Program with OpenHaptics Toolkit

From SurfLab

Contents 1 OpenHaptics Toolkit 1.1 Introduction 1.2 Download & Install 2 Haptic Device API (HDAPI) 3 Haptic Library API (HLAPI) 4 Examples 4.1 Hello Haptics 4.2 Hello Sphere 5 References

OpenHaptics Toolkit

Introduction

• OpenHaptics Toolkit web page from Sensable
• Brochure from Inition
• Slides by Yim, Sunghoon from Postech
• Slides from Open Haptics User's Group (OHGU)

Download & Install

• download OpenHaptics Toolkit : SensAble Developer Support Center
• download Phantom Device Driver (PDD) only : PDD from Sensable

Haptic Device API (HDAPI)

• provides low-level access to the haptic device
• enables haptics programmers to render forces directly
• offers control over configuring the runtime behavior of the drivers
• provides convenient utility features and debugging aids

HDAPI from Sensable

Haptic Library API (HLAPI)

• provides high-level haptic rendering
• is designed to be familiar to OpenGL API programmers
• allows significant reuse of existing OpenGL code
• simplifies synchronization of the haptics and graphics threads

HLAPI from Sensable

HDAPI vs. HLAPI

HDAPI	HLAPI
Low-level foundational layer for haptics No graphics, need understanding of mechanism of haptic rendering For developers who are familiar with haptic paradigms and sending forces directly	High-level haptic scene rendering, built on top of the HDAPI OpenGL graphics, easier to implement Support event driven programming model For developers who are less familiar with haptics programming, but desire to quickly and easily add haptics to existing graphics applications

Examples

Hello Haptics

Hello Sphere

References

• OpenHaptics Toolkit Programmer's Guide : pdf
• OpenHaptics Toolkit API Reference : pdf