What is HAPI?
HAPI is an open-source, cross-platform, haptics rendering engine written entirely in C++. HAPI can be used to write applications that requires use of haptics. Either write the applications from scratch or use HAPI to add haptics to already existing applications that are written in C++. HAPI is designed to be modular and all features can be extended by users.
For more information see section What you can do with HAPI .
Why do I get linking errors about chai3d when compiling HAPI?
You are using the beta version of HAPI or are not using Microsoft Visual Studio 2003, 2005 or 2008.
Libraries must sometimes be compiled with the same version of a compiler on Windows (especially for the Microsoft Visual Studio series). The distributed libraries for chai3d are compiled for Visual Studio 2003, 2005 and 2008 and it can be so that when other versions of the compiler is used this generates linking errors. This can be fixed in two ways. Either disable the chai3d feature or compile chai3d from source using your compiler and use these libraries and include files instead.
When using any other compiler than Microsoft Visual Studio the distributed precompiled libraries will most likely not link.