Answer by buestad

PhysX (the buildt in physics engine) is useless for creating ropes/chains using RigidBodys and ConfigurableJoints if you are attaching anything "heavy" to the end. The reason is that PhysX only has an itherative solver. You need a direct solver for this. I've done some testing using OpenDynamcsEngine and the direct solver (use the world.step() function, not the world.quickStep() which uses the itherative solver). ODE is originally written in C/C++ but there is a port to Java called ODE4j which quickly can be compiled to a C# .dll using IKVM My tests so far is really promising! ![alt text][1] The attaced image shows my setup: The load of the ball is 10 000kg, and the steel rope is 47mm thick whith a densyty of 7000kg/m2 which is close to iron. The crane parts are 3 000kg for the main jib and the king(the cylinder thing) and 2 000kg for the knuckle jib. Both jibs are attached using limitless ODE hinge joints and the hydraulic cylinders which hold everyting up are limited ODE PRJoints (whiche is like a slider and a hinge put together) [1]: http://answers.unity3d.com/storage/attachments/5365-capture.png