Haptic Library API (HLAPI)

The HLAPI provides high-level haptic rendering and is designed to be familiar to OpenGL® API programmers. It allows significant reuse of existing OpenGL code and greatly simplifies synchronization of the haptics and graphics threads.

Key Features and Benefits

• Designed for programmers familiar with graphics and with no prior knowledge of haptics
• Enables reuse of existing OpenGL code for fast integration
• Designed to integrate third-party libraries such as physics/dynamics and collision detection engines
• Extensible and flexible architecture will enable future support of other graphics libraries such as Microsoft® DirectX®*
• Support for polygonal meshes and therefore tessellated NURBS and subdivision surfaces
• Includes API, utilities, and source code examples

OpenHaptics API Features

Shapes

• OpenGL primitives (polygons, points, and lines)
• Custom/extension

Force Effects

• Constant (e.g. gravity)
• Viscosity, 3D friction
• Spring
• Custom/extension

Touch Model

• Single point
• Contact/constraint

Surface Material Properties

• Friction
• Stiffness and damping
• Front/back faces

Dynamics

• Hooks for integration with third-party physics/dynamics and collision detection engines

Deformable Objects

• Hooks for third-party integration

Events

• Windows
  • 2D Mouse*
• Haptic device
  • Touch/untouch
  • Stylus switch
  • Motion
  • Calibration