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Is Gazebo able to accurately simulate parallel robots?

We are looking at doing some investigations into cable robots, and as part of that we'd like to find a simulation environment that will allow us to try different control approaches.

Is the physics modeling and other aspects of Gazebo sufficiently powerful and flexible to allow for parallel robots in general, and cable robots in particular? I have a sneaking suspicion that the dynamics are all rigid body, but there may be clever ways to make something work.

Also, would we be okay doing this investigation using v5 of Gazebo? Since we want to use ROS as part of this, that's as late as we can go without walking off the supported path.

Thanks in advance! Jeff