Add ISO9660/Joliet bridge to UDF 2.50?

How can the ISO9660 bridge be added to UDF 2.50?
How does it cope with changes written to the disc? Is it possible on a WORM disc such as CD-R?

Updating the ISO9660 file system too frequently could consume writing cycles, so I want to select manually when to update it, knowing the (harmless) risk of deleting files on RW discs. (the file will stay on the LBAs for a while, even after deletion, until a different new file requires that space storage).
Moving/copying files should be no problem.
The file stays on the same LBAs when being moved into a different folder.