Detaching haptics from simulation in ODE
I'm working on a project (an experiment) requiring rendering a precise force feedback as a consequence of a user's interaction with a simulation, but not necessarily physically precised feedback.
I am using the ODE module, and I've noticed that when I let the simulation control the force feedback it is somewhat delayed compared to the action made by the user.
I would like to ask whether it is possible to detach the force feedback from the simulation and render it based on an algorithm I develop. To that end, I do want to keep the simulation and simulated forces running, such that the ODE world will be dynamic, but I want it to not be dependent on the force feedback rendered/applied to the haptic device.