OpenSceneGraph Haptics Library (osgHaptics) incorporates haptic rendering into one of the most versatile scene graphs available.
osgHaptics is written using portable C++ ontop of OpenHaptics, a comercially available low-level toolkit from Sensable Inc.
Together with OpenSceneGraph Audio Library (osgAL) a complete multimodal development framework for realtime applications is available.
osgHaptics and osgAL is developed at VRlab, Umeå University, Sweden. (http://www.vrlab.umu.se)