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Hi,
I don't think OpenHaptics supports arbitray shapes for the pen, it can only be a point. You can use Vizard collision routines to detect when the two objects are touching and manually apply a force to the haptic pen. Take a look at the viz.phys.intersectNode command for detecting collisions. For applying forces to the haptics pen take a look at the downloads page under "Hardware Support". There is a "Haptic Effects" download. It contains some example of using certain haptic effects, which includes applying a constant force. You DO NOT need the modified hd.dlm/hd.py plugin that is included with the zip file, it is only for Vizard 2.5.
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