--Create a window
        window=Window:Create("Vehicle Example",0,0,1024,768)
        
        --Create the graphics context
        context=Context:Create(window,0)
        if context==nil then return false end
        
        --Create a world
        world=World:Create()
        
        --Create a camera
        camera = Camera:Create()
        camera:SetPosition(0,2,-5)
        
        --Create the ground
        local ground = Model:Box()
        local shape = Shape:Box()
        ground:SetShape(shape)
        shape:Release()
        ground:SetScale(1000,1,1000)
        ground:SetPosition(0,-0.5,0)
        ground:SetCollisionType(Collision.Scene)
        ground:SetColor(0,1,0)
        
        --Create a light
        local light = DirectionalLight:Create()
        light:SetRotation(45,35,0)
        
        --Create the vehicle chassis
        chassis = Model:Box()
        local shape = Shape:Box()
        chassis:SetShape(shape)
        shape:Release() 
        chassis:SetScale(1.5,1,4)
        chassis:SetMass(2000)
        chassis:SetCollisionType(Collision.Prop)
        chassis:SetColor(1,0,0)
        chassis:SetPosition(0,1,0)
        
        --Create the vehicle
        vehicle = Vehicle:Create(chassis)
        
        --Add tires
        local tireradius=0.5
        local tiremass=100
        local tirewidth=0.5
        local tireheight=-0.5
        local tirespacing=0.6
        
        tiremodel={}
        
        tiremodel[0]=Model:Cylinder()
        tiremodel[0]:SetScale(tireradius*2,tirewidth,tireradius*2)
        tiremodel[0]:SetRotation(0,0,90)
        tiremodel[0]:SetPosition(tirespacing,tireheight,1.5)
        vehicle:AddTire(tirespacing,tireheight,1.5,tiremass,tireradius,tirewidth,true)
        
        tiremodel[1]=Model:Cylinder()
        tiremodel[1]:SetScale(tireradius*2,tirewidth,tireradius*2)
        tiremodel[1]:SetRotation(0,0,90)
        tiremodel[1]:SetPosition(-tirespacing,tireheight,1.5)
        vehicle:AddTire(-tirespacing,tireheight,1.5,tiremass,tireradius,tirewidth,true)
        
        tiremodel[2]=Model:Cylinder()
        tiremodel[2]:SetScale(tireradius*2,tirewidth,tireradius*2)
        tiremodel[2]:SetRotation(0,0,90)
        tiremodel[2]:SetPosition(tirespacing,tireheight,-1.5)
        vehicle:AddTire(tirespacing,tireheight,-1.5,tiremass,tireradius,tirewidth,false)
        
        tiremodel[3]=Model:Cylinder()
        tiremodel[3]:SetScale(tireradius*2,tirewidth,tireradius*2)
        tiremodel[3]:SetRotation(0,0,90)
        tiremodel[3]:SetPosition(-0.5,tireheight,-1.5)
        vehicle:AddTire(-tirespacing,tireheight,-1.5,tiremass,tireradius,tirewidth,false)       
        
        --Add axles
        vehicle:AddAxle(0,1)
        vehicle:AddAxle(2,3)
        
        --Finalize the vehicle
        if vehicle:Build()==false then Debug:Error("Failed to build vehicle.") end
        
        --Start the engine
        vehicle:SetEngineRunning(true)
        
        --Release the emergency brake
        vehicle:SetHandBrakes(0)
        
        while true do
--This is our main program loop and will be called continuously until the program ends
        
        --If window has been closed, end the program
        if window:Closed() or window:KeyDown(Key.Escape) then return false end
                
        --Update the app timing
        Time:Update()
        
        --Update steering
        local steering=0
        if window:KeyDown(Key.D) then steering=steering+30 end
        if window:KeyDown(Key.A) then steering=steering-30 end
        vehicle:SetSteering(steering)
        
        --Update acceleration
        local gas=0
        if window:KeyDown(Key.W) then gas=gas+0.25 end
        if window:KeyDown(Key.S) then gas=gas-0.25 end
        vehicle:SetAcceleration(gas)
        
        --Update brakes
        if window:KeyDown(Key.Space) then
                vehicle:SetBrakes(2000)
        else
                vehicle:SetBrakes(0)
        end
        
        --Update the world
        world:Update()
        
        --Update tire models to match physics
        for n=0,3 do
                local scale = tiremodel[n]:GetScale()
                tiremodel[n]:SetMatrix(vehicle:GetTireMatrix(n))
                tiremodel[n]:Turn(0,0,90)
                tiremodel[n]:SetScale(scale)
        end
        
        --Render the world
        world:Render()
        
        --Refresh the screen
        context:Sync(true)
        
        end