- Speeds are measured in meters / second
- Forces are applied in the unit of Newtons
- Torques are applied in the unit of Newton-Meters
- All forces and torques will be reset to 0 at the end of each fixed update. So torques and forces must be applied throughout all frames in which you wish the force or torque to take effect
All colliders are allowed to have collision callbacks which determine which logic they invoke upon collision start, stay, and exit. If you set a collider to be a trigger, you will not be able to collide with it physically, though it's collision callbacks will still be invoked when a collision (overlap) occurs.