In one of the fading corners of my brain I remember implementing this for fltk2 for Nuke (about 25 years ago). Not sure if it ever made it into the public branch.

Basically I added Fl::event_device() to differentiate mouse, pen, eraser, and touch. I had Fl::event_*() functions for pressure, angle_x, and angle_y. Also, pens have additional buttons. I did use some of Erco's Waco. code, but I assume that these days we have actual system APIs available.

In private branches I had support for Spaceball and Spacemouse.

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