Question How to move and rotate child collider transform without violating physics?

I have a non-kinematic rigidbody with a several bones and attached child collders.
It is made to bend the body (like a snake) and keep collisions.
This doesn't work well with physics engine, since i am moving/rotating bone transform from code (eg bone.Rotation=, bone.Position=). Some collisions cause jerking and jumping away.
Any idea how to make it propererly ?

 

Hey, the "correct" way would be to have a rigidbody for each bone and use Joints between the rigidbodies. You can then control rotating with the joint drives. A small warning: If you have not used joints before, prepare ourself for some days of reading and trying out, as this is not trivial to setup.