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I couldn't find a non-kinematic physics character controller that does
New rope physics for my offroad prototype (verlet integration
Using rope physics to simulate cabling a data center in VR : r/Unity3D
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Unity - Manual: Introduction to joints
Creating Rope Objects with Physics
Creating Rope Objects with Physics
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I made a tool to create wires/ropes from the Unity editor. : r/Unity3D
Simple Rope Joint Demo in Unity using DeepMotion Avatar