Help Untangling ropes and collision detection

[Harshid123]

I have a similar setup as the above image,  How to know if the rope is not tangled anymore? like in the first image. I have enabled the surface collisions and tried with OnParticleCollision but it has not worked for me. can I ray cast from each particle of the rope a bit upward and check if it has collided with another rope? or is there any other simple workaround for this? 

Code:

public IEnumerator CheckIfTangled()
{
     yield return new WaitForSeconds(1);
     int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1);
     for (int i = 0; i < rope.activeParticleCount; ++i)
     {
         yield return null;
         Vector3 pos = rope.GetParticlePosition(rope.solverIndices[i]);
     
         Ray ray = new Ray(pos, Vector3.back * 10f);
         if (solver.Raycast(ray, out QueryResult result, filter, 100, 0.5f))
         {
             int simplexStart = solver.simplexCounts.GetSimplexStartAndSize(result.simplexIndex, out int simplexSize);
             for (int j = 0; j < simplexSize; ++j)
             {
                 yield return null;
                 int particleIndex = solver.simplices[simplexStart + j];
                 ObiSolver.ParticleInActor pa = solver.particleToActor[particleIndex];
                 if (pa.actor != rope)
                 {
                     // rope is tangled here return.
                     yield break;
                 }
             }
         }
     }

   // rope is not tangled here.
}

I am pretty sure there could be other better workaround for this, But This code worked for me