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How do people create games which make the object move when we turn or rotate our phone in different directions (accelerating a car, for example)?
Do they use readings from the accelerometer and gyroscope or do they use OpenGL in Android?
They are likely using the accelerometer, because it is widely available on a large variety of devices.
You might want to take a look at this tutorial: http://blog.androgames.net/85/android-accelerometer-tutorial/
And here’s a demo of the accelerometer feature from Google: http://developer.android.com/resources/samples/AccelerometerPlay/src/com/example/android/accelerometerplay/AccelerometerPlayActivity.html