Hi,

I want to create a tool which not only consists of one sphere. So is it possible to add multiple haptic points to one cToolCurser to create a more complex shaped tool? A Few haptic points should model the surface of my new tool.
Is there a easy way?

You can easily add additional haptic points. I suggest that you take a look at the gripper tool (cToolGripper) which illustrates the use of two contact points.

Please also check the code in cGenericTool which simply collects the forces from each contact point and outputs a force and torque vector which can then be sent to the haptic device.

Thanks a lot!!

and for a new position of one haptic point i can use chapticpoint::initialize.. to model my compplex tool right?

void cHapticPoint::initialize(cVector3d a_globalPos)
{
// initialize proxy algorithm.
m_algorithmFingerProxy->initialize(m_parentTool->getParentWorld(), a_globalPos);
m_algorithmPotentialField->initialize(m_parentTool->getParentWorld(), a_globalPos);

// update position of proxy and goal spheres in tool coordinates
updateSpherePositions();