I am building a 3D rigidbody physics simulation with modular attachable components. I have a single rigidbody on a parent object, and as I attach or remove modules I add to or subtract from the parent rigidbody mass. I also have a collider associated with each component, and I would like to use the rigidbody physics to automatically calculate the inertia tensor and center of mass of the full system of colliders.
The Unity rigidbody component seems to assume uniform mass density among children colliders. Is there a way for me to adjust that assumption that is not based on collider size? I would like to be able to assign a small, attachable module a large mass without making its collider larger than its physical size.
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