# HG changeset patch
# User Fiore Martin <f.martin@qmul.ac.uk>
# Date 1423838660 0
# Node ID 011caca7515a48c7745f37b48cd443ed38e21f21

first import

diff -r 000000000000 -r 011caca7515a .classpath
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.classpath	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/jre7_64"/>
+	<classpathentry kind="lib" path="lib/jhapticgui-0.1.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>
diff -r 000000000000 -r 011caca7515a .project
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.project	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>XYPad</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>
diff -r 000000000000 -r 011caca7515a lib/jhapticgui-0.1.jar
Binary file lib/jhapticgui-0.1.jar has changed
diff -r 000000000000 -r 011caca7515a license.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/license.txt	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+  An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License.  If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+  1. Source Code.
+
+  The "source code" for a work means the preferred form of the work
+for making modifications to it.  "Object code" means any non-source
+form of a work.
+
+  A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+  The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form.  A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+  The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities.  However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work.  For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+  The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+  The Corresponding Source for a work in source code form is that
+same work.
+
+  2. Basic Permissions.
+
+  All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met.  This License explicitly affirms your unlimited
+permission to run the unmodified Program.  The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work.  This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+  You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force.  You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright.  Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+  Conveying under any other circumstances is permitted solely under
+the conditions stated below.  Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+  No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+  When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+  4. Conveying Verbatim Copies.
+
+  You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+  You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+  5. Conveying Modified Source Versions.
+
+  You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+    a) The work must carry prominent notices stating that you modified
+    it, and giving a relevant date.
+
+    b) The work must carry prominent notices stating that it is
+    released under this License and any conditions added under section
+    7.  This requirement modifies the requirement in section 4 to
+    "keep intact all notices".
+
+    c) You must license the entire work, as a whole, under this
+    License to anyone who comes into possession of a copy.  This
+    License will therefore apply, along with any applicable section 7
+    additional terms, to the whole of the work, and all its parts,
+    regardless of how they are packaged.  This License gives no
+    permission to license the work in any other way, but it does not
+    invalidate such permission if you have separately received it.
+
+    d) If the work has interactive user interfaces, each must display
+    Appropriate Legal Notices; however, if the Program has interactive
+    interfaces that do not display Appropriate Legal Notices, your
+    work need not make them do so.
+
+  A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit.  Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+  6. Conveying Non-Source Forms.
+
+  You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+    a) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by the
+    Corresponding Source fixed on a durable physical medium
+    customarily used for software interchange.
+
+    b) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by a
+    written offer, valid for at least three years and valid for as
+    long as you offer spare parts or customer support for that product
+    model, to give anyone who possesses the object code either (1) a
+    copy of the Corresponding Source for all the software in the
+    product that is covered by this License, on a durable physical
+    medium customarily used for software interchange, for a price no
+    more than your reasonable cost of physically performing this
+    conveying of source, or (2) access to copy the
+    Corresponding Source from a network server at no charge.
+
+    c) Convey individual copies of the object code with a copy of the
+    written offer to provide the Corresponding Source.  This
+    alternative is allowed only occasionally and noncommercially, and
+    only if you received the object code with such an offer, in accord
+    with subsection 6b.
+
+    d) Convey the object code by offering access from a designated
+    place (gratis or for a charge), and offer equivalent access to the
+    Corresponding Source in the same way through the same place at no
+    further charge.  You need not require recipients to copy the
+    Corresponding Source along with the object code.  If the place to
+    copy the object code is a network server, the Corresponding Source
+    may be on a different server (operated by you or a third party)
+    that supports equivalent copying facilities, provided you maintain
+    clear directions next to the object code saying where to find the
+    Corresponding Source.  Regardless of what server hosts the
+    Corresponding Source, you remain obligated to ensure that it is
+    available for as long as needed to satisfy these requirements.
+
+    e) Convey the object code using peer-to-peer transmission, provided
+    you inform other peers where the object code and Corresponding
+    Source of the work are being offered to the general public at no
+    charge under subsection 6d.
+
+  A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+  A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling.  In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage.  For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product.  A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+  "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source.  The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+  If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information.  But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+  The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed.  Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+  Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+  7. Additional Terms.
+
+  "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law.  If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+  When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it.  (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.)  You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+  Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+    a) Disclaiming warranty or limiting liability differently from the
+    terms of sections 15 and 16 of this License; or
+
+    b) Requiring preservation of specified reasonable legal notices or
+    author attributions in that material or in the Appropriate Legal
+    Notices displayed by works containing it; or
+
+    c) Prohibiting misrepresentation of the origin of that material, or
+    requiring that modified versions of such material be marked in
+    reasonable ways as different from the original version; or
+
+    d) Limiting the use for publicity purposes of names of licensors or
+    authors of the material; or
+
+    e) Declining to grant rights under trademark law for use of some
+    trade names, trademarks, or service marks; or
+
+    f) Requiring indemnification of licensors and authors of that
+    material by anyone who conveys the material (or modified versions of
+    it) with contractual assumptions of liability to the recipient, for
+    any liability that these contractual assumptions directly impose on
+    those licensors and authors.
+
+  All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10.  If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term.  If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+  If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+  Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+  8. Termination.
+
+  You may not propagate or modify a covered work except as expressly
+provided under this License.  Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+  However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+  Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+  Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License.  If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+  9. Acceptance Not Required for Having Copies.
+
+  You are not required to accept this License in order to receive or
+run a copy of the Program.  Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance.  However,
+nothing other than this License grants you permission to propagate or
+modify any covered work.  These actions infringe copyright if you do
+not accept this License.  Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+  10. Automatic Licensing of Downstream Recipients.
+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
\ No newline at end of file
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/HapticScene.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/HapticScene.h	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,118 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library 
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+
+#include "Message.h"
+
+
+namespace jhapticgui {
+
+	class HapticScene {
+		
+		int mWidth;
+		int mHeight;
+
+	protected:
+		void (*send) (const Message &m);
+
+	public:
+		
+        /**
+         * Returns the width of the openGL window where the scene is displayed
+         */
+		inline int getWidth() {
+			return mWidth;
+		}
+
+        /**
+         * Returns the height of the openGL window where the scene is displayed
+         */
+		inline int getHeight() {
+			return mHeight;
+		}
+
+        /**
+         * The constructor takes as argument a pointer to a function that must
+         * be invoked to send a message to the Java thread from the this haptic
+         * scene.
+         */
+		HapticScene(void (*messageCallback) (const Message & m) ) : send(messageCallback) {} 
+
+		virtual ~HapticScene(void){}
+
+        /**
+         * Sets the size of the openGL window where the scene is displayed
+         */
+		inline virtual void setSize(int w, int h){
+			mWidth = w;
+			mHeight = h;
+		}
+
+		/** Try and initializes the haptic device, return false if the initialization fails */
+		virtual bool initHaptics(void) = 0;
+
+		/** Initializes the openGL windows after the haptics has been successfully initialized */
+		virtual void initGL(void) = 0;
+
+        /** handles an incoming message from the Java thread. 
+         *
+         * Returns an update code if the message changes the 
+         * scene. The code is passed to drawScene() for updating 
+		 * the scene accordingly.
+         */
+		virtual unsigned int processMessage(const Message & m) = 0;
+
+		/** called at the beginning of each frame */
+		virtual void beginFrame(void) = 0;
+
+		/** called at the end of each frame */
+		virtual void endFrame(void) = 0;
+
+		/** draws the haptic cursor, namely the haptic device proxy */
+		virtual void drawCursor(void) = 0;
+
+		/**
+		 * Draws one frame both graphic and haptic.
+		 *
+		 * messageUpdate and callbacksUpdate are integer codes specifying what 
+         * needs to be updated in the haptic and graphic scenes. messageUpdate
+         * is the value returned by processMessage and flags that a message from the
+         * Java thread affects the scene which must therefore be updated.
+         *
+         * callbacksUpdate is the value returned by checkCallbacks
+         * and flags that a haptic event happened that affects the scene, 
+         * which must therefore be updated.
+		 */
+		virtual void drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate) = 0;
+
+        /** Checks for haptic callbacks, namely functions that are called when
+         * a haptic events occurs. Typical haptic events are proxy touching an
+         * object, proxy moving, button pressed etc.
+         *
+         * Returns an update code if any event changes the 
+         * scene. The code is passed in the next frame to drawScene(),
+		 * for updating the scene accordingly.
+		 * 
+         */ 
+		virtual unsigned int checkCallbacks(void) = 0;
+
+	};
+
+}
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/HapticSceneFactory.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/HapticSceneFactory.h	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,37 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#include <memory>
+#include "HapticScene.h"
+#include "XYScene.h"
+
+namespace jhapticgui{
+
+	/**
+	* The factory function is invoked when the haptic scene is created.
+	* If nullptr is returned the haptic initialization fails.
+	*/
+	std::unique_ptr<HapticScene> makeHapticScene(void(*messageCallback) (const Message & m)){
+
+		/* create your scene here */
+		HapticScene *scene = new XYScene(messageCallback);
+		return std::unique_ptr<HapticScene>(scene);
+	}
+
+}
+
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/Message.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/Message.cpp	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,43 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "Message.h"
+#include <iostream>
+
+jhapticgui::Message::Message(){
+	ID = 0;
+	std::fill(command, command + MAX_CMD_LEN, 0);
+	std::fill(args, args + MAX_ARGS_LEN, 0);
+}
+
+jhapticgui::Message::Message(const char* c, const char* a, jint id){
+	ID = id;
+	for(int i = 0; i<MAX_CMD_LEN ;i++){
+		command[i] = c[i];
+		if(c[i] == '\0')
+			break;
+	}
+
+	for(int i = 0; i<MAX_ARGS_LEN ;i++){
+		args[i] = a[i];
+		if(a[i] == '\0')
+			break;
+	}
+}
+
+
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/Message.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/Message.h	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,55 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <jni.h>
+
+namespace jhapticgui {
+
+	struct Message {
+		static const int MAX_CMD_LEN = 32;
+		static const int MAX_ARGS_LEN = 64;
+
+        /**
+         * The id identifies the haptic object the command refers to 
+         */ 
+		jint ID;
+        /**
+         * the command identifier
+         */
+		char command[MAX_CMD_LEN];
+        /**
+         * The command arguments. It's the string encoding of any type of
+         * value, e.g. integers, floats, string itself etc. 
+         */ 
+		char args[MAX_ARGS_LEN];
+
+        /**
+         * Empty message constructor. Used for a message from the java thread.
+         * The fields of the messae are filled with the value sent by the java
+         * thread 
+         */
+		Message();
+
+        /**
+         */ 
+		Message(const char* c, const char* a, jint id);
+	};
+
+}
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYPad.sdf
Binary file native/OpenHaptics/XYPad/XYPad.sdf has changed
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYPad.sln
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/XYPad.sln	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,28 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Express 2013 for Windows Desktop
+VisualStudioVersion = 12.0.21005.1
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "XYPad", "XYPad.vcxproj", "{763A0961-BD02-4501-93DA-D828B398EF61}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Debug|x64 = Debug|x64
+		Release|Win32 = Release|Win32
+		Release|x64 = Release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Debug|Win32.ActiveCfg = Debug|Win32
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Debug|Win32.Build.0 = Debug|Win32
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Debug|x64.ActiveCfg = Debug|x64
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Debug|x64.Build.0 = Debug|x64
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Release|Win32.ActiveCfg = Release|Win32
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Release|Win32.Build.0 = Release|Win32
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Release|x64.ActiveCfg = Release|x64
+		{763A0961-BD02-4501-93DA-D828B398EF61}.Release|x64.Build.0 = Release|x64
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYPad.v12.suo
Binary file native/OpenHaptics/XYPad/XYPad.v12.suo has changed
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYPad.vcxproj
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/XYPad.vcxproj	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{763A0961-BD02-4501-93DA-D828B398EF61}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <RootNamespace>XYPad</RootNamespace>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v120</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v120</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v120</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v120</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>C:\Program Files\SensAble\3DTouch\include;C:\Program Files\SensAble\3DTouch\utilities\include;C:\Program Files\Java\jdk1.7.0_51\include;C:\Program Files\Java\jdk1.7.0_51\include\win32;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalLibraryDirectories>C:\Program Files\SensAble\3DTouch\lib\x64;C:\Program Files\SensAble\3DTouch\utilities\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>glut32.lib;hl.lib;hd.lib;hlu.lib;hdu.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>C:\Program Files\SensAble\3DTouch\include;C:\Program Files\SensAble\3DTouch\utilities\include;C:\Program Files\Java\jdk1.7.0_51\include;C:\Program Files\Java\jdk1.7.0_51\include\win32;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalLibraryDirectories>C:\Program Files\SensAble\3DTouch\lib\x64;C:\Program Files\SensAble\3DTouch\utilities\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>glut32.lib;hl.lib;hd.lib;hlu.lib;hdu.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="HapticScene.h" />
+    <ClInclude Include="HapticSceneFactory.h" />
+    <ClInclude Include="Message.h" />
+    <ClInclude Include="uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h" />
+    <ClInclude Include="XYScene.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="Message.cpp" />
+    <ClCompile Include="uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.cpp" />
+    <ClCompile Include="XYScene.cpp" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
\ No newline at end of file
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYPad.vcxproj.filters
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/XYPad.vcxproj.filters	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="HapticScene.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="HapticSceneFactory.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Message.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="XYScene.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="Message.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="XYScene.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+</Project>
\ No newline at end of file
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYScene.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/XYScene.cpp	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,179 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "XYScene.h"
+
+#include <HL/hl.h>
+#include <HDU/hduError.h>
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+#include <GL/glut.h>
+
+#include <iostream>
+
+jhapticgui::XYScene::XYScene(void(*messageCallback) (const Message & m)) : HapticScene(messageCallback) {}
+
+jhapticgui::XYScene::~XYScene() {}
+
+bool jhapticgui::XYScene::initHaptics(void){
+	/* init haptic device */
+	HHD hHD = hdInitDevice(HD_DEFAULT_DEVICE);
+	if (HD_DEVICE_ERROR(hdGetError())) {
+		/* if unsuccessful return false */
+		return false;
+	}
+
+	/* create haptic context */
+	HHLRC hHLRC = hlCreateContext(hHD);
+	hlMakeCurrent(hHLRC);
+
+	/* Reserve an id for the shape */
+	shapeID = hlGenShapes(1);
+
+
+	/* initialize the haptic space */
+	hlMatrixMode(HL_TOUCHWORKSPACE);
+	hlLoadIdentity();
+	hlOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0);
+
+	/* install event callbacks for touch and motion */
+	hlAddEventCallback(HL_EVENT_TOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD, checkContact, this);
+	hlAddEventCallback(HL_EVENT_UNTOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD, checkContact, this);
+	hlAddEventCallback(HL_EVENT_MOTION, HL_OBJECT_ANY, HL_CLIENT_THREAD, checkMotion, this);
+
+	/* initialization successful */
+	return true;
+}
+
+void jhapticgui::XYScene::initGL(void){
+	glClearColor(0.0, 0.0, 0.0, 0.0);
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0);
+
+	glDepthFunc(GL_LEQUAL);
+	glEnable(GL_DEPTH_TEST);
+}
+
+
+unsigned int jhapticgui::XYScene::processMessage(const Message & m){
+	/* there is only one type of message coming from the java * 
+	 * but the check is performed nevertheless for clarity    */
+	if (!strcmp(m.command, "change")) {
+
+		/* the command selects the shape to display here all is done   *
+		 * is just a variable update. The variable new value will be   *
+		 * read in the  next cycle of drawScene                        */
+		if (!strcmp(m.args, "circle")){
+			shape = Shape::CIRCLE;
+		}
+		else  if(!strcmp(m.args, "square")){
+			shape = Shape::SQUARE;
+		}
+	}
+
+	/* message updates not used, just return any value */
+	return 0;
+}
+
+void jhapticgui::XYScene::beginFrame(void){
+	hlBeginFrame();
+}
+
+void jhapticgui::XYScene::endFrame(void){
+	hlEndFrame();
+}
+
+void jhapticgui::XYScene::drawCursor(void){
+	/* no cursor drawn */
+}
+
+void jhapticgui::XYScene::drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate){
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	glColor3f(1.0, 200.0/255.0, 0.0);
+
+	hlBeginShape(HL_SHAPE_DEPTH_BUFFER, shapeID);
+
+	/* use shape variable to determine which shape to draw */
+	if (shape == Shape::SQUARE){
+		glBegin(GL_POLYGON);
+		glVertex3f(-RADIUS, -RADIUS, 0.0);
+		glVertex3f(RADIUS, -RADIUS, 0.0);
+		glVertex3f(RADIUS, RADIUS, 0.0);
+		glVertex3f(-RADIUS, RADIUS, 0.0);
+		glEnd();
+	}
+	else { // CIRCLE 
+		glutSolidSphere(RADIUS, 64, 64);
+	}
+	
+	hlEndShape();
+}
+
+unsigned int jhapticgui::XYScene::checkCallbacks(void){
+	/* openhaptics call to check all the events */
+	hlCheckEvents();
+	/* no callback update used, return any value */
+	return 0;
+}
+
+/* contact callback  */
+void jhapticgui::XYScene::checkContact(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata){
+	XYScene *pThis = static_cast<XYScene*>(userdata);
+
+	/* update a status variable and send a message to the java thread */
+	if (event == HL_EVENT_TOUCH){
+		pThis->isTouching = true;
+		pThis->send(Message("touch", "yes", object));
+	}
+	else{
+		pThis->isTouching = false;
+		pThis->send(Message("touch", "no", object));
+	}
+}
+
+/* motion callback */
+void jhapticgui::XYScene::checkMotion(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata){
+	/* pointer to this scene */
+	XYScene *pThis = static_cast<XYScene*>(userdata);
+
+	/* get the proxy position */
+	HLdouble proxyPosition[3];
+	hlGetDoublev(HL_DEVICE_POSITION, proxyPosition);
+
+	/* only send position data if the haptic object is being touched */
+	if (pThis->isTouching){
+		/* the proxy position ranges from -RADIUS to +RADIUS   *
+		 * so the formula to get a normalized position (0 to 1)*
+		 * is: ( proxyPos - (-RADIUS) / (RADIUS) - (-RADIUS) ),*
+		 * let RADIUS be 0.5, the above formula is reduced to  *
+		 * proxyPos + RADIUS                                   */
+		double x = proxyPosition[0] + RADIUS;
+		double y = proxyPosition[1] + RADIUS;
+
+		/* send position message */
+		char msgArgs[Message::MAX_ARGS_LEN];
+		sprintf_s(msgArgs, "%f %f", x, y);
+		pThis->send(Message("position", msgArgs, object));
+	}
+}
+
+
+const double jhapticgui::XYScene::RADIUS = 0.5;
\ No newline at end of file
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/XYScene.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/XYScene.h	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,57 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+#include "HapticScene.h"
+#include <HL/hl.h>
+
+namespace jhapticgui {
+	class XYScene : public HapticScene
+	{
+		enum class Shape { SQUARE, CIRCLE };
+		static const double RADIUS;
+
+		HLuint shapeID;
+		bool isTouching = false;
+		Shape shape = Shape::CIRCLE;
+		
+	public:
+		XYScene(void(*messageCallback) (const Message & m));
+		~XYScene();
+
+		bool initHaptics(void);
+
+		void initGL(void);
+
+		unsigned int processMessage(const Message & m);
+
+		void beginFrame(void); 
+
+		void endFrame(void);
+
+		void drawCursor(void);
+
+		void drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate);
+
+		unsigned int checkCallbacks(void);
+		 
+		static void HLCALLBACK checkContact(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata);
+		static void HLCALLBACK checkMotion(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata);
+
+	};
+}
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.cpp	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,391 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h"
+#include "HapticScene.h"
+#include "HapticSceneFactory.h"
+
+#define WIN32_LEAN_AND_MEAN             // Exclude rarely-used stuff from Windows headers
+// Windows Header Files:
+#include <windows.h>
+
+#include <iostream>
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+#include <GL/glut.h>
+
+
+using namespace jhapticgui;
+ 
+
+/* Function declarations */
+void display(void);
+void reshape(int width, int height);
+void idle(void);
+
+void send(const Message &m); // haptic scene callback function
+
+void checkExceptions(JNIEnv *env, char* what);
+void initJniVariables(void);
+void die(char* msg);
+
+void Notify(jobject *monitor); // macro for the java object.notify() 
+void MonitorEnter(jobject *monitor); // macro for the entering a syncrhronized block in java
+void MonitorExit(jobject *monitor); // macro for the exiting a syncrhronized block in java
+
+/* Variables */
+static JNIEnv *env;
+static jobject *thisObj;
+static jobject hapticListener;
+static std::unique_ptr<HapticScene> scene;
+static Message message;
+
+/* JNI Variables */
+
+static jfieldID disposeFieldID;
+static jfieldID deviceInitFailedFieldID;
+static jfieldID deviceInitDoneFieldID;
+static jfieldID messageReadyFieldID;
+static jfieldID commandFieldID;
+static jfieldID argsFieldID;
+static jfieldID IDFieldID;
+
+/* synchronization methods ids */
+static jmethodID notifyMethodID;
+static jmethodID waitListenerMethodID;
+static jmethodID messageToListenerMethodID;
+
+
+
+JNIEXPORT void JNICALL Java_uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice_init
+  (JNIEnv *environment, jobject obj, jint w, jint h){
+	
+	env = environment;
+	thisObj = &obj;
+
+	/* JNI stuff */
+	initJniVariables();
+
+	scene = makeHapticScene(send);
+
+	/* try to initialize the haptic, tell the java thread about the success/failure. The endeavour   *
+	 * takes the thisObj on the haptics java object in order to access the nodes and edges concurrently */
+	MonitorEnter(thisObj);
+
+	bool mustSayGoodbye = false;
+
+	if(!scene->initHaptics()){
+		/* set the field in the java class to comunicate the main thread (waiting   *
+		 * for the initialization to complete) that the initialization failed       */
+		env->SetBooleanField(*thisObj, deviceInitFailedFieldID, JNI_TRUE);
+		mustSayGoodbye = true;
+	}
+
+	if(mustSayGoodbye)
+		std::cout << "Failed to initialize haptic device" << std::endl;
+	else
+		std::cout << "Haptic device successfully initialized" << std::endl;
+
+	/* initialization is done, set the flag for the java thread*/
+	env->SetBooleanField(*thisObj, deviceInitDoneFieldID, JNI_TRUE);
+
+	/* notify the java thread */
+	Notify(thisObj);
+	
+	/* release the lock */
+	MonitorExit(thisObj);
+	
+	if(mustSayGoodbye){
+		/* stops the haptic listener */
+		send(Message("stop","",0));
+		/* initialization failed: return */
+		return;
+	}
+
+	/* haptic device is initialized, now build the openGL window */
+
+	/* fake main argv and argc as this is a dll */
+	char *argv[1] = {"Haptics"};
+	int argc = 1;
+
+	/* glut initialization */
+    glutInit(&argc, argv);
+	
+	glutInitWindowSize( w, h );
+	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
+	glutCreateWindow( "Haptic Device Window" );
+
+	/* set up GLUT callback functions */
+	glutDisplayFunc ( display  );
+	glutReshapeFunc ( reshape );
+	glutIdleFunc( idle );
+
+	scene->initGL();
+
+#ifdef FREEGLUT
+	/* with this option set freeglut allows to stop the main 
+	   loop without teminating the whole application   */
+	glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION);
+#endif
+	glutMainLoop();
+	
+	return;
+}
+
+/* GLUT display callback */
+void display(){
+	
+	/* takes the lock on thisObj */
+	MonitorEnter(thisObj);
+	
+	/* check if there is a dispose request */
+	if( env->GetBooleanField(*thisObj,disposeFieldID) == JNI_TRUE ){
+		/* set back to false to prevent the java thread from waiting again */
+		env->SetBooleanField(*thisObj,disposeFieldID,JNI_FALSE);
+		/* stops the haptic listener */
+		send(Message("stop","",0));
+		/* notify the java thread that this thread is about to die */
+		Notify(thisObj);
+
+		/* release the lock on this object */
+		MonitorExit(thisObj);
+#ifdef FREEGLUT
+		/* onlu FREEGLUT allows to exit the main loop */
+		glutLeaveMainLoop ();
+		return;
+#else
+		/* if freeglut is not used, the whole application must be terminated */
+		die("Haptic device disposed");
+#endif
+
+	}
+
+	static bool once = false;
+	if (!once){
+		once = true;
+		send(Message("window.display", "", 0));
+	}
+
+	/* check if there is a message ready for the java thread */
+	bool messageReady = (env->GetBooleanField(*thisObj,messageReadyFieldID) == JNI_TRUE);
+	if(messageReady){
+		/* get the id of the field */
+		jint ID = env->GetIntField(*thisObj, IDFieldID);
+		jstring command = static_cast<jstring>(env->GetObjectField(*thisObj, commandFieldID));
+		jstring args = static_cast<jstring>(env->GetObjectField(*thisObj, argsFieldID));
+
+		/* get lenght of the strings */
+		int commandLen = env->GetStringLength(command);
+		int argsLen = env->GetStringLength(args);
+
+		/* read the command fields into the command struct */
+		env->GetStringUTFRegion(command, 0, commandLen, message.command);
+		env->GetStringUTFRegion(args, 0, argsLen, message.args);
+		message.ID = ID;
+		
+		/* set the flag back to false */
+		env->SetBooleanField(*thisObj, messageReadyFieldID, JNI_FALSE);
+
+		/* clean up references */
+		env->DeleteLocalRef(command);
+		env->DeleteLocalRef(args);
+		/* notify the java thread, waiting for the command to be read */
+		Notify(thisObj);
+	}
+	
+	/* release the lock. HapticScene methods from now on can execute commands without deadlock risk */
+	MonitorExit(thisObj);
+
+	unsigned int messageUpdate = 0;
+	if(messageReady)
+		messageUpdate = scene->processMessage(message);
+
+	/* --- start drawing --- */
+	scene->beginFrame();
+
+	/* draw the diagram graphicly and, if the collection has changed, haptically too */
+	scene->drawCursor();
+
+	/* the drawing can be affected by a message from the Java thread but also 
+	   by the user actions (move, push button etc.). That's why callbacksUpdate
+	   value from the previous loop is passed as an arg as well */
+	static unsigned int callbacksUpdate = 0;
+	scene->drawScene(messageUpdate, callbacksUpdate);
+	
+	scene->endFrame();
+
+	/* check if any callback has been issued :  */
+	callbacksUpdate = scene->checkCallbacks();
+
+	/* swap graphic buffers. */
+	glutSwapBuffers();
+}
+
+/* GLUT reshape callback */
+void reshape (int w, int h){
+	scene->setSize(w, h);
+}
+
+/* GLUT idle callback */
+void idle(){
+	glutPostRedisplay();
+}
+
+
+/* initialize all the variables needed for the jni access to java fields */
+void initJniVariables(void){
+	/* --- CLASSES --- */
+	/* this class */
+
+	jclass hapticDeviceClass = env->GetObjectClass(*thisObj);
+	if(hapticDeviceClass == NULL){
+		die("Could not find the Haptics class");
+	}
+	/* the haptic listener, member of this class */
+	jclass hapticListenerClass = env->FindClass("Luk/ac/qmul/eecs/depic/jhapticgui/HapticListener;");
+	if(hapticListenerClass == NULL){
+		die("Could not find the haptic listener class");
+	}
+	
+	/* the Object class for wait and notify methods */
+	jclass objectClass = env->FindClass("Ljava/lang/Object;");
+	if(objectClass == NULL ){
+		die("Could not find te Object class");
+	}
+
+	/* --- FIELD ID's --- */
+
+	/* boolean set by this thread to notify the java thread the unsuccessful initialization of haptic device */
+	deviceInitFailedFieldID = env->GetFieldID(hapticDeviceClass,"initFailed", "Z");
+	if(deviceInitFailedFieldID == NULL){
+		die("failed to find the initFailed field id");
+	}
+
+	/* boolean set by this thread to notify the java thread the initialization of haptic device is done */
+	deviceInitDoneFieldID = env->GetFieldID(hapticDeviceClass,"initDone", "Z");
+	if(deviceInitDoneFieldID == NULL){
+		die("failed to find initDone field id");
+	}
+
+	/* boolean set by the java thread to notify this thread the program has been shut down */
+	disposeFieldID = env->GetFieldID(hapticDeviceClass, "dispose", "Z");
+	if(disposeFieldID == NULL){
+		die("failed to find the disposeFieldID field id");
+	}
+
+	messageReadyFieldID = env->GetFieldID(hapticDeviceClass,"messageReady","Z");
+	if(messageReadyFieldID == NULL){
+		die("failed to find the messageReadyFieldID field id");
+	}
+
+	commandFieldID = env->GetFieldID(hapticDeviceClass,"command","Ljava/lang/String;");
+	if(commandFieldID == NULL){
+		die("failed to find the commandFieldID field id");
+	}
+
+	argsFieldID = env->GetFieldID(hapticDeviceClass,"args","Ljava/lang/String;");
+	if(argsFieldID == NULL){
+		die("failed to find the argsFieldID field id");
+	}
+
+	IDFieldID = env->GetFieldID(hapticDeviceClass,"ID","I");
+	if(IDFieldID == NULL){
+		die("failed to find the IDFieldID field id");
+	}
+
+	jfieldID hapticListenerFieldID = env->GetFieldID(hapticDeviceClass,"hapticListener","Luk/ac/qmul/eecs/depic/jhapticgui/HapticListener;"); 
+	hapticListener = env->GetObjectField(*thisObj,hapticListenerFieldID);
+	if(hapticListener == NULL){
+		die("failed to find hapticListener field id");
+	}
+
+	/* --- SYNCHRONIZATION METHODS ID --- */
+	/* this.notify() */
+	notifyMethodID = env->GetMethodID(objectClass,"notify","()V");
+	if(notifyMethodID == NULL){
+		die("failed to find the notify method id");
+	}
+
+	/* listener.wait() */
+	waitListenerMethodID = env->GetMethodID(objectClass,"wait","()V");
+	if(waitListenerMethodID == NULL){
+		die("failed to find the wait method id");
+	}
+
+	messageToListenerMethodID = env->GetMethodID(hapticListenerClass,"addMessage","(Ljava/lang/String;Ljava/lang/String;I)V");
+	if(messageToListenerMethodID == NULL){
+		die("failed to find the addMessage method id");
+	}
+	
+	/* clean up local references */
+	env->DeleteLocalRef(hapticDeviceClass);
+	env->DeleteLocalRef(hapticListenerClass);
+	env->DeleteLocalRef(objectClass);
+}
+
+/* sends a message to the java thread */
+void send(const Message &m){
+	
+	jstring jstrCommand = env->NewStringUTF(m.command);
+	jstring jstrArgs = env->NewStringUTF(m.args); 
+
+	env->CallVoidMethod(hapticListener,messageToListenerMethodID,jstrCommand,jstrArgs,m.ID);
+	checkExceptions(env,"Could not call hapticListener.send()");
+
+	env->DeleteLocalRef(jstrCommand);
+	env->DeleteLocalRef(jstrArgs);
+}
+
+void checkExceptions(JNIEnv *env, char* what){
+	if(env->ExceptionOccurred()){
+		std::cerr << "Exception occurred!!!" << std::endl;
+		std::cerr << what << std::endl;
+		env->ExceptionDescribe();
+		exit(-1);
+	}
+}
+
+
+void die(char* msg){
+	std::cerr << msg << std::endl;
+	exit(-1);
+}
+
+
+void Notify(jobject *monitor){
+	env->CallVoidMethod(*monitor,notifyMethodID);
+	checkExceptions(env, "Could not call notify()");
+}
+
+
+void MonitorEnter(jobject *monitor){
+	if(env->MonitorEnter(*monitor) != JNI_OK){
+		die("Could not allocate memory for monitor enter");
+	}
+}
+
+void MonitorExit(jobject *monitor){
+	if(env->MonitorExit(*monitor) != JNI_OK){
+		die("Could not release memory for monitor exit ");
+	}
+}
+
+
+
diff -r 000000000000 -r 011caca7515a native/OpenHaptics/XYPad/uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/OpenHaptics/XYPad/uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,23 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class uk_ac_qmul_eecs_depic_haptics_HapticDevice */
+
+// must change class path to match the new library
+// also must change JNI class references 
+#ifndef _Included_uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice 
+#define _Included_uk_ac_qmul_eecs_depic_haptics_HapticDevice
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     uk_ac_qmul_eecs_depic_haptics_HapticDevice
+ * Method:    init
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL Java_uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice_init
+  (JNIEnv *, jobject, jint, jint);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
diff -r 000000000000 -r 011caca7515a src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPad.dll
Binary file src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPad.dll has changed
diff -r 000000000000 -r 011caca7515a src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPad.java
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPad.java	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,240 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+package uk.ac.qmul.eecs.depic.jhapticgui.examples;
+
+import java.awt.BorderLayout;
+import java.awt.Color;
+import java.awt.Dimension;
+import java.awt.EventQueue;
+import java.awt.event.ActionEvent;
+import java.awt.event.ActionListener;
+import java.io.InputStream;
+
+import javax.swing.JButton;
+import javax.swing.JFrame;
+import javax.swing.JPanel;
+import javax.swing.JScrollPane;
+import javax.swing.JTextArea;
+import javax.swing.SwingUtilities;
+import javax.swing.UIManager;
+import javax.swing.border.EmptyBorder;
+import javax.swing.border.LineBorder;
+import javax.swing.text.DefaultCaret;
+
+import uk.ac.qmul.eecs.depic.jhapticgui.HapticDevice;
+import uk.ac.qmul.eecs.depic.jhapticgui.HapticDeviceWinFactory;
+import uk.ac.qmul.eecs.depic.jhapticgui.HapticListener;
+import uk.ac.qmul.eecs.depic.jhapticgui.HapticsException;
+
+/**
+ * A haptic XYPad. 
+ * 
+ * Provides two buttons for starting the haptic device and change 
+ * the shape of the haptic pad, a text area to display notification messages 
+ * (also from the haptic device) and an XYPanel displaying a cursor that 
+ * can be manipulated using the haptic device.  
+ *  
+ * 
+ * @author Fiore Martin
+ *
+ */
+public class XYPad extends JFrame implements ActionListener{
+	private static final long serialVersionUID = 1L;
+	private XYPanel xyPanel;
+	private JButton startButton;
+	private JButton changeButton;
+	private HapticDevice hapticDevice;
+	private JTextArea textArea;
+
+	/**
+	 * Launch the application.
+	 */
+	public static void main(String[] args) {
+		try {
+            // Set System L&F
+        UIManager.setLookAndFeel(
+            UIManager.getSystemLookAndFeelClassName());
+		}catch(Exception e){}	 
+		
+		EventQueue.invokeLater(new Runnable() {
+			public void run() {
+				try {
+					XYPad frame = new XYPad();
+					frame.setVisible(true);
+				} catch (Exception e) {
+					e.printStackTrace();
+				}
+			}
+		});
+	}
+
+	/**
+	 * Creates the frame.
+	 */
+	public XYPad() {
+		super("XY Pad");
+		setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+		setBounds(100, 100, 450, 542);
+		JPanel contentPane = new JPanel();
+		contentPane.setBorder(new EmptyBorder(5, 5, 5, 5));
+		contentPane.setLayout(new BorderLayout(0, 0));
+		setContentPane(contentPane);
+		
+		xyPanel = new XYPanel();
+		xyPanel.setBackground(Color.LIGHT_GRAY);
+		xyPanel.setBorder(new LineBorder(Color.GRAY));
+		xyPanel.setBackground(Color.BLACK);
+		contentPane.add(xyPanel, BorderLayout.CENTER);
+		
+		JPanel buttonsPanel = new JPanel();
+		contentPane.add(buttonsPanel, BorderLayout.SOUTH);
+		buttonsPanel.setLayout(new BorderLayout(0, 0));
+		
+		JPanel panel_1 = new JPanel();
+		buttonsPanel.add(panel_1, BorderLayout.SOUTH);
+		buttonsPanel.setPreferredSize(new Dimension(buttonsPanel.getWidth(), 100));
+		
+		startButton = new JButton("Start Haptics");
+		panel_1.add(startButton);
+		
+		changeButton = new JButton("Change to Square");
+		panel_1.add(changeButton);
+		changeButton.setEnabled(false);
+		
+		textArea = new JTextArea();
+		/* this makes the scroll pane to always be at the bottom */
+		((DefaultCaret) textArea.getCaret()).setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
+		textArea.setEditable(false);
+		buttonsPanel.add(new JScrollPane(textArea), BorderLayout.CENTER);
+		
+		/* install listener to buttons */
+		startButton.addActionListener(this);
+		changeButton.addActionListener(this);
+	}
+
+	/**
+	 * The action performed by the two buttons of this XYPad. 
+	 * 
+	 * The first button starts the haptic device, whereas the second button 
+	 * sends a message to the haptic device to change the shape of the haptic 
+	 * xy pad shape.  
+	 * 
+	 */
+	@Override
+	public void actionPerformed(ActionEvent evt) {
+		if(evt.getSource().equals(startButton)){
+			
+			textArea.append("Starting haptic device...\n");
+			
+			/**
+			 * creates a new haptic listener that updates the xy panel upon receiving "position" 
+			 * messages. Moreover it prints on the text area when the haptic proxy touches
+			 * and untouches the haptic xy pad    
+			 * 
+			 *
+			 */
+			class XYHapticListener extends HapticListener {
+				
+				@Override
+				public void messageReceived(String command, final String args, int id) {
+					
+					switch(command){
+						case "position" : {
+							
+							/* The coordinates are passed as a string representing two floats (x and y). *
+							 * so the string needs to be unpacked and parsed.  						     */
+							String[] coord = args.split(" ");
+							final float x = Float.parseFloat(coord[0]);
+							final float y = Float.parseFloat(coord[1]);
+							
+							/* The haptic listener runs on its own thread, therefore changes *  
+							 * to the GUI must be queued for the event dispatching thread.   */
+							SwingUtilities.invokeLater(new Runnable(){
+								@Override
+								public void run(){
+									xyPanel.setXY(x, y);
+								}
+							});
+						} break;
+						
+						case "touch" : {
+							/* The haptic listener runs on its own thread, therefore changes *  
+							 * to the GUI must be queued for the event dispatching thread.   */
+							SwingUtilities.invokeLater(new Runnable(){
+								@Override
+								public void run(){
+									 
+									/* uses message argument to discriminate between touch and untouch */
+									if("yes".equals(args)){
+										textArea.append("haptic xy touched\n");
+									}else if("no".equals(args)){
+										textArea.append("haptic xy untouched\n");
+									}
+								}
+							});
+						} break;
+						
+						case HapticListener.WINDOW_MSG : {
+							SwingUtilities.invokeLater(new Runnable(){
+								@Override
+								public void run(){
+									requestFocus();
+								}
+							});
+						} break;
+					}
+				}
+			};
+			
+			InputStream  dll = this.getClass().getResourceAsStream("XYPad.dll");
+			try {
+				hapticDevice = new HapticDeviceWinFactory().getHapticDevice(dll, new XYHapticListener(), new Dimension (getWidth(), getWidth() ));
+				
+				changeButton.setEnabled(true);
+				startButton.setEnabled(false);
+				
+				textArea.append("haptic device started\n");
+			} catch (HapticsException e) {
+				e.printStackTrace();
+				textArea.append(e.getMessage());
+			}
+			
+		}else if(evt.getSource().equals(changeButton)){
+			/* Changes the shape of the haptics object  use message args to tell      *
+			 * the haptics which shape to display ID is left to 0 as there is         *
+			 * only one haptic shape and no need to refer to a specific haptic shape. */ 
+			if("Change to Square".equals(changeButton.getText())){
+				changeButton.setText("Change to Circle");
+				
+				hapticDevice.sendMessage("change", "square", 0);
+				
+				textArea.append("shape changed to square\n");
+			}else if("Change to Circle".equals(changeButton.getText())){ // change to circle
+				changeButton.setText("Change to Square");
+				
+				hapticDevice.sendMessage("change", "circle", 0);
+				
+				textArea.append("shape changed to circle\n");
+			}
+			
+		}
+		
+	}
+
+}
diff -r 000000000000 -r 011caca7515a src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPanel.java
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPanel.java	Fri Feb 13 14:44:20 2015 +0000
@@ -0,0 +1,104 @@
+/*
+XYPad - a haptic xy-pad that uses the jHapticGUI library
+
+Copyright (C) 2015  Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+package uk.ac.qmul.eecs.depic.jhapticgui.examples;
+
+import java.awt.BasicStroke;
+import java.awt.Color;
+import java.awt.Dimension;
+import java.awt.Graphics;
+import java.awt.Graphics2D;
+import java.awt.RenderingHints;
+import java.awt.Stroke;
+
+import javax.swing.JPanel;
+
+
+/**
+ * 
+ * A Panel displaying an xy cursor 
+ * 
+ * @author Fiore Martin
+ *
+ */
+public class XYPanel extends JPanel {
+	private static final long serialVersionUID = 1L;
+	private static int CURSOR_SIZE = 20;
+	private static int HALF_CURSOR_SIZE = CURSOR_SIZE/2;
+	private static Stroke LINE_STROKE = new BasicStroke(2);
+	private float cursorX;
+	private float cursorY;
+	
+	/**
+	 * Creates a new panel with the cursor placed at the centre
+	 */
+	public XYPanel() {
+		cursorX = 0.5f;
+		cursorY = 0.5f;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void paintComponent(Graphics g){
+		super.paintComponent(g);
+		
+		final Graphics2D g2 = (Graphics2D)g;
+		final Dimension size = getSize();
+		
+		/* cursorX and cursorY range from 0 to 1, so multiply them respectively * 
+		 * by the width and height of this panel to get the drawing position    */
+		int x = (int)(cursorX * size.width);
+		int y = (int)(size.height - (cursorY * size.height));
+		
+		g.setColor(Color.ORANGE);
+		
+		/* draw the x and y lines */
+		g2.setStroke(LINE_STROKE);
+		g2.drawLine(0, y, size.width, y);
+		g2.drawLine(x, 0, x, size.height);
+		
+		g2.setRenderingHint(
+			    RenderingHints.KEY_ANTIALIASING,
+			    RenderingHints.VALUE_ANTIALIAS_ON);
+		
+		/* draw the cursor */
+		g2.fillOval(
+				x - HALF_CURSOR_SIZE, 
+				y - HALF_CURSOR_SIZE, 
+				CURSOR_SIZE, 
+				CURSOR_SIZE
+			);
+		
+	}
+	
+	/**
+	 * Sets the cursor position, the coordinates must be passed in normalized form and get scaled by the height and width 
+	 * of the panel. so for example to place the cursor at the centre of the screen, the coordinates should be both 0.5.  
+	 * 
+	 * @param x the x coordinate in normalized form (ranging from 0 to 1) 
+	 * @param y the y coordinate in normalized form (ranging from 0 to 1)
+	 */
+	public void setXY(float x, float y){
+		cursorX = x;
+		cursorY = y;
+		
+		repaint();
+	}
+}