Creating a 'grapple hook' in 3d

I'm trying to make a shootable projectile which, when it collides with an object, creates a 'chain' between the point of contact and the player. I'm creating instances of 'links', which are rigid bodies with collision shapes, and pin joints with the nodes set between the links. I'll attach a link to a video, the green squares are joints, pink spheres are links, black ball is the projectile, red square is base joint and blue is tip joint.

https://v.redd.it/3hvg9eprqak31

Please let me know if you have any ideas, here's some of the code (attached to the projectile/'tongue'):

#---CREATE CHAIN--- if stuck and linkcnt < linkmag and not linked: var newlink = linkscene.instance() newlink.set_name(str("newlink",linkcnt)) add_child(newlink) newlink.translation = player.translation - (distance_from_player * (linkcnt / linkmag)) linkcnt += 1

#---BUILD JOINTS---
	if linkcnt > 0 :
		var tmp
		var loop = 0
		while loop <= linkcnt:
			tmp = str("newlink",loop)
			if has_node(tmp):
				var thislink = get_node(tmp)#				
			if linked:
				var tmpin = str("newpin",loop)
				if get_parent().has_node(tmpin):
					var thispin = get_parent().get_node(tmpin)
					thispin.translation = thislink.translation + (distance_from_player * .9)
			
			if stuck and pincnt <= loop and not linked:
				if loop == linkcnt - 1:
					tonguebase.set_node_a("../Player")
					tonguebase.set_node_b(tmp)
				if loop == 0:
					tonguetip.set_node_a("../Tongue")
					tonguetip.set_node_b(tmp)
					var newpin = PinJoint.new()
					get_parent().add_child(newpin)
					newpin.set_name("newpin0")
					newpin.set_node_a("newlink0")
					newpin.set_node_b("newlink1")
					pincnt += 1
				else:
					var nexttmp = str("newlink",loop + 1)
					if has_node(nexttmp):
						var nextlink = get_node(nexttmp)
						var newpin = PinJoint.new()
						get_parent().add_child(newpin)
						newpin.translation = thislink.translation + distance_from_player
						newpin.set_name(str("newpin",loop))
						newpin.set_node_a(tmp)
						newpin.set_node_b(nexttmp)
						pincnt += 1
						
						var newmesh = pinscene.instance()
						newpin.add_child(newmesh)
		loop = loop + 1
		if linkcnt == linkmag:
			linked = true
if not released:
	if linkcnt > 0:
		clear_links()