Create flexible/bendable cylinders using bullet physics?

I’m hoping to begin making simulations of physical objects–specifically, a system of flexible cylinders in which external forces are applied in order to change the geometry of the system.

I’ve just started to explore the bullet physics addon and am wondering if someone can recommend a first step towards creating flexible cylindrical geometries that I can bend when applying force. Or if there is something better to use in place of Bullet to simulate this physical system.

(I’ve looked through the bullet example files)

Thank you!