Soft body fixed points inside rigid body

[hej]

Hi, first of all I'm sorry if a similar question has been answered before. I have looked around quite a bit with little success.

The problem:
I have a scene with many static rigid bodies close to each other. The way the engine is built, those bodies are only used for collision detection, positioning is handled outside bullet. (Yes, I guess moving static bodies is bad practice but that's beyond my area of influence for now)
I have simulated ropes between different bodies by doing a linked soft body. Since I wanted a stiff rope going out in the normal direction from the body I had to use bending constraints along with a extra fixed node inside the body. It works very well if I don't use collision. However as you probably figured, if I want collision... not that well.
I found out that adding an anchor point to the rigid body was a "great" step to fix the issue, I no longer get massive collisions from the nodes inside. However, with the other bodies being so close to each other I still got ugly collision artifacts. Add anchors to all the bodies! fixed the problem. (I have minor vibrations, but I can live with that)

Does anyone know or have ideas how I can solve the problem in a more elegant way? ( Then, maybe I could add collision between the soft bodies as well since a few fixed nodes are way close between the soft bodies as well)
Also as a side note; it would have been nice to update the fixed node positions via the anchor points (Then I can't use all the anchors in the way I do now). But testing that I saw that the anchor points followed the rigid body nicely as well as having the correct connection to the respective node.. however the nodes just stay fixed. I guess that's because the rigid bodies are static, and/or not updated via bullet?

I attached a beautiful image in paint explaining the basic principle.

Best regards

[Ateocinico]

Try a chain instead. As the elements are rigid bodies they collide properly.

[hej]

Thanks. I will try that out, but don't you think I still will have the same problems with nodes inside/very close to?