All matter is made up of tiny fundamental particles called atoms. An atom is the smallest particle of an element that contains all its properties. The main physical characteristics of matter that help us observe, feel, and taste it are mass, volume, weight, density, odor, and color. Mass is the amount of matter in a substance or object and is calculated as the product of an object's volume and density. Volume is the space occupied by an object, and density is mass per unit volume, or the amount of matter packed into a space.