I led a small dev team to port a PC title to the original PSX. It had a physics engine that ran at 30Hz and needed to run close to isochronously to preserve gameplay. One of the hacks we created was a limited pre-emptive multi-tasking system on the original Playstation to run our physics engine at a constant frequency. We'd asked Sony US who escalated to Sony Japan and told us it couldn't be done and we should write…
So that's really like, half preemptive with the return side really being cooperative style?