Dynamically cutting a hole in a plane

Hi. I was wondering if it’s possible to cut an irregular shaped hole in a plane so that another model can fit in the cutout section without the collisions of the plane not allowing me to go into said cutout. I realize this can be done by a modeling program, but I would like to be able to create a hole anywhere on the plane without having to edit the model through another program.

This is what I’m trying to do through Panda3D.