Hey, Jubai, its right that there's no trick. It is indeed muscle memory and you will get the memory in your hands and fingers just as all of us did. However, a couple of points might help you.
First, learn the two main barre chords: the A shape and the E shape. As soon as you are comfortable with them: it'll take a while depending on the kind of guitar you're playing, you'll be able to play every single major chord! And then, with just the change of a single finger position, every single minor and seventh chord. Wow. Worth knowing, huh?

Second, don't forget that a chord is only three notes. Not four, five or six. The extra notes we play are just repeats of the three notes. That means that when you see a chord diagram and its too hard to hold all six strings, you can choose just to hold down the bottom 3 or top 3. This is not perfect in every case, but its right enough to be getting on with. You know, rock guitarists some times play only the two notes on the bass strings! They call those 'power chords'. Easy, huh? Two fingers and an attitude.

Third, just practice. Play, fool around, do changes as you obviously have been doing. play play play. don't hurry.