Real time collision and object navigation

[Jeff]

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?