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let's say I have a 3d car model displayed using GLSurfaceView in Android. This model consists of many components, is that possible to control each of them or make each of them response to touch events individually? for example, if I want to select one wheel, what I need to do is touch the wheel.
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I think you are looking for ray picking or ray intersection.
This answer has a link to a iOS sample/video which I believe is what you are after. https://gamedev.stackexchange.com/questions/12360/how-do-you-determine-which-object-surface-the-users-pointing-at-with-lwjgl/12367#12367
Another related SO question: Implementing Ray Picking
That should get you started on what you need to do.