diff --git a/src/test001.cpp b/src/cpp/test001.cpp
similarity index 100%
rename from src/test001.cpp
rename to src/cpp/test001.cpp
diff --git a/src/test002.cpp b/src/cpp/test002.cpp
old mode 100755
new mode 100644
similarity index 100%
rename from src/test002.cpp
rename to src/cpp/test002.cpp
diff --git a/src/test003.cpp b/src/cpp/test003.cpp
old mode 100755
new mode 100644
similarity index 100%
rename from src/test003.cpp
rename to src/cpp/test003.cpp
diff --git a/src/pyqt/test001.py b/src/pyqt/test001.py
new file mode 100755
index 0000000..66b7848
--- /dev/null
+++ b/src/pyqt/test001.py
@@ -0,0 +1,176 @@
+import array
+
+from PyQt5.QtCore import QEvent
+from PyQt5.QtGui import (QGuiApplication, QMatrix4x4, QOpenGLContext,
+        QOpenGLShader, QOpenGLShaderProgram, QSurfaceFormat, QWindow)
+
+
+class OpenGLWindow(QWindow):
+    def __init__(self, parent=None):
+        super(OpenGLWindow, self).__init__(parent)
+
+        self.m_update_pending = False
+        self.m_animating = False
+        self.m_context = None
+        self.m_gl = None
+
+        self.setSurfaceType(QWindow.OpenGLSurface)
+
+    def initialize(self):
+        pass
+
+    def setAnimating(self, animating):
+        self.m_animating = animating
+
+        if animating:
+            self.renderLater()
+
+    def renderLater(self):
+        if not self.m_update_pending:
+            self.m_update_pending = True
+            QGuiApplication.postEvent(self, QEvent(QEvent.UpdateRequest))
+
+    def renderNow(self):
+        if not self.isExposed():
+            return
+
+        self.m_update_pending = False
+
+        needsInitialize = False
+
+        if self.m_context is None:
+            self.m_context = QOpenGLContext(self)
+            self.m_context.setFormat(self.requestedFormat())
+            self.m_context.create()
+
+            needsInitialize = True
+
+        self.m_context.makeCurrent(self)
+
+        if needsInitialize:
+            self.m_gl = self.m_context.versionFunctions()
+            self.m_gl.initializeOpenGLFunctions()
+
+            self.initialize()
+
+        self.render(self.m_gl)
+
+        self.m_context.swapBuffers(self)
+
+        if self.m_animating:
+            self.renderLater()
+
+    def event(self, event):
+        if event.type() == QEvent.UpdateRequest:
+            self.renderNow()
+            return True
+
+        return super(OpenGLWindow, self).event(event)
+
+    def exposeEvent(self, event):
+        self.renderNow()
+
+    def resizeEvent(self, event):
+        self.renderNow()
+
+
+class TriangleWindow(OpenGLWindow):
+    vertexShaderSource = '''
+attribute highp vec4 posAttr;
+attribute lowp vec4 colAttr;
+varying lowp vec4 col;
+uniform highp mat4 matrix;
+void main() {
+    col = colAttr;
+    gl_Position = matrix * posAttr;
+}
+'''
+
+    fragmentShaderSource = '''
+varying lowp vec4 col;
+void main() {
+    gl_FragColor = col;
+}
+'''
+
+    def __init__(self):
+        super(TriangleWindow, self).__init__()
+
+        self.m_program = 0
+        self.m_frame = 0
+
+        self.m_posAttr = 0
+        self.m_colAttr = 0
+        self.m_matrixUniform = 0
+
+    def initialize(self):
+        self.m_program = QOpenGLShaderProgram(self)
+
+        self.m_program.addShaderFromSourceCode(QOpenGLShader.Vertex,
+                self.vertexShaderSource)
+        self.m_program.addShaderFromSourceCode(QOpenGLShader.Fragment,
+                self.fragmentShaderSource)
+
+        self.m_program.link()
+
+        self.m_posAttr = self.m_program.attributeLocation('posAttr')
+        self.m_colAttr = self.m_program.attributeLocation('colAttr')
+        self.m_matrixUniform = self.m_program.uniformLocation('matrix')
+
+    def render(self, gl):
+        gl.glViewport(0, 0, self.width(), self.height())
+
+        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
+
+        self.m_program.bind()
+
+        matrix = QMatrix4x4()
+        matrix.perspective(60, 4.0/3.0, 0.1, 100.0)
+        matrix.translate(0, 0, -2)
+        matrix.rotate(100.0 * self.m_frame / self.screen().refreshRate(),
+                0, 1, 0)
+
+        self.m_program.setUniformValue(self.m_matrixUniform, matrix)
+
+        vertices = array.array('f', [
+                 0.0,  0.707,
+                -0.5, -0.5,
+                 0.5, -0.5])
+
+        gl.glVertexAttribPointer(self.m_posAttr, 2, gl.GL_FLOAT, False, 0,
+                vertices)
+        gl.glEnableVertexAttribArray(self.m_posAttr)
+
+        colors = array.array('f', [
+                1.0, 0.0, 0.0,
+                0.0, 1.0, 0.0,
+                0.0, 0.0, 1.0])
+
+        gl.glVertexAttribPointer(self.m_colAttr, 3, gl.GL_FLOAT, False, 0,
+                colors)
+        gl.glEnableVertexAttribArray(self.m_colAttr)
+
+        gl.glDrawArrays(gl.GL_TRIANGLES, 0, 3)
+
+        self.m_program.release()
+
+        self.m_frame += 1
+
+
+if __name__ == '__main__':
+
+    import sys
+
+    app = QGuiApplication(sys.argv)
+
+    format = QSurfaceFormat()
+    format.setSamples(4)
+
+    window = TriangleWindow()
+    window.setFormat(format)
+    window.resize(640, 480)
+    window.show()
+
+    window.setAnimating(True)
+
+sys.exit(app.exec_())
diff --git a/src/pyqt/test002.py b/src/pyqt/test002.py
new file mode 100755
index 0000000..e3c6218
--- /dev/null
+++ b/src/pyqt/test002.py
@@ -0,0 +1,85 @@
+import numpy as np
+from OpenGL import GL, GLU
+from PyQt5.QtWidgets import QOpenGLWidget, QApplication
+
+global eyeX, eyeY, eyeZ
+
+
+# gluLookAt 'eye' coordinates
+eyeX = 0.0 
+eyeY = 0.0
+eyeZ = 10.0
+
+class OpenGLWidget(QOpenGLWidget):
+
+    def initializeGL(self):
+
+        GL.glClearColor(0,0,0,1);
+#         GL.glEnable(GL.GL_DEPTH_TEST);
+#         GL.glEnable(GL.GL_LIGHT0);
+#         GL.glEnable(GL.GL_LIGHTING);
+#         GL.glColorMaterial(GL.GL_FRONT_AND_BACK, GL.GL_AMBIENT_AND_DIFFUSE);
+#         GL.glEnable(GL.GL_COLOR_MATERIAL);
+        
+        GL.glMatrixMode(GL.GL_PROJECTION);
+        GL.glOrtho(-10.0, 10.0, -10.0, 10.0, -10.0, 10.0)
+        GL.glClear(GL.GL_COLOR_BUFFER_BIT)
+        GL.glMatrixMode(GL.GL_MODELVIEW);
+        GL.glLoadIdentity();
+        
+        #GL.glClearColor(1.0, 0.0, 1.0, 0.0);
+#         vertices = np.array([0.0, 1.0, -1.0, -1.0, 1.0, -1.0], dtype=np.float32)
+# 
+#         bufferId = GL.glGenBuffers(1)
+#         GL.glBindBuffer(GL.GL_ARRAY_BUFFER, bufferId)
+#         GL.glBufferData(GL.GL_ARRAY_BUFFER, vertices.nbytes, vertices, GL.GL_STATIC_DRAW)
+# 
+#         GL.glEnableVertexAttribArray(0)
+#         GL.glVertexAttribPointer(0, 2, GL.GL_FLOAT, GL.GL_FALSE, 0, None)
+
+    def paintGL(self):
+#         GL.glDrawArrays(GL.GL_TRIANGLES, 0, 3)
+        GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);
+    
+        GLU.gluLookAt(eyeX, eyeY, eyeZ,
+                      0.0, 0.0, 0.0,
+                      0.0, 1.0, 0.0);
+#         GL.glBegin(GL.GL_TRIANGLES);
+#         GL.glColor3f(1.0, 0.0, 0.0);
+#         GL.glVertex3f(-0.5, -0.5, 0);
+#         GL.glColor3f(0.0, 1.0, 0.0);
+#         GL.glVertex3f( 0.5, -0.5, 0);
+#         GL.glColor3f(0.0, 0.0, 1.0);
+#         GL.glVertex3f( 0.0,  0.5, 0);
+#         GL.glEnd();
+
+        from math import sin, cos
+        radius = 0.5
+        halfLength = 3.0
+        slices = 10
+        
+        for i in range(slices):
+            theta = float(i) * 2.0 * 3.14 / float(slices)
+            nextTheta = float(i + 1) * 2.0 * 3.14 / float(slices)
+            
+            GL.glColor3f(1.0, 0.0, 0.0)
+            GL.glBegin(GL.GL_TRIANGLE_STRIP)
+            
+            GL.glVertex3f(0.0, halfLength, 0.0)
+            GL.glVertex3f(radius*cos(theta), halfLength, radius*sin(theta))
+            GL.glVertex3f (radius*cos(nextTheta), halfLength, radius*sin(nextTheta))
+            
+            GL.glVertex3f (radius*cos(nextTheta), -halfLength, radius*sin(nextTheta))
+            GL.glVertex3f(radius*cos(theta), -halfLength, radius*sin(theta))
+            GL.glVertex3f(0.0, -halfLength, 0.0)
+            
+            GL.glEnd()
+
+
+app = QApplication([])
+widget = OpenGLWidget()
+widget.show()
+
+app.exec_()
+
+
diff --git a/src/pyqt/test003.py b/src/pyqt/test003.py
new file mode 100755
index 0000000..1593f6d
--- /dev/null
+++ b/src/pyqt/test003.py
@@ -0,0 +1,124 @@
+from OpenGL.GL import *
+from OpenGL.GLU import *
+from OpenGL.GLUT import *
+import numpy as np
+import sys
+
+global lp, lq, rp, rq, z, eyeX, eyeY, eyeZ
+lp = 0.0
+lq = 2.5
+rp = 0.0
+rq = 2.5
+z = 0.0
+
+# gluLookAt 'eye' coordinates
+eyeX = 0.0 
+eyeY = 0.0
+eyeZ = 10.0
+
+def init():
+    global eyeX, eyeY, eyeZ
+    glClearColor(0.0, 0.0, 0.0, 1.0)
+    glMatrixMode(GL_PROJECTION)
+    glOrtho(-10.0, 10.0, -10.0, 10.0, -10.0, 10.0)
+    glClear(GL_COLOR_BUFFER_BIT)
+    glMatrixMode(GL_MODELVIEW)
+    glLoadIdentity()
+    gluLookAt(eyeX, eyeY, eyeZ, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
+
+def plotdial():
+    global lp, lq, rp, rq, eyeX, eyeY, eyeZ
+    #lOrigin = np.array((0.0, 0.0, 0.0))
+    rOrigin = np.array((5.0, 0.0, 0.0))
+    radius = 2.5
+
+    glClear(GL_COLOR_BUFFER_BIT)
+    glMatrixMode(GL_MODELVIEW)
+    glLoadIdentity()
+    gluLookAt(eyeX, eyeY, eyeZ, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)  
+
+    # Left arm unit vector calculation
+    lVec =  np.array((lp, lq, z))
+    lMag = np.linalg.norm(lVec)
+    lVec = (lVec/lMag)*radius
+    glColor3f(1.0, 0.0, 0.0)
+    glLineWidth(3.0)
+    glBegin(GL_LINES)
+    glVertex3f(0.0, 0.0, z)
+    glVertex3f(lVec[0], lVec[1], z)
+    glEnd()
+    glLineWidth(1.0)
+    glColor3f(0.0, 0.0, 1.0)
+    glutWireSphere(2.5, 25, 25)
+
+    # Right 
+    glPushMatrix()
+    glTranslatef(rOrigin[0], rOrigin[1], z)
+    glColor3f(0.0, 1.0, 0.0)
+    glLineWidth(3.0)
+    glBegin(GL_LINES)
+    glVertex3f(0.0, 0.0, z)
+    rVec =  np.array((rp, rq, z))
+    rMag = np.linalg.norm(rVec)
+    rVec = (rVec/rMag)*radius 
+    glVertex3f(rVec[0], rVec[1], z)
+    glEnd()
+    glLineWidth(1.0)
+    glColor3f(0.0, 0.0, 1.0)
+    glutWireSphere(2.5, 25, 25)
+    glPopMatrix()
+
+    glFlush()
+
+def keyboard(key, x, y):
+    global glutshape, solid, eyeX, eyeY, eyeZ
+    step = 0.01
+    if key == chr(27) or key == "q":
+        sys.exit()
+    if key == "x":
+        eyeX -= step
+    if key == "X":
+        eyeX += step
+    if key == "y":
+        eyeY -= step
+    if key == "Y":
+        eyeY += step
+    if key == "z":
+        eyeZ -= step
+    if key == "Z":
+        eyeZ -= step
+    glutPostRedisplay()
+
+def mouse(button, state, x, y):
+    global lp, lq, rp, rq
+    o_lp = lp    
+    o_lq = lq
+    o_rp = rp
+    o_rq = rq
+    if button == GLUT_LEFT_BUTTON and state == GLUT_DOWN:
+        lp = -10.0 + x/500.0 * 20
+        lq = 10 - y/500.0 * 20   
+        if lq < 0.0:
+            lp = o_lp
+            lq = o_lq
+    if button == GLUT_RIGHT_BUTTON and state == GLUT_DOWN:
+        rp = -10.0 + x/500.0 * 20 - 5 # -5 is 2*radius
+        rq = 10 - y/500.0 * 20 
+        if rq < 0.0:
+            rp = o_rp
+            rq = o_rq
+    glutPostRedisplay()
+
+def main():
+    glutInit(sys.argv)
+    glutInitDisplayMode(GLUT_SINGLE|GLUT_RGB)
+    glutInitWindowSize(500,500)
+    glutInitWindowPosition(50,50)
+    glutCreateWindow('Dial Trial')
+    glutDisplayFunc(plotdial)
+    glutKeyboardFunc(keyboard)
+    glutMouseFunc(mouse)
+    init()
+    glutMainLoop()
+
+main() 
diff --git a/src/pyqt/test004.py b/src/pyqt/test004.py
new file mode 100755
index 0000000..62b1b64
--- /dev/null
+++ b/src/pyqt/test004.py
@@ -0,0 +1,237 @@
+import sys
+import math
+
+from OpenGL import GL, GLU
+
+from PyQt5.QtCore import pyqtSignal, QPoint, QSize, Qt
+from PyQt5.QtGui import QColor
+from PyQt5.QtWidgets import (QApplication, QHBoxLayout, QOpenGLWidget, QSlider,
+        QWidget)
+
+
+class Window(QWidget):
+    def __init__(self):
+        super(Window, self).__init__()
+
+        self.glWidget = GLWidget()
+
+        self.xSlider = self.createSlider()
+        self.ySlider = self.createSlider()
+        self.zSlider = self.createSlider()
+
+        self.xSlider.valueChanged.connect(self.glWidget.setXRotation)
+        self.glWidget.xRotationChanged.connect(self.xSlider.setValue)
+        self.ySlider.valueChanged.connect(self.glWidget.setYRotation)
+        self.glWidget.yRotationChanged.connect(self.ySlider.setValue)
+        self.zSlider.valueChanged.connect(self.glWidget.setZRotation)
+        self.glWidget.zRotationChanged.connect(self.zSlider.setValue)
+
+        mainLayout = QHBoxLayout()
+        mainLayout.addWidget(self.glWidget)
+        mainLayout.addWidget(self.xSlider)
+        mainLayout.addWidget(self.ySlider)
+        mainLayout.addWidget(self.zSlider)
+        self.setLayout(mainLayout)
+
+        self.xSlider.setValue(15 * 16)
+        self.ySlider.setValue(345 * 16)
+        self.zSlider.setValue(0 * 16)
+
+        self.setWindowTitle("Hello GL")
+
+    def createSlider(self):
+        slider = QSlider(Qt.Vertical)
+
+        slider.setRange(0, 360 * 16)
+        slider.setSingleStep(16)
+        slider.setPageStep(15 * 16)
+        slider.setTickInterval(15 * 16)
+        slider.setTickPosition(QSlider.TicksRight)
+
+        return slider
+
+
+class GLWidget(QOpenGLWidget):
+    xRotationChanged = pyqtSignal(int)
+    yRotationChanged = pyqtSignal(int)
+    zRotationChanged = pyqtSignal(int)
+
+    def __init__(self, parent=None):
+        super(GLWidget, self).__init__(parent)
+
+        self.object = 0
+        self.xRot = 0
+        self.yRot = 0
+        self.zRot = 0
+
+        self.lastPos = QPoint()
+
+        self.trolltechGreen = QColor.fromCmykF(0.40, 0.0, 1.0, 0.0)
+        self.trolltechPurple = QColor.fromCmykF(0.39, 0.39, 0.0, 0.0)
+
+    def minimumSizeHint(self):
+        return QSize(50, 50)
+
+    def sizeHint(self):
+        return QSize(400, 400)
+
+    def setXRotation(self, angle):
+        angle = self.normalizeAngle(angle)
+        if angle != self.xRot:
+            self.xRot = angle
+            self.xRotationChanged.emit(angle)
+            self.update()
+
+    def setYRotation(self, angle):
+        angle = self.normalizeAngle(angle)
+        if angle != self.yRot:
+            self.yRot = angle
+            self.yRotationChanged.emit(angle)
+            self.update()
+
+    def setZRotation(self, angle):
+        angle = self.normalizeAngle(angle)
+        if angle != self.zRot:
+            self.zRot = angle
+            self.zRotationChanged.emit(angle)
+            self.update()
+
+    def initializeGL(self):
+
+        self.setClearColor(self.trolltechPurple.darker())
+        self.object = self.makeObject()
+        GL.glShadeModel(GL.GL_FLAT)
+        GL.glEnable(GL.GL_DEPTH_TEST)
+        GL.glEnable(GL.GL_CULL_FACE)
+
+    def paintGL(self):
+        GL.glClear(
+                GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
+        GL.glLoadIdentity()
+        GL.glTranslated(0.0, 0.0, -10.0)
+        GL.glRotated(self.xRot / 16.0, 1.0, 0.0, 0.0)
+        GL.glRotated(self.yRot / 16.0, 0.0, 1.0, 0.0)
+        GL.glRotated(self.zRot / 16.0, 0.0, 0.0, 1.0)
+        GL.glCallList(self.object)
+
+    def resizeGL(self, width, height):
+        side = min(width, height)
+        if side < 0:
+            return
+
+        GL.glViewport((width - side) // 2, (height - side) // 2, side,
+                side)
+
+        GL.glMatrixMode(GL.GL_PROJECTION)
+        GL.glLoadIdentity()
+        GL.glOrtho(-0.5, +0.5, +0.5, -0.5, 4.0, 15.0)
+        GL.glMatrixMode(GL.GL_MODELVIEW)
+
+    def mousePressEvent(self, event):
+        self.lastPos = event.pos()
+
+    def mouseMoveEvent(self, event):
+        dx = event.x() - self.lastPos.x()
+        dy = event.y() - self.lastPos.y()
+
+        if event.buttons() & Qt.LeftButton:
+            self.setXRotation(self.xRot + 8 * dy)
+            self.setYRotation(self.yRot + 8 * dx)
+        elif event.buttons() & Qt.RightButton:
+            self.setXRotation(self.xRot + 8 * dy)
+            self.setZRotation(self.zRot + 8 * dx)
+
+        self.lastPos = event.pos()
+
+    def makeObject(self):
+        genList = GL.glGenLists(1)
+        GL.glNewList(genList, GL.GL_COMPILE)
+
+        GL.glBegin(GL.GL_QUADS)
+
+        x1 = +0.06
+        y1 = -0.14
+        x2 = +0.14
+        y2 = -0.06
+        x3 = +0.08
+        y3 = +0.00
+        x4 = +0.30
+        y4 = +0.22
+
+        self.quad(x1, y1, x2, y2, y2, x2, y1, x1)
+        self.quad(x3, y3, x4, y4, y4, x4, y3, x3)
+
+        self.extrude(x1, y1, x2, y2)
+        self.extrude(x2, y2, y2, x2)
+        self.extrude(y2, x2, y1, x1)
+        self.extrude(y1, x1, x1, y1)
+        self.extrude(x3, y3, x4, y4)
+        self.extrude(x4, y4, y4, x4)
+        self.extrude(y4, x4, y3, x3)
+
+        NumSectors = 200
+
+        for i in range(NumSectors):
+            angle1 = (i * 2 * math.pi) / NumSectors
+            x5 = 0.30 * math.sin(angle1)
+            y5 = 0.30 * math.cos(angle1)
+            x6 = 0.20 * math.sin(angle1)
+            y6 = 0.20 * math.cos(angle1)
+
+            angle2 = ((i + 1) * 2 * math.pi) / NumSectors
+            x7 = 0.20 * math.sin(angle2)
+            y7 = 0.20 * math.cos(angle2)
+            x8 = 0.30 * math.sin(angle2)
+            y8 = 0.30 * math.cos(angle2)
+
+            self.quad(x5, y5, x6, y6, x7, y7, x8, y8)
+
+            self.extrude(x6, y6, x7, y7)
+            self.extrude(x8, y8, x5, y5)
+
+        GL.glEnd()
+        GL.glEndList()
+
+        return genList
+
+    def quad(self, x1, y1, x2, y2, x3, y3, x4, y4):
+        self.setColor(self.trolltechGreen)
+
+        GL.glVertex3d(x1, y1, -0.05)
+        GL.glVertex3d(x2, y2, -0.05)
+        GL.glVertex3d(x3, y3, -0.05)
+        GL.glVertex3d(x4, y4, -0.05)
+
+        GL.glVertex3d(x4, y4, +0.05)
+        GL.glVertex3d(x3, y3, +0.05)
+        GL.glVertex3d(x2, y2, +0.05)
+        GL.glVertex3d(x1, y1, +0.05)
+
+    def extrude(self, x1, y1, x2, y2):
+        self.setColor(self.trolltechGreen.darker(250 + int(100 * x1)))
+
+        GL.glVertex3d(x1, y1, +0.05)
+        GL.glVertex3d(x2, y2, +0.05)
+        GL.glVertex3d(x2, y2, -0.05)
+        GL.glVertex3d(x1, y1, -0.05)
+
+    def normalizeAngle(self, angle):
+        while angle < 0:
+            angle += 360 * 16
+        while angle > 360 * 16:
+            angle -= 360 * 16
+        return angle
+
+    def setClearColor(self, c):
+        GL.glClearColor(c.redF(), c.greenF(), c.blueF(), c.alphaF())
+
+    def setColor(self, c):
+        GL.glColor4f(c.redF(), c.greenF(), c.blueF(), c.alphaF())
+
+
+if __name__ == '__main__':
+
+    app = QApplication(sys.argv)
+    window = Window()
+    window.show()
+sys.exit(app.exec_())