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gosub Setup
DO
gosub Keyboard
set cursor 0,0
print "Arrow Keys to Move/Turn"
print "Q/A to Pitch Up/Down"
sync    
LOOP

Keyboard:
`DO TURNING
T#=0
if leftkey() then T#=-4
if rightkey() then T#=4
yd#=camera angle y()
rotate camera 0,yd#+T#,0

`DO MOVEMENT
M#=0
if upkey() then M#=1
if downkey() then M#=-1
move camera M#

`ADJUST PITCH
if scancode()=16 then dec Pitch#,2
if scancode()=30 then inc Pitch#,2

`CORRECT OVER-PITCH
if Pitch#<-90 then Pitch#=-90
if Pitch#>90 then Pitch#=90

`POSITION CAMERA TO NEW VALUES
pitch camera down Pitch#
return


Setup:
autocam off
backdrop on:sync on:sync rate 25:color backdrop rgb(56,48,88)

for y=0 to 299
for x=0 to 299
c=rnd(255):ink rgb(70,c,70),0
dot x,y
NEXT    
NEXT
get image 1,0,0,299,299

make matrix 1,300,300,10,10
prepare matrix texture 1,1,3,3
position matrix 1,0,-10,0

make matrix 2,300,300,10,10
prepare matrix texture 2,1,3,3
position matrix 2,0,80,0
set matrix 2,0,0,0,0,1,1,1
update matrix 1
update matrix 2
ink rgb(255,255,255),0
return

autocam off
sync on
make object box 1,5,5,5
position object 1,0,5,0
make matrix 1, 100,100,10,10

position camera -20,20,-20
point camera 0,0,0

do
set cursor 0,0
print "use arrowkeys    a/d to pitch"
move object 1,(upkey()-downkey())*0.1
turn object left 1,(leftkey()-rightkey())*0.3

if pch#<90 and inkey$()="a" then pch#=pch#+0.2
if pch#>0 and inkey$()="d" then pch#=pch#-0.2

rotate limb 1,0,pch#-45,0,0


sync
loop

autocam off
sync on
make object box 1,5,5,5
make mesh from object 1,1   `)))))))))))))))))))))))))))))))
add limb 1,1,1              `)))))))))))))))))))))))))))))))
offset limb 1,1,0,0,2       `)))))))))))))))))))))))))))))))
link limb 1,0,1             `)))))))))))))))))))))))))))))))

position object 1,0,5,0
make matrix 1, 100,100,10,10

position camera -20,20,-20
point camera 0,0,0
pch#=45                  `))))))))))))))))))))))))))))
do
set cursor 0,0
print "use arrowkeys    a/d to pitch"
move object 1,(upkey()-downkey())*0.1
turn object left 1,(leftkey()-rightkey())*0.3

if pch#<90 and inkey$()="a" then pch#=pch#+0.2
if pch#>0 and inkey$()="d" then pch#=pch#-0.2

rotate limb 1,0,pch#-45,0,0
position camera limb position x(1,0),limb position y(1,0)+5,limb position z(1,0)  `)))))))))))))))))))))
point camera   limb position x(1,1),limb position y(1,1)+5,limb position z(1,1)   `)))))))))))))))))))))

sync
loop

global _rotVec       as integer = 1
global _rotMat1      as integer = 2
global _rotMat2      as integer = 3

make vector3 _rotVec
make matrix4 _rotMat1
make matrix4 _rotMat2

sync on : sync rate 60
autocam off : move camera -10

make object cube 1,1
move object left 1,1
make object cube 2,1
move object right 2,1
color object 2,rgb(255,0,0)

do

    angle# = wrapvalue(angle#+0.5)
    
    rotate object 1,0,angle#,0
    roll object left 1,angle#
    
    rotate object 2,0,angle#,0
    rotate_PitchYawRoll( 2, 0, 0, 1, angle# )
    
    sync
loop

/////////////////////////////////////////////////////////////////////////////////
// rotate_PitchYawRoll( id, xAxis, yAxis, zAxis, angle as float )
/////////////////////////////////////////////////////////////////////////////////
//  id - of the object your rotating
//  axis - the (unit) axis your rotating about
//      pitch(1,0,0) : yaw(0,1,0) : roll(0,0,1)
//  angle - the amount your rotating about the choosen axis
/////////////////////////////////////////////////////////////////////////////////    

function rotate_PitchYawRoll( id, xAxis, yAxis, zAxis, angle as float )

    local pitch as float : local yaw as float : local roll as float
    local m11 as float : local m12 as float : local m13 as float : local m14 as float
    local m21 as float : local m22 as float : local m23 as float : local m24 as float
    local m31 as float : local m32 as float : local m33 as float : local m34 as float
    local m41 as float : local m42 as float : local m43 as float : local m44 as float
    
    // build rotation matrix on current object angle
    pitch = object angle x(id)
    yaw   = object angle y(id)
    roll  = object angle z(id)

    // right vector
    m11 = cos(roll)  * cos(yaw)
    m12 = sin(roll)  * cos(yaw)
    m13 = -sin(yaw)
    m14 = 0.0
    
    // up vector
    m21 = -sin(roll) * cos(pitch) + cos(roll) * sin(yaw) * sin(pitch)
    m22 = cos(roll)  * cos(pitch) + sin(roll) * sin(yaw) * sin(pitch)
    m23 = cos(yaw)   * sin(pitch) 
    m24 = 0.0
    
    // look vector
    m31 = sin(roll)  * sin(pitch) + cos(roll) * sin(yaw) * cos(pitch)
    m32 = -cos(roll) * sin(pitch) + sin(roll) * sin(yaw) * cos(pitch)
    m33 = cos(yaw)   * cos(pitch)   
    m34 = 0.0
    
    m41 = 0 : m42 = 0 : m43 = 0 : m44 = 1
    
    set matrix4 _rotMat1, m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44
    
    // build rotation matrix on desired axis angle
    pitch = (xAxis*angle)
    yaw   = (yAxis*angle)
    roll  = (zAxis*angle)

    // right vector
    m11 = cos(roll)  * cos(yaw)
    m12 = sin(roll)  * cos(yaw)
    m13 = -sin(yaw)
    m14 = 0.0
    
    // up vector
    m21 = -sin(roll) * cos(pitch) + cos(roll) * sin(yaw) * sin(pitch)
    m22 = cos(roll)  * cos(pitch) + sin(roll) * sin(yaw) * sin(pitch)
    m23 = cos(yaw)   * sin(pitch) 
    m24 = 0.0
    
    // look vector
    m31 = sin(roll)  * sin(pitch) + cos(roll) * sin(yaw) * cos(pitch)
    m32 = -cos(roll) * sin(pitch) + sin(roll) * sin(yaw) * cos(pitch)
    m33 = cos(yaw)   * cos(pitch)   
    m34 = 0.0
    
    m41 = 0 : m42 = 0 : m43 = 0 : m44 = 1
    
    set matrix4 _rotMat2, m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44
    
    // multiply rotation matrices together and apply rotation to object
    multiply matrix4 _rotMat1,_rotMat2,_rotMat1
    set vector3 to matrix4 rotation _rotVec, _rotMat1
    rotate object id, x vector3(_rotVec), y vector3(_rotVec), z vector3(_rotVec)
    
endfunction

if inkey$()="a" then yrotate object 1,object angle y(1)-90:move object 1,0.1:yrotate object 1,object angle y(1)+90
if inkey$()="d" then yrotate object 1,object angle y(1)+90:move object 1,0.1:yrotate object 1,object angle y(1)-90

`slide left
if leftkey()=1 THEN x#=NEWXVALUE(x#,a#-90,2):z#=NEWZVALUE(z#,a#-90,2)

`slide right
if rightkey()=1 THEN x#=NEWXVALUE(x#,a#-90,-2):z#=NEWZVALUE(z#,a#-90,-2)