The OpenHaptics/spl trade/ toolkit: a library for adding 3D Touch/spl trade/ navigation and haptics to graphics applications

Abstract

The OpenHaptics/spl trade/ toolkit is a haptics library developed by SensAble Technologies, Inc/spl reg/. It is patterned after the OpenGL/spl reg/ API, making it familiar to graphics programmers and facilitating integration with existing OpenGL applications. OpenHaptics is composed of two layers: haptic device API (HDAPI) and haptic library API (HLAPI). HDAPI provides low-level access to the haptic device. HLAPI provides advanced haptic rendering capability. HDAPI and HLAPI are built on top of the PHANTOM/spl reg/ device drivers (PDD), the device drivers for PHANTOM series of haptic devices.