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I'm trying to fill empty space in my mesh, and I looked at the knife tool page on the Blender Wiki, and I'm not sure if there's a way to make it so that a new edge is made using the knife tool. I took a screenshot, and hopefully it'll explain better than I can of what I'm trying to do. Oh and I'm using Blender version 2.71, by the way.

Screenshot

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In your particular situation, it looks like the bridge tool is what you want. Select two or more edge loops with AltShiftRMB, and then connect them with W>Bridge Edge Loops:

enter image description here

Fill

To do exactly what it looks like you are trying to do in your screenshot (connecting two vertices with an edge), select the two vertices and press F to create edge/face.

enter image description here

If you have the bundled F2 addon enabled you can create a new face from the selected edge and the surrounding vertices by pressing F again. The side on which the new face is created is controlled by the cursor position.

Knife

The knife tool is for cutting edges into existing faces:

enter image description here

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  • $\begingroup$ Did you manually select those vertices in the last gif? If not would you mind telling me what key you held down before selecting multiple vertices at once? $\endgroup$
    – Marie
    Aug 13, 2014 at 7:33
  • $\begingroup$ @Marie Click Alt+RMB to select edge loops. For more info: wiki.blender.org/index.php/Doc:2.6/Manual/Modeling/Meshes/… $\endgroup$
    – user1853
    Aug 13, 2014 at 7:40
  • $\begingroup$ @Marie Alt Shift RMB to select multiple loops (Shift maintains the existing selection) $\endgroup$
    – gandalf3 ♦
    Aug 13, 2014 at 7:48
  • $\begingroup$ This answer would be better if it noted bridge first (since this answers the question) $\endgroup$
    – ideasman42
    Aug 13, 2014 at 9:27
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    $\begingroup$ Do note that in the second gif the F2 addon is enabled. $\endgroup$
    – David
    Aug 13, 2014 at 15:29
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enter image description hereIn Blender 2.8+ right click and the specials menu appears (no longer 'W' shortcut).

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