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Maybe that feeling is warm and fuzzy. Maybe it’s acceptance by their God. Sometimes it’s relief from a tax write off. It’s all done out of self-interest. Your desires are secondary.
Holy crow, this is it. Right here. Why is this so difficult?
What you want is reciprocity. People are by nature SELFISH. As long as you value something, altruism is absurd. Doing something "out of the goodness of your heart" is absolutely foolish. You invest in people because 1) You value them, if for nothing else at least for their potential, and 2) the hope of getting something in return. This absolutely DOES WORK. People are selfish, so you cater to their desires, their self-interest. They are rewarded for and through their self-interest. When they want a reward, knowing you'll reward that self-interest, they will seek you out. In order to continue receiving that reward, they will do whatever you ask. It is wise to help people out if you know they'd help you in return sooner or later. It is foolish to continue to help people who refuse to bring anything to the table.
Once you figure out you can get what you want by investing in the self-interest of others, things will get easier for you. If you don't feed that self-interest, they will ignore you.
It's all Ayn Rand, Dale Carnegie, and Jesus stuff.