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If the cylinder is part of the haptic simulation then the device and car should be forced to go over the cylinder. You might create just a position link between the device and car and manually rotate the car each frame as it goes over the cylinder for a better effect.
If the cylinder is not part of the haptic simulation then the device will go through the cylinder. In that case, since the car follows a different path, I don't see a reason for maintaining the link at that time.
What haptic device are you using?
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