PeterDonis said:
My answer for the closure rate is 2000 m/s = 6.67 x 10^-6 c; each knight rides at 1000 m/s = 3.33 x 10^-6 c.
This calculation does bring up another issue, though: with sound speeds and closure speeds this low, the two "skewering" events--Longlance's lance tip strikes Shortlance, and Shortlance's lance tip strikes Longlance--are no longer spacelike separated! (The time separation between the two events at the critical speed is a millisecond, but light travels the distances in question in microseconds.) So a full analysis of this type of scenario must take more into account than just the causal relationship between the two "skewering" events.
One key point that has been left out so far is that what actually unhorses a knight is not just the other knight's lance tip striking him, but the other knight's lance exerting enough force on him to knock him off his horse. In other words, the striking knight's lance has to transfer sufficient momentum to the struck knight. So to really evaluate whether Shortlance can still knock Longlance off his horse, we need to evaluate, not whether Shortlance's lance tip can reach Longlance, but whether Shortlance's lance can transfer enough momentum to Longlance.
Since the necessary momentum transfer requires some time, the condition for the minimum velocity for a draw must look at, not when Shortlance's lance tip first strikes Longlance, but when it has made contact for long enough to unhorse Longlance. For large enough relativistic velocities, where the momentum transfer events are clearly spacelike separated, I don't think this changes the analysis too much, since at these speeds Longlance's lance, viewed from Shortlance's rest frame, will be length contracted so that it appears shorter than Shortlance's lance.
However, for low-speed cases, such as the one yuiop and I were just discussing, I think looking at momentum transfer will make a big difference. (Note that "low speed" here is still a kilometer per second, i.e., still much too fast for our ordinary intuitions about jousting to be applicable.) As soon as Longlance's lance hits Shortlance, Shortlance will start being pushed backwards off his horse, and therefore Shortlance's lance will start stretching, reducing its ability to transfer momentum. Since the two lance tip striking events are timelike separated, the stretching affects the result in all reference frames, i.e., it is an invariant property of the scenario. For speeds near the critical speed, Shortlance's lance will be significantly stretched by the time its tip reaches Longlance, so almost no momentum will actually be transferred, and Longlance will not actually be unhorsed; Shortlance's lance tip will bump against him just before it gets pulled backward as the shock wave in the lance reaches its tip and the lance starts to re-contract in response to the stretching.
I haven't tried to calculate how much faster the knights would have to be traveling for there still to be significant momentum transfer for lance sound speeds much less than the speed of light: but I suspect that the actual "critical speed" will still be relativistic, i.e., that in order for Longlance to actually be unhorsed, the two "skewering" events *will* have to be spacelike separated.