Rigidbody2D without pushing on collision

TLDR; How to stop movement if two Rigidbodies collides?

Also, here's a potato video of the problem: https://gfycat.com/ComposedArcticBetafish

Say I have three objects in a scene:

1. Player

2. Enemy

3. Rock

The player and enemies is moving freely, but the rock is static. So I attached a Rigidbody2D on player and enemy to move them around with script. All of them has a Box Collider 2D.

Now, if I move into an Enemy, I will start to push it (changing its position). I don't want this. I can set the Enemy's mass to something large, but then two enemies can still push eachother. I don't want this. If I try kinematic solutions I've found, but then they can move through the rock.

I want:

• Player can not move enemies

• Enemies can not move players

• Enemies can not move each other

• Nothing can move or go through the rock

• Enemies can not move through player

• Player can not move through enemies

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I keep reading that if I'm moving colliders, I should also use Rigidbodies for performance. But I can't see how I get this to work with Rigidbodies.

How do I set it up?