How can I add a new component in RecieveHit?

I have a simple problem which I can’t find any documentation or best practices on; I simply wish to create a PhysicsConstraint component and attach the two collided objects together in the ReceiveHit method, it has to be a component attachment because both objects must retain their physics properties while being connected and it has to be a newly created component as opposed to a pre-defined stack of components because the number of connected objects will be variable and unpredictable.

After looking around the only example I can find for creating a component includes PCIP.CreateDefaultSubobject but as far as I know PCIP is a parameter I don’t have access to in ReceiveHit so this isn’t ideal.