Hi. I've got a problem with fixed joints. I'm trying to figure out how to correctly configure fixed joints. I have two rigidbodies connected by a fixed joint. However, if one is set to kinematic after moving at speed, the other will continue moving and eventually snap back to the correct position. Basically, it's acting like a spring. I want it to just stop with the other object. How would I do that?
If I read it right, you want to "extend" your IK driven object with another. Let that be a child object of the IK driven one and if you have a Rigidbody component on the child, remove it. This way you've created a Compound Collider. More on theoretical collider types: Compound Collider