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Soft Rope, with 'fixed' mount points?

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So I got a challenge for anybody willing to contribute some thought. 

 was trying to kinda mull over the idea of having two separate objects that had a cord or a rope between then that reacts to the positions of the two objects that they are connected to and the "slack" of the rope be dynamic from that.  Hopefully with self collision.  I think I have a few ideas how to do it but I was wondering what others think.

The end goal would be like some sort of mechanical moving part with its "power cables" able to dynamically animate themselves.

Any input is appreciated.

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