float vitesse = 90.0; 
float ecart = 1.0;

float x1, y1, vitx, vity;
float sinvalxy2, cosvalxy2, angle_xy2, rayon_xy2, x2, y2; 
float sinvalxy3, cosvalxy3, angle_xy3, rayon_xy3, x3, y3;
float sinvalxy4, cosvalxy4, angle_xy4, rayon_xy4, x4, y4;
float sinvalxy5, cosvalxy5, angle_xy5, rayon_xy5, x5, y5;
float sinvalxy6, cosvalxy6, angle_xy6, rayon_xy6, x6, y6;
int rayon_poil2, rayon_poil3, rayon_poil4;

 float angle, sinval, cosval, x, y;

void setup(){
  size(600, 500);
  x1 = width/2;
  y1 = 150;

  
  rayon_xy2 = 100;
  rayon_xy3 = 80;
  rayon_xy4 = 60;
  rayon_xy5 = 40;
  rayon_xy6 = 20;
  rayon_poil2 = 60;
  rayon_poil3 = 40;
  rayon_poil4 = 20;
  background(0);
  smooth();
}

void draw(){
  
  x1 += vitx;
  y1 += vity;
  
  if (y1 > 300){
    vity = -1;
  } else if (y1 < 50){
    vity = 1.9;
  } else if (x1 < 200){
    vitx = 1.0;
  } else if (x1 > 400){
    vitx = -1.0;
  } else if (x2 > x1){
   vitx = -1.0; 
  } else if (x1 > x2){
   vitx = 1.0;
  }
  
  if (y6 > y2){
   vity = -1; 
  } else if (y2 > y6){
   vity = 1.9;
  }
  
  vitesse += ecart;
  if (vitesse > 180 || vitesse < 0){
    ecart = - ecart;
  }
  
  // fond noir
  noStroke();
  fill(0, 100);
  rect(0, 0, width, height);
  
  // épaisseur des contours
  strokeWeight(2);
  
  // 1ère articulation
  stroke(255, 153);
  fill(255, 100);
  ellipse(x1, y1, 10, 10);
  
  // 1er cercle de poils
  for (int i = 0; i < 15; i++){
    stroke(255, 100);
    angle_xy2 =  (i * HALF_PI/15.0) + vitesse/60 - QUARTER_PI;
    sinvalxy2 = sin (angle_xy2);
    cosvalxy2 = cos (angle_xy2);
    x = x1 + (cosvalxy2 * rayon_poil2);
    y = y1 + (sinvalxy2 * rayon_poil2);
    line (x1, y1, x, y);
  }
  
  // 2ème articulation
  angle_xy2 = QUARTER_PI + (vitesse * HALF_PI/180.0);
  sinvalxy2 = sin (angle_xy2);
  cosvalxy2 = cos (angle_xy2);  
  x2 = x1 + (cosvalxy2 * rayon_xy2);
  y2 = y1 + (sinvalxy2 * rayon_xy2);
  stroke(255, 151);
  line(x1, y1, x2, y2);
  stroke(255, 153);
  fill(255, 100);
  ellipse(x2, y2, 8, 8);
  
  // 2eme cercle de poils
  for (int i = 0; i < 10; i++){
    stroke(255, 100);
    angle_xy3 =  (i * HALF_PI/10.0) + vitesse/45 - (3 * QUARTER_PI/2);
    sinvalxy3 = sin (angle_xy3);
    cosvalxy3 = cos (angle_xy3);
    x = x2 + (cosvalxy3 * rayon_poil3);
    y = y2 + (sinvalxy3 * rayon_poil3);
    line (x2, y2, x, y);
  }
  
  // 3ème articulation
  angle_xy3 = vitesse * HALF_PI/90.0;
  sinvalxy3 = sin (angle_xy3);
  cosvalxy3 = cos (angle_xy3);
  x3 = x2 + (cosvalxy3 * rayon_xy3);
  y3 = y2 + (sinvalxy3 * rayon_xy3);
  stroke(255, 151);
  line(x2, y2, x3, y3);
  stroke(255, 153);
  fill(255, 100);
  ellipse(x3, y3, 6, 6);
  
  // 3eme cercle de poils
  for (int i = 0; i < 6; i++){
    stroke(255, 100);
    angle_xy4 =  (i * HALF_PI/6.0) + vitesse/45 - (3 * QUARTER_PI/2);
    sinvalxy4 = sin (angle_xy4);
    cosvalxy4 = cos (angle_xy4);
    x = x3 + (cosvalxy4 * rayon_poil4);
    y = y3 + (sinvalxy4 * rayon_poil4);
    line (x3, y3, x, y);
  }
  
  // 4ème articulation
  angle_xy4 = (vitesse * HALF_PI/60.0) - QUARTER_PI;
  sinvalxy4 = sin (angle_xy4);
  cosvalxy4 = cos (angle_xy4);
  x4 = x3 + (cosvalxy4 * rayon_xy4);
  y4 = y3 + (sinvalxy4 * rayon_xy4);
  stroke(255, 151);
  line(x3, y3, x4, y4);
  stroke(255, 153);
  fill(255, 100);
  ellipse(x4, y4, 5, 5);
 
  // 5ème articulation
  angle_xy5 = (vitesse * HALF_PI/45.0) - HALF_PI;
  sinvalxy5 = sin (angle_xy5);
  cosvalxy5 = cos (angle_xy5);
  x5 = x4 + (cosvalxy5 * rayon_xy5);
  y5 = y4 + (sinvalxy5 * rayon_xy5);
  line(x4, y4, x5, y5);
  stroke(255, 153);
  fill(255, 100);
  ellipse(x5, y5, 4, 4);
  
  // 6ème articulation
  angle_xy6 = (vitesse * HALF_PI/30.0) - PI;
  sinvalxy6 = sin (angle_xy6);
  cosvalxy6 = cos (angle_xy6);
  x6 = x5 + (cosvalxy6 * rayon_xy6);
  y6 = y5 + (sinvalxy6 * rayon_xy6);
  stroke(255, 151);
  line(x5, y5, x6, y6);
  stroke(255, 153);
  fill(255, 100);
  ellipse(x6, y6, 3, 3);
 
}