You can use glue with falloff. This will glue the pieces but break in middle will be preserved. Any other way dictates that you have multiple pieces which can't be rotated from arbitrary location via effector. Try the attached scene, could be what you are after
Candy bar Break_glue_falloff.c4d
That's quite a long-winded thing to explain !
Fortunately, XP TV have done it already.
You might also find Noseman's recent series of mechanical rigging sessions on the Maxon training channel helpful.
CBR