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When we try to inherit a HapticShape (for instance, "HapticCircle") some methods are private (for instance "HapticCircle.dstFromCenter()"), that prevents their use for inherit classes.
One solution might be to change their protection level to "protected" instead of "private"

That might be apply to all leaf classes of the API (behaviours', hapticshapes', etc.).

For the moment, we can:

• set the max value,
• set the min value,
• set the current height to the min value,
• set the current height to the max value,
• and set the current height to a chosen value.

I think the last one is a problem, we don't know exactly which value to put in there.
We could implement a method based on percentage, for example 30% of the max value.

Something like that:
setHeightByPercentage(uint hPercent){
setHeight( minHeight + ( maxHeight - minHeight ) * hPercent/100 );
}

and privatize the "setHeight" method.

Unable to link two circles. The program crash.

Initiate the actuator pressure during the launching ("0" by default might be a good option)

Refactor Configuration classes and remove duplicate code.

Actuator might have a base-height during the launching ?

HapticLine should be added to allow lines representation. This would be different from an HapticLink, which shows direction.

Also, code for HapticLine is partially provided in the HapticRectangle class.

Extension:
HapticPolyline

Description:
Add an haptic circle shape.

Possible problems:
Edges cannot be represented by combinations of actuators

Possible workaround:
Use notification behaviour only for this shape, but change the frequency as the device gets near the edges.

Bad recognition of the glyph during initialization and normal uses.

Description:
In the method playBehaviours in the MHTP class multiple behaviours can be added.
Each behaviour set a particular actuator to a specified position. When summing the behaviours the final position of the actuator can exceed the maximum allowed position.

Solution:
Normalise final position based on the number of behaviours.

I don't know if you have already implemented this functionnality but that would be very useful to know if a HTP is on the table or not.

Linear behaviour could represent an alternative to PulsationBehaviour, where actuators do not oscillate and rather than changing the frequency, the height is changed.