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Feeling smooth particles through haptic interface

Hi,
I’ve been trying to incorporate haptic interfaces into a CUDA based particle simulation in C++. For haptic interfaces I’m using either of a phantom or falcon device along with the old H3D HAPI library. For now I’m trying out the CUDA particle simulation example, but the underlying structures of HAPI library and particle simulation example are entirely different. Although the basic datatype is float or double in both cases, still is there any way out to bypass changing any one the data structures?
Primary objectives:

  1. update haptic proxy position along with the collider of the CUDA simulation
  2. apply same forces to proxy that are being transferred to the collider in the CUDA simulation.

As the data types are incompatible to each other in HAPI and CUDA simulation example, I am finding difficulty mainly in position update part.
Anyone please look into the matter.

Thanks