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Changing parent on collision

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Let's say I have 2 cubes, cubeA, cubeB and cubeC. I want to have it so when cubeA or cubeC hits cubeB, the cube's parent is changed to cubeB's parent. I have attempted to do this myself, however the variables that I get relating to the colliding cube is read-only, so I can't get it to change parents.

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