• x86/x64
• Device Enumeration
• Device Info
• Default device automatic selection
• Automatic Driver Fallback
• Multithreaded-aware Internal Synchronization
• Support for both callbacks and polling
• Support for direct Object/Method invocation
• Configurable Callback Rates
• Configurable Force Feedback Cutoff
• Support for left-handed (DirectX) and right-handed (OpenGL) coordinate systems
• Per-application and per-system configuration
• Centralized Logging Facilities
• Debug Output to development IDEs
• Dynamic Loading/Unloading of unused Plugins
• Torque Support
• Bundled Plugins for all SensAble PHANToM devices (PHANToM Desktop, Premium, Premium 6DoF and Omni) on drivers version 4.2(required for Omni), 4.0, 3.1
• Autorecalibration on PHANToM Desktops
• Bundled Plugin for ForceDimensions Delta 3DoF/6DoF and Omega devices on drivers version 3.1, 3.0
• Bundled Plugin for MPB Technologies Freedom and Cubic devices
• Bundled Plugin for Haption Virtuose devices
• Bundled Plugin for Novint Falcon devices
• Multithreaded mouse-based virtual device
• Remote devices support through TCP/IP networks
• Recording playback capabilities
• Java JNI Interface
• Matlab Mex Interface
• Simulink Interface
• Python binding

This is a minimal sample of using Haptik from C++ (error handling omitted).
A procedure callback is used to implement an horizontal plane.

#include <conio.h>
#include <RSLib\Haptik.hpp>
using namespace RSLib;

void Callback(HaptikData& data)
{	
   data.forceFeedback = Vector3(0, data.position.y < 0 ? -data.position.y : 0, 0);
}

void main()
{
   IHaptikDeviceInterface device;
   device = Haptik(Haptik::LeftHanded).GetHaptikDeviceInterface();
   device->Init( FUNCTION_ADDRESS(Callback) );
   device->Start();
   
   while( !kbhit() );
   
   device->Release();
}

Click to see fullsize images

Mouse Spectre

Java and Java Applets

Matlab/Simulink

Version 1.2 - March 27th 2014
-------------------------------
Library:      Ported to x64
Skeleton:     Moving to template-based delegates to implement callbacks on x64
Phantom51OH:  New plugin, using OpenHaptics 3.2 to target version 5.1 of Phantom drivers
All:          Moved to Visual Studio 2013
Delta:        Added support for DHD-API 3.5


Version 1.2 - February 17th 2012
-------------------------------
Library:      Fixed bug resulting in overwritten configuration file.
Phantom42OH:  fixed configuration search path for OpenHaptics 3 on Windows 7
Falcon:       workaround for bug in novint drivers affecting hdlGetVersion function


Version 1.2 - January 27th 2011
-------------------------------
Library:      Configuration options exposed to code. Haptik class supports setting handness.
Falcon:       support for Novint Falcon
Phantom42OH:  support for OpenHaptics 3.0
All:          lots of small bug-fixes


Version 1.1rc1 - November 7th 2006
----------------------------------

[20061106]Misc:      Moved all samples to the new RSLib.
[20061106]Setup:     Fixed a bug preventing automatic updates check to work.
[20061106]Misc:      Added a template class for storing interfaces.
[20061102]All:       Most plugins now support per-device settings.
[20061101]Spectre:   Mouse capture frozen due to a wxWidget problem.
[20061030]Spectre:   Spectre devices will be automatically added if needed, and correctly reused.
[20061029]Spectre:   Reimplemented using wxWidgets. Now available on linux, too.
                     Some cool Windows features have been moved to conditional code.
[20061024]Phantom:   Reimplemented using a single callback to work around the umpteenth bug 
                     in the HD-API / OpenHaptics toolkit. This was necessary to cope to 
                     unpredicatable behavior of HD-API which missbeave (without reporting any 
                     error, of course) if devices are inited or callback are scheduled after 
                     the scheduler has started when two omnis are used.
                     - thanks to Simone Tartari for reporting and testing.
[20061022]Setup:     Directories are now added for all flavours of Visual Studio/C++ Express.
[20061022]Setup:     Fixed a bug in the directory-adding utilities.
[20061020]All:       Removed direct use of MessageBoxes.
[20061018]Matlab:    Removed registry access to prevent.
[20061018]Library:   Added a setting to prevent display of splashscreen.
[20061017]All:       Moved (almost) everything to the new RSLib.
[20061002]Virtuose:  Written Virtuose plugin (still alpha).
[20060928]Delta:     Added support for new 3.1beta DHD drivers.
                     - thanks to Francois Conti from Force Dimension for providing the new Omega33.
[20060917]All:       Plugin code factorized into a common skeleton.
[20060901]Delta:     Added support for "Delta.BaseAngleDeg" setting.
[20060725]Python:    Added a prototype python binding using SWIG
                     - thanks to Michael Oren for testing.
[20060628]Freedom:   Fixed a regression bug in the initialization code.
                     - thanks to Iman Brouwer for fixing.
[20060610]Freedom:   Added verbose logging and error reporting.
[20060610]Freedom:   Fixed a bug in the callback affecting Win2K.
[20060610]Delta:     Fixed a bug in the callback affecting Win2K.
[20060528]Phantom42: Added HD-API error reporting.
[20060525]Library:   Added closing notification.
[20060525]Phantom42: Added massive logging.
[20060524]Phantom42: Fixed number of button count for omni devices.
[20060524]Java:      Changed jni and java classes to report also multiple buttons.
                     - thanks to Jonathan Winterflood for reporting.
[20060512]Java:      Repackaged classes in org.haptiklibrary package.
                     - thanks to Ruida Cheng for testing.
[20060517]Library:   Added header compatibility with Visual C++ 2005.
[20060302]Library:   Removed dependancies from boost library.
[20051128]Phantom:   Prevent MessageBoxes if HaptikLibrary.allowMessageBoxes = FALSE.
                     for use with matlab.
[20051124]Setup:     Current User / Local Machine installation.
[20051124]Setup:     Automatic setup of VC Directories.
[20051124]Library:   Haptik now runs also for non-admin users.
[20051123]Phantom42: Errors are logged.
[20051123]Phantom42: Using READ access when opening phantom registry keys 
                     (should run with users privileges now).
[20051123]Library:   Moved from MessageBox to a custom dialog.
[20051122]Setup:     Moving to Inno Setup.
[20051122]Library:   Automatically check for updates during splash screen.
[20051121]Library:   Use HKLM if present otherwise go for HKCU.
[20051119]Spectre:   Fixed regression-bug in Mouse spectre affecting context menu.


Version 1.0final - November 17th 2005
-------------------------------------
All:     Moved to the new RSLib
Library: Preventing buffering of log file to get usable log even when 
         sensable api crashes
Library: Runtime detection of GetModuleHandleEx to allow running on Win2K 
         - thanks to Cord Westhoff for testing
Spectre: Runtime detection of SetLayeredWindowAttributes to allow running 
         on Win2K - thanks to Cord Westhoff for testing
Phantom: Added support for verbose logging
Phantom: Discovered issue with HD.DLL from Open Haptics Academic Edition 
         - thanks to Dominik Schmidt for reporting
Phantom: Added plugin for OpenHaptics and code to recognize 
         loaded HD.DLL version
Matlab:  Added FAQs on matlab error messages
Betamax: Added support for polling mode
Freedom: Completed freedom plugin. Untested.


Version 1.0beta - 17 June 2005
------------------------------

Library: Minor Bug Fixes.
Library: Added configuration option to disable MessageBoxes.
Library: Added TLS usage for temporary data.
Library: Added Partial Unloading of Plugins.
Library: Added Mutex syncronization on IHaptikLibrary and 
         IHaptikLibraryLower interfaces.
Library: Added Output Debug strings on DEBUG builds.
Library: Improved support for TLS data.
Library: Rewritten Initialization code to implement full support for 
         internal-recursion based plugins.
Library: Configuration file now uses "\r\n" for line terminator.
Library: Added detection of Debug Plugins to avoid crashes on unloading.
All:     Expanded IHaptikDevice Interface to include Recalibration,
         Runtime Callback change, user data.
All:     Added an additional UserData struct to Callbacks to allow single 
         callback for multiple devices.
All:     Modified the InvokeCallback function to better support future 
         binary compatibility.
Phantom: Moved 31 & 40 to Intel C++ to compile on Visual C++ 2003. 
         See notes on how to setup system and directories.
Phantom: Added Watchdog timer.
Phantom: Added autocalibration for phantom desktop.
Phantom: Updated Workspace dimensions and limits for all models.
Delta:   Added support for 6DOF, torque, wrist orientatation, 
         maxTorque setting.
Delta:   Removed flag TIME_KILL_SYNCHRONOUS on systems not supporting.
Delta:   Updated Workspace dimensions and limits for all models.
Spectre: Removed flag TIME_KILL_SYNCHRONOUS on systems not supporting.
Spectre: Corrected bug in extraction of LPARAM.
Spectre: Better handling of sticky clicks.
Spectre: Corrected issues with RIGHT HANDED coords wrongly reported.
Spectre: Added Full Torque support.
Matlab:  Added Support for Matlab & Simulink.
Betamax: Implemented a recording/playing prototype.
Java:    Added JNI interface.
Remote:  Added support for direct connection.
Docs:    Added FAQs


Version 0.8 - December 2004
---------------------------

Library: Added checks for missing config file and no plugin loaded.
Library: Dynamic Loading Rewritten.
All:     Minor Bug Fixes.
Spectre: Support for key forwarding added.
Spectre: Support for captured mouse mode added.
Remote:  Support for Direct Connection.


Version 0.7 - June 2004
-----------------------

First Web Release