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Object with gravity and isTrigger

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Scenario: I have an object on a table, say a screwdriver, that I want the user to be able to pick up so it needs isTrigger on its collider. However this means the object falls through the table when Use Gravity is turned on. This seems like a catch-22 - I need isTrigger on to grab it but I need it to have gravity on so I can't!

I've seen this done in games so it's possible but I can't figure it out. Summary, I want to be able to pick up an item using the controller and be able to release...

Object with gravity and isTrigger

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