UPDATE: I resolved this problem.
I seem to be asking a question a day here as I learn. So in the photo you can see the raccoon tail is passing through the floor. I am kind of unsure what to address here because the tail has dynamics on it so it has free will to move around as the raccoon moves. Also I have hair on the tail, which also has collider properties. Then the floor which I added a Ridged body tag too.
What do I need to do to have the tail collide with the floor and not have the hair or the joints pass through it?