function Dvostruko_klatno(ivp, vreme, fps, movie)
%   ivp = [phi1; dtphi1; phi2; dtphi2; g; m1; m2; l1; l2]
%   vreme                       interval od 0 do vreme (sekunde)
%   fps                         broj frejmova u sekundi (odgovaraju realnoj situaciji)
%   movie                       ako je false => ne pravi film
nframes = vreme * fps;
sol = ode45(@Dvostruko_klatno_ODE,[0 vreme], ivp)
t = linspace(0, vreme, nframes);
y = deval(sol,t);

phi1 = y(1,:)'; 
dtphi1 = y(2,:)';
phi2 = y(3,:)'; 
dtphi2 = y(4,:)';
l1 = ivp(8); 
l2 = ivp(9);
figure(2);
videoObj = VideoWriter('Dvostruko_klatno.avi');
open(videoObj);
h = plot(0,0,'MarkerSize',30,'Marker','.','LineWidth',2);
title('Dvostruko klatno');
range = 1.1*(l1+l2); axis([-range range -range range]); axis square;
set(gca,'nextplot','replacechildren');

for i = 1 : length(phi1)-1
    if (ishandle(h) == 1)
        Xcoord = [0,l1*sin(phi1(i)),l1*sin(phi1(i))+l2*sin(phi2(i))];
        Ycoord = [0,-l1*cos(phi1(i)),-l1*cos(phi1(i))-l2*cos(phi2(i))];
        set(h,'XData',Xcoord,'YData',Ycoord);
        drawnow;
        if movie == false
            pause(t(i+1)-t(i));
        else
            writeVideo(videoObj, getframe);
        end
    end
end   
close(videoObj);
end