Space Game Grappling Hook? Help Needed!

I have been coding for many years now and have never had a problem but, one thing has me stumped! I would like to add a grappling hook to a 3rd person Space Flight game. I have finished the controls for Pitch, Yaw, Roll, and Power which were fairly difficult. How do I want it to function you ask? I would like to when I press right-mouse button it shoots a rope and grapples onto an object and then you can use scroll wheel to repel In and Out then, if you press right-mouse button again it releases the grapple. Anyone that helps me with this will be included in the credits of the game and can use the Dynamic flight script I have at my disposal. And remember, the more realistic the better! It needs to be fairly smooth.

 

Use physx joints.

 

Think you can help me with it? I have never used Physx Joints and Need someone to help me or code something for me.

 

Just look up physics Joins tutorials on youtube, or original Unity page. There are plenty!