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How do I implement rope collision?

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So for my game the players head and body are attached by a rope. I have the rope part working by following this tutorial https://youtu.be/FcnvwtyxLds My issue now is getting the rope to collide with objects in the game e.g. bend around walls, lay on the floor etc. Currently I've tried creating a list of sphere colliders and dynamically positioning them along the rope then checking for collisions. But I'm not sure what to do from there. I've tried getting the direction between the rope segment position and the contact point of the collision, then adding that directional vector to the rope position to simulate it pushing away from the object, but had no luck with it. Any help appreciated! FYI, I have to do this myself so using assets isn't possible (otherwise I would've used one in a heartbeat)

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