Using joints to simulate Piercing, Stabbing, or "Corking"?

Not really sure what the correct terminology is here (which is part of the problem, so if you know what it's called, please let me know!)

But basically I want to be able to detect when a sword or a knife is stabbing into another object (like a book or an apple) and have it take some influence over that object's rigid body (i.e. to simulate that object being stuck on the blade). -- I want to use joints, and not just parenting, because parenting would introduce issues and limitations that I don't want (for example, it prevents me from having multiple things stab the same object, etc.)

Some examples I've found that are close to what I want to figure out:

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Does anyone even know what this is rightfully called?

Also any documentation, articles, or tutorial links would be super helpful here.

Thanks!