Maybe you can look into (extended) position based dynamics https://positionbaseddynamics.readthedocs.io/en/latest/about.html https://positionbaseddynamics.readt

Maybe you can look into (extended) position based dynamics https://positionbaseddynamics.readthedocs.io/en/latest/about.html https://positionbaseddynamics.readthedocs.io/en/latest/about... for ropes. If knots are what's interest you more, then maybe you can have a look at the self-collision avoidance of "Repulsive Curves" http://www.cs.cmu.edu/~kmcrane/Projects/RepulsiveCurves/ http://www.cs.cmu.edu/~kmcrane/Projects/RepulsiveCurves/