/*--Drawing--*/
void setup() {

size(200, 200); background(102); }

void draw() { stroke(255); if(mousePressed) { line(mouseX, mouseY, pmouseX, pmouseY); } }

void setup()
{

size(200, 200); background(102); smooth(); }

void draw() { // Call the variableEllipse() method and send it the // parameters for the current mouse position // and the previous mouse position variableEllipse(mouseX, mouseY, pmouseX, pmouseY); }

// The simple method variableEllipse() was created specifically // for this program. It calculates the speed of the mouse // and draws a small ellipse if the mouse is moving slowly // and draws a large ellipse if the mouse is moving quickly

void variableEllipse(int x, int y, int px, int py) { float speed = abs(x-px) + abs(y-py); stroke(speed); ellipse(x, y, speed, speed); }

int dots = 1000;
float[] dX = new float[dots];
float[] dY = new float[dots];

float l_0 = 0.0;
float h_0 = 0.0;

float legX = 0.0;
float legY = 0.0;
float thighX = 0.0;
float thighY = 0.0;

float l = 30.0; // Length of the 'leg'
float h = 60.0; // Height of the 'leg'

float nmx, nmy = 0.0;
float mx, my = 0.0;

float offset;

int currentValue = 0;
int valdir = 1;

void setup()
{

size(200, 200); noStroke(); fill(102); rect(0, 0, width, height); offset = width/2; }

void draw() { // Smooth the mouse nmx = mouseX; nmy = mouseY; if((abs(mx - nmx) > 1.0) || (abs(my - nmy) > 1.0)) { mx = mx - (mx-nmx)/20.0; my = my - (my-nmy)/20.0; // Set the drawing value currentValue += 1* valdir; if(currentValue > 255 || currentValue <= 0) { valdir *= -1; } }

iKinematics(); kinematics(); pushMatrix(); translate(offset, offset); stroke(currentValue); line(thighX, thighY, legX, legY); popMatrix(); stroke(255); point(legX+offset, legY+offset); }

void kinematics() { thighX = h*cos(h_0); thighY = h*sin(h_0); legX = thighX + l*cos(h_0 - l_0); legY = thighY + l*sin(h_0 - l_0); }

void iKinematics() { float tx = mx - width/2.0; float ty = my - height/2.0; float c2 = (tx*tx + ty*ty - h*h - l*l)/(2*h*l); //in degrees float s2 = sqrt(abs(1 - c2*c2)); // the sign here determines the bend in the joint l_0 = -atan2(s2, c2); h_0 = atan2(ty, tx) - atan2(l*s2, h+l*c2); }