[ODE] Rope simulation

[Shamim]

Hi Patrick,

Thanks for the reply. Any reply is very helpful. 

I have tried multiple boxes just like the example given in the ODE. It
works fine. But, I am more interested in a wider picture. Example
- pulley behaviour where the rope can extend on both sides,
- appying forces on any of the sides.
- attaching/detaching forces onto the rope ends, 
- friction and slip on the pulley and rope,

Can anyone provide some details.

Thanks.