What is the best way for physics game?

Please help to decide.

I'm going to create some physics game like to build some craft with additional thrusters etc. which should be able to break apart when it hits something.

What is the best way to create one? One rigidbody and many colliders of many rigidbodies with joints?

I've tried hinge joints but it works strange. For example if I set mass for joined body to 100 it just stretch the joint down even it is not allowed by axis setup. And famous issue with fixed joints they are not really fixed.

For one rigidbody for an issue how will for center of mass and breaking apart. Also did not find an answer is it possible or not to create an empty game object with rigidbody and connect other objects with colliders as children. Will physics works in this case? How center of mass will be calculated? For example if I place heavy part to the right side of a craft it should have torque to the right side. With joints physics engine do it itself. With one rigibody I have no idea how to do this.

Please push me to a right direction. Thank you.