Weapon passing through colliders (objects)?

have two models, my player character and the weapon (a spear). The object hierarchy is:

Character (with CharacterController) Weapon Block (Enemy) The character collides with the block correctly (both behave as solid objects), but the weapon passes through the block. What components does the weapon (or block) need so that it also behaves as a solid object? (In other words, it must not pass through the block. The block should stop the weapon from moving.)

I have tried adding rigid bodies to both weapon and block, including enabling and disabling Kinematics on each, to no avail. When they do collide, they move through each other rather than behaving as solid objects. If I tick a few constraints, they behave as solid objects, but affect each other's movement and/or rotation. If I tick all the constraints, then they no longer behave as solid objects and move through each other again.

I should note that the Spear is not supposed to move or anything. Just like sit at front of the Player