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function [blocks] = anim_pen(blocks,flag)
//** 7 Jan 2009 : updated for Scilab 5.x
win = 20000+curblock();
if flag<>4 then
H=scf(win)
end
xold = blocks.z
rpar = blocks.rpar
plen = rpar(1); csiz = rpar(2); phi = rpar(3);
//** INIT
if flag==4 then
H = scf(win)
clf(H)
Axe = H.children
Axe.data_bounds=rpar(4:7)
Axe.isoview="on"
S=[cos(phi),-sin(phi);sin(phi),cos(phi)]
XY=S*[rpar(4),rpar(5);-csiz/2,-csiz/2]
drawlater();
xsegs(XY(1,:),XY(2,:))
x=0; theta=0;
x1=x-csiz/2;x2=x+csiz/2;y1=-csiz/2;y2=csiz/2
XY=S*[x1 x2 x2 x1 x1;y1,y1,y2,y2,y1]
xpoly(XY(1,:),XY(2,:),"lines",1)
XY=S*[x,x+plen*sin(theta);0,0+plen*cos(theta)]
xsegs(XY(1,:),XY(2,:));
drawnow();
//** UPDATE
elseif flag==2 then
Axe = H.children
x = blocks.inptr(1)(1)
theta = blocks.inptr(2)(1)
drawlater();
XY=Axe.children(2).data' + [cos(phi)*(x-xold);sin(phi)*(x-xold)]*ones(1,5);
Axe.children(2).data=XY' ;
x1=x*cos(phi);y1=x*sin(phi) ;
XY=[x1,x1+plen*sin(theta);y1,y1+plen*cos(theta)] ;
Axe.children(1).data=XY' ;
blocks.z = x ;
drawnow();
end
endfunction
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