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I am trying to model a protection fence, but there might be an easier way. I want to snap to the other geometry instead of adding vertices and doing it by hand. Is it possible?

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Create two objects, top (the rail you want to snap to), and bar (highlighted on the screenshot), in which assign the top 4 vertices to a vertex group SNAP, add an *Array *modifier to the bar object, and a Shrinkwrap modifier in Project mode, Z axis, with the target top and vertex group SNAP:

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