A computer-implemented method for generating a haptic model including at least one virtual object (10a-c) which can be presented using both a visual display device and a haptic device to a user, the method being performed by a haptic model generator and comprising: obtaining information of at least one candidate virtual object, wherein the candidate virtual object includes both a haptic representation and a visual representation; determining, for each one of the at least one candidate virtual object, reachability data, indicating whether the candidate virtual object is reachable for the user based on a position of the user, and a position of the haptic device in relation to a position of the candidate virtual object; determining, for each one of the at least one candidate virtual object, visibility data, indicating whether the candidate virtual object is visible for the user based on a position of the user in relation to a position of the candidate virtual object, and wherein determining visibility data comprises determining any candidate virtual object to be not visible which would be visually blocked by a real-world object situated between the user and a perceived position of the candidate virtual object; generating a haptic model containing all virtual objects to be haptically rendered by the haptic device, the haptic model selectively comprising at least one candidate virtual object, the inclusion of each candidate virtual object being based on its respective reachability data and visibility data, wherein the generating a haptic model comprises generating a model which excludes all candidate virtual objects which are considered unreachable, and wherein the generating a haptic model comprises generating a model which excludes all candidate virtual objects which are considered not visible; and providing the haptic model to be rendered by the haptic device. obtaining information of at least one candidate virtual object, wherein the candidate virtual object includes both a haptic representation and a visual representation; determining, for each one of the at least one candidate virtual object, reachability data, indicating whether the candidate virtual object is reachable for the user based on a position of the user, and a position of the haptic device in relation to a position of the candidate virtual object; determining, for each one of the at least one candidate virtual object, visibility data, indicating whether the candidate virtual object is visible for the user based on a position of the user in relation to a position of the candidate virtual object, and wherein determining visibility data comprises determining any candidate virtual object to be not visible which would be visually blocked by a real-world object situated between the user and a perceived position of the candidate virtual object; generating a haptic model containing all virtual objects to be haptically rendered by the haptic device, the haptic model selectively comprising at least one candidate virtual object, the inclusion of each candidate virtual object being based on its respective reachability data and visibility data, wherein the generating a haptic model comprises generating a model which excludes all candidate virtual objects which are considered unreachable, and wherein the generating a haptic model comprises generating a model which excludes all candidate virtual objects which are considered not visible; and providing the haptic model to be rendered by the haptic device.