Collision Detection before rendering

[Cerberus]

Hi,
I have a set of beams (Meshes or MeshBodies) which overlap in some areas and for each one of these overlaps I need a vector. After this, I would create a HingeJoint or BallJoint for each vector to create the illusion that the beams are nailed together.

The main goal is to create a construction out of these beams (like a roof truss) that is stable. If you remove a beam or a force influences the construction, it should collapse in a realistic way.

I've seen that the collision detection returns the coordinates where meshes collide. But this happens at "runtime", doesn't it? And I need these coordinates at the initialization to create the Joints.
Is there a way to do this with collision detection or has anyone another idea how I get these overlaps?

Thanks in advance.