When i remember correctly, that demo was made using balljoints to link the rope parts together.
I hacked something together for you:
DebugPhysics (1);
TBody LastBody = NULL;
TVec3 Vec3Pos = Vec3 (0.0F);
for (int i = 0; i < 10; i++)
{
Vec3Pos = Vec3 (0.0F, 0.0F, (float)i * 6.0F);
TBody NewBody = CreateBodyBox (0.5F, 0.5F, 5.0F, 0);
SetBodyMass (NewBody, 1.0F);
EntityType (NewBody, 1, 0);
PositionEntity (NewBody, Vec3Pos, 0);
if (NULL != LastBody)
{
TJoint NewJoint = CreateJointBall (NewBody, LastBody,
Vec3 (0.0F, 0.0F, Vec3Pos.Z * 0.5F),
Vec3 (0.0F, 0.0F, 1.0F));
SetBallJointLimits (NewJoint, 2.0F, 0.0F, 0.0F);
SetJointCollisionMode (NewJoint, 0);
}
LastBody = NewBody;
}
Far from ideal, but it has some kind of a rope structure