Dynamic Rigidbody without outside forces

Perhaps I am tackling this the wrong way, but I want to have two rigid bodies be able to collide without applying force to each other (other than stopping).

I am applying velocity to the rb's to control their movement. Problem is when two players collide with each other, one will push the other, especially if either player is idle.

Can't use kinematic since then they won't collide with the walls and such anymore. So basically I want two rigid bodies to be affected by collisions but not be able to be pushed around.

 

I suppose you could create a "Physic material" with a bounciness of 0 and a "bounce combine" set to "minimum".

You can also make use of void OnCollisionStay(Collision other) where you could experiment with resetting the rigidbody velocity.

 

I tend to use triggers for this. You have to then rewrite much of your own physics system. But it's not too difficult.