[Problem] Trying creating rope of a grappling hook

Hello everyone

Sorry if this is not the good place but I never used this forum before.

I'm trying to create a grappling hook for a game. I Have a Hook, HookLauncher and Target. The Hook travel from the hookLauncher to the target by clicking on Mouse button Left and reverse without a problem.

But When I try to creat connected nodes during the hook's movements, it never works. I tried different methods but none of them worked. There is a message telling that a joint can't connect a body to itself.



Do you have any advises please?

Thank you for your help, The code inside my hook is here.

Code (CSharp):

1. using System.Collections;
2. using System.Collections.Generic;
3. using UnityEngine;
4.  
5. public class RopeScript : MonoBehaviour
6. {
7.  
8.  
9.     public Vector3 DestinationHook;
10.  
11.  
12.     public float HookSpeed = 1f;
13.  
14.  
15.  
16.     public GameObject NodePrefab;
17.  
18.     public GameObject lastNode;
19.  
20.  
21.     public bool HookOnDestination;
22.  
23.  
24.     public GameObject Target;
25.  
26.     public GameObject HookLauncher;
27.  
28.  
29.  
30.     public bool Fired;
31.  
32.     public bool NodeCreation;
33.  
34.     public bool done = false;
35.  
36.  
37.     public float Distance = 1f;
38.  
39.     public int NumberOfNode;
40.  
41.  
42.  
43.     // Use this for initialization
44.     void Start()
45.     {
46.  
47.         lastNode = HookLauncher.gameObject;
48.  
49.     }
50.  
51.     // Update is called once per frame
52.     void Update()
53.     {
54.  
55.         transform.position = Vector3.MoveTowards(transform.position, Target.transform.position, HookSpeed);
56.  
57.  
58.         if (NodeCreation == true)
59.         {
60.  
61.             if (Vector3.Distance(transform.position, lastNode.transform.position) > Distance)
62.             {
63.  
64.                 CreateNode();
65.  
66.             }else if (done == false)
67.             {
68.                 done = true;
69.  
70.                 lastNode.GetComponent<HingeJoint>().connectedBody = HookLauncher.GetComponent<Rigidbody>();
71.             }
72.  
73.         }
74.  
75.     }
76.  
77.  
78.     public void OnTriggerEnter(Collider other)
79.     {
80.         if (other.tag == "Target")
81.         {
82.             NodeCreation = false;
83.         }
84.     }
85.  
86.     public void CreateNode()
87.     {
88.  
89.         Vector3 pos2create = HookLauncher.transform.position - lastNode.transform.position;
90.         pos2create.Normalize();
91.         pos2create *= Distance;
92.         pos2create += (Vector3)lastNode.transform.position;
93.  
94.         GameObject go = (GameObject)Instantiate(NodePrefab, pos2create, Quaternion.identity);
95.  
96.         go.transform.SetParent(transform);
97.  
98.         lastNode.GetComponent<HingeJoint>().connectedBody = go.GetComponent<Rigidbody>();
99.  
100.         lastNode = go;
101.  
102.     }
103.  
104. }