The goal is to create a fixed joint as soon as a trigger enter event happens between two cubes (one kinematic without collision, the other fully physics-based with collisions). I managed to create a fixed joint if it just needs to attach to the center, but as soon the cubes are rotated it becomes difficult to figure out how to get the proper values so the cube doesn't get teleported when the joint is created. Code (CSharp): var fixedComponent = PhysicsJoint.CreateFixed( new RigidTransform(unknownRotationA, unknownOffsetA), new RigidTransform(unknownRotationB, unknownOffsetB)); var bodyPair = new PhysicsConstrainedBodyPair(entityA, entityB, false); The main question is, how to calculate the proper rotation and position offset, so the connection is created at exactly the distance and rotation where the trigger enter event happened (between entityA and entityB). I tried with the global position differences, and rotations but that doesn't give the correct result, so probably some tranfromation is required. Any help would be appreciated.