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This is not possible out of the box. I believe there are some ideas for this already. Still you can copy over some values with process builder for example.
Thanks Paul .
Have you tried by creating Formula field on Task object and then create and link task to incident
1] Created formula field on the task object and inserted short description from incident object, add this formula field on the task object field set
2] Then i have entered some text in Incident short description field and then clicked on the create and link task to incident" button for creation of task
3] Here in task you can see, Incident's short description field get mapped in to Task's Short description field , like wise you can try for other incident fields