Example of how to use CCDIkSolver with a generic SkinnedMesh?

I am still thinking and testing. But I have not yet found a suitable variant. I connect two meshes with a single skeleton/bones to achieve certain effects.

UPDATE:
The flickering between cylinder and ball can be eliminated by separating the cylinders and spacing them apart. SkinnedMeshTest_06

But when moving, the cylinders then overlap. Then it flickers there.

You can calculate the intersection of the cylinders, but this is only suitable for a static condition, as I used there: Triangulation cylinder with holes, try out InnerGeometryCylinder