def animazione(dt,t,coord, trail_length=500):
    fig, ax = plt.subplots()
    l1x=np.zeros((2),dtype=np.float64)
    l1y=np.zeros((2),dtype=np.float64)
    history2x = np.zeros(( trail_length))
    history2y = np.zeros(( trail_length))
    history3x = np.zeros(( trail_length))
    history3y = np.zeros(( trail_length))
    
    l1x[0]=0
    l1y[0]=0
    l1x[1]=coord[0,0]
    l1y[1]=coord[1,0]
    line1 = ax.plot(l1x,l1y)[0]
    l2x=np.zeros((2),dtype=np.float64)
    l2y=np.zeros((2),dtype=np.float64)
    l2x[0]=coord[0,0]
    l2y[0]=coord[1,0]
    l2x[1]=coord[2,0]
    l2y[1]=coord[3,0]
    line2 = ax.plot(l2x,l2y)[0]

    # Traiettorie
    trail2 = ax.plot(history2x, history2y, 'b-', alpha=0.5)[0]
    trail3 = ax.plot(history3x, history3y, 'g-', alpha=0.5)[0]
    # Dischi
    disc1, = ax.plot([], [], 'ro', markersize=10)  # Disco rosso per il primo punto
    disc2, = ax.plot([], [], 'bo', markersize=10)  # Disco blu per il secondo punto
    disc3, = ax.plot([], [], 'go', markersize=10)  # Disco verde per il terzo punto

    


    
    ax.set(xlim=[-4, 4], ylim=[-4, 4], xlabel='X [m]', ylabel='Y [m]')
    ax.legend('Label')


    def update(frame):
        l1x[0]=0
        l1y[0]=0
        l1x[1]=coord[0,frame]
        l1y[1]=coord[1,frame]
        l2x[0]=coord[0,frame]
        l2y[0]=coord[1,frame]
        l2x[1]=coord[2,frame]
        l2y[1]=coord[3,frame]
        line1.set_xdata(l1x)
        line1.set_ydata(l1y)
        line2.set_xdata(l2x)
        line2.set_ydata(l2y)
         # Aggiorna i dischi
        origine=np.zeros((2,1))
        disc1.set_data(origine)  # Origine (0,0)
        origine[0,0]=coord[0,frame]
        origine[1,0]=coord[1,frame]
        disc2.set_data(origine)  # Secondo punto
        origine[0,0]=coord[2,frame]
        origine[1,0]=coord[3,frame]
        disc3.set_data(origine)  # Terzo punto
        
        # Aggiorna le traiettorie
        history2x = np.zeros(( trail_length))
        history2y = np.zeros(( trail_length))
        history3x = np.zeros(( trail_length))
        history3y = np.zeros(( trail_length))
        frame_in=max(frame-trail_length,0)
        for ifr in range(frame-frame_in):
            history2x[ifr]=coord[0,ifr+frame_in]
            history2y[ifr]=coord[1,ifr+frame_in]
            history3x[ifr]=coord[2,ifr+frame_in]
            history3y[ifr]=coord[3,ifr+frame_in]
        
        
        trail2.set_data(history2x, history2y)
        trail3.set_data(history3x, history3y)

        
        #history3 = np.roll(history3, -1, axis=1)
        #history3[:, -1] = [coord[2,frame], coord[3,frame]]
        #trail3.set_data(history3[0, :], history3[1, :])
        
        return line1, line2, disc1, disc2, disc3, trail2, trail3


    ani = animation.FuncAnimation(fig=fig, func=update, frames=len(t), interval=int(dt*1000), blit=True)
    plt.show()