Create Physical 3D Hook?

Hey guys,
I want to create 3D hooks, which are able to swing. But how can I realize that?
I read something about configureable joints and Stuff like that.
This is what the hooks should be like:
Attack on Titan

Socke97

It’s possible to use hinge joints to simulate a rope, or configurable joint for more options. This was the rope part. There are tons of answers for that, I had made one also.

you can create a hook and attach to the end of the rope. You can check if hook is near a specific layer that it can attach to by overlap or rays or triggers. When triggered, the hook would stick to the specific object.

Also for throwing the hook, you can use forces.

good luck.