When I pick up a paper plate it is really easy to move. Only problem is, when I am holding a paper plate and I run it into the heavy table, the 'heavy' table will go flying like its mass is not even being taken into account. I am guessing it is using the speed (velocity) of the object I am holding, and then running it into the table and it just makes it fly like a feather... My script is below, but I feel like the issue can be solved outside of scripting. https://justpaste.it/6oafb

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