angle=45

        window = Window:Create()
        context = Context:Create(window)
        world = World:Create()
        camera = Camera:Create()
        camera:Move(0,0,-4)
        
        local light = DirectionalLight:Create()
        light:SetRotation(35,35,0)

        parent = Model:Box()
        parent:SetColor(0.0,0.0,1.0)

        child=Model:Box()   
        child:SetColor(1.0,0.0,0.0)
        child:SetShape(Shape:Box())
        child:SetMass(1)
        child:SetGravityMode(true)
        child:SetRotation(0,0,15)
        child:Move(2,0,0)
        
        joint = Joint:Slider(0,0,0, Math:Cos(15.0),Math:Sin(15.0),0, child, parent)
        joint:EnableLimits()
        joint:SetLimits(-5,1)
        joint:EnableMotor()

        jointpos=1

        while true do
        if window:Closed() or window:KeyDown(Key.Escape) then return false end

        if window:KeyDown(Key.Up) then jointpos=jointpos+0.1 end
        if window:KeyDown(Key.Down) then jointpos=jointpos-0.1 end
        joint:SetAngle(jointpos)

        if window:KeyHit(Key.Space) then
                if joint:MotorEnabled()==false then
                        joint:EnableMotor()
                else
                        joint:DisableMotor()
                end
        end
        
        Time:Update()
        world:Update()
        world:Render()
        
        context:SetBlendMode(Blend.Alpha)
        context:DrawText("Target position: "..jointpos,0,0)
        context:DrawText("Current position: "..joint:GetAngle(),0,20)
        if joint:MotorEnabled() then
                context:DrawText("Motor enabled: 1",0,40)
        else
                context:DrawText("Motor enabled: 0",0,40)
        end
        context:SetBlendMode(Blend.Solid)
        
        context:Sync()
        end