>>288358090
I think the way kinematic rigidbodies work, they don't have any velocity, so every physics update, its collider is just teleporting, according to whatever the transforms say. Whereas the non-kinematic rigidbodies with a fixed joint, physx still keeps track of the velocity and tries to apply force every physics update to meet the joint constraint. Because it still has velocity, the continuous collision detection can backtrack linearly in time to try to pick up collisions that would have happened in the interim.