HAPI comes with these capabilities:
– Haptics device independence. Supports a wide range of haptics devices such as devices from SensAble, ForceDimension, Novint and Moog FCS Robotics.
– Haptics primitives:
Free space haptic effects.
Haptics shapes including sphere and triangles.
Surface/contact handling.
– Haptics rendering algorithms. Choose between different haptics rendering algorithms in order to optimize application performance.
– Extend and customize all the capabilities listed above.

The release can be obtained as a Windows installation package or simply as a compressed source package. Download HAPI here.