PhysX rope simulation, rope to rope collision

I want to accurately simulate 2 ropes that collide together using PhysX. E.g. ropes making knots. What will be the most effective way of implementing this?

PhysX currently supports rigid bodies, particles and a type of cloth meant primarily for clothing. It will be very difficult to model a rope with knots using any of these. Knotted ropes are not common in games. If you try it with rigid bodies, e.g. a chain of capsules, you will find that the knots won’t hold because the chain stretches and the segments pass through the gaps.