I want the visible "rope" in Rope Joints

Hello everyone!

I’m not sure if this topic has been discussed before, so pardon me.

I’d like to know if there’s a way to “draw” the rope that connects two bodies in a Rope Joint?

If so, I would also like it to have a realistic “flex/bend” attribute when, say, the two objects are nearer to each other than the maximum “length” of the rope.

Many thanks in advance.

Santi