I just use a generated rope made of capsules constrained together and let Physx do most of the work.
After a few requests, and much procrastination I made a project with the most basic swinging system to share with you guys
hope you can find it useful!
https://www…com/watch?v=jSqB7eX-Yjc
Here i found a mechanic 
Hi all,
Thanks for all your comments on working through this. Its really helped me with my own little project. One thing that irks me about all of the maths based solutions is that the character very slowly will increase the size of the rope. Has anyone else encountered this and found a solution?
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this system will soon be available on the marketplace
search for " AUTUMN GRAPPLE HOOK "
Here’s a nice tutorial, there’s a whole series about the web , swinging, and something else.