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How to make a seamless rope?

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I am building a rope in unity following this tutorial: https://www.youtube.com/watch?v=ize_B8DCJkY It uses character joints attached to capsules (in my case, cilinders) to create a rope. My main problem with this method is that when the rope streches, the elements get disconnected, showing an empty space on the connections. I tried fiddling with the joint properties but couldn't get it to work seamlessly. I have 2 questions: 1 - How to make this rope keep it's stretching ability without disconnecting the joints? 2 - I saw people saying you could use cloth to make ropes, but I didn't find any tutorials. Does it work?

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