I am trying to simulate the physics of a 2D hanging rope, consistent of a series of n-links. It could be a series of four pendulums. I just want some movement of the rope and the ability to contact with the ground. I was inspired by this question and this one.
I would like to programme it from zero in Python or a similar modelling program, but I don't find simple maths to recreate this effects. Which are the basic equations to escalate a series of n-links to resemble like a rope, please?