Prevent a hand to go through other objects

I'm using Unity3d with my Oculus VR game, specifically OVRPlayerController. I have a sword in my hand and want to prevent it from going through other objects, I want it to hit another object and stay there, preventing the sword and the hand from moving further, as if I hit a rock or other metal, something super rigid. I tried multiple combinations of rigid bodies, colliders, and kinematics and nothing gave we expected result, most likely I configured it incorrectly.

How can I achieve that?

 

In other channel I've got a recommendation to look here, and looking into the demos it's exactly what I need:

https://evanfletcher42.com/2018/12/29/sword-mechanics-for-vr/

 

Try this