function play(T,X,XI)
  D=[600,200];
  dr=driver();
  driver('Pos');
  set_posfig_dim(D(1),D(2)); 
  xinit('carsim') 
  clf()
  h=gcf();
//  h.figure_size = [1000 100];
  h.children.axes_visible=['off','off','off'] ;
  h.children.isoview='on';
  h.children.tight_limits = "on"
  h.children.margins = [0,0,0,0];


  XXX=[-XI-l2:0.1:3*XI+l2];
  FY=[];XC=[];
  for x=XXX,
    th=atan(Fx(x));
    XC=[XC,x+sin(th)*r2]
    FY=[FY,F(x)-cos(th)*r2];
  end
  h.children.data_bounds=[min(XC),min(FY)-10*d;max(XC),max(FY)+d];
 
  xfpoly([XC(1),XC,XC($)],[min(FY)-d,FY,min(FY)-d]); hfp = gce();
  hfp.foreground = 5;
  l3=1.15*l2;
  for i=[15,30,35, 42,45,49,52,58,64]*10
    X=XX(:,i);
    x=X(1);xd=X(2);y=X(3);yd=X(4);th=X(5);thd=X(6);xsi=X(7);eta=X(8);
    x0=x+xsi*sin(th)-l2*cos(th);
    x1=x+eta*sin(th)+l2*cos(th);
    y0=y-xsi*cos(th)-l2*sin(th);
    y1=y-eta*cos(th)+l2*sin(th);
    xp=[x0,x-l2*cos(th);x+l2*cos(th),x1]';
    yp=[y0,y-l2*sin(th);y+l2*sin(th),y1]';
    xpp=[x-l3*cos(th);x+l3*cos(th)];
    ypp=[y-l3*sin(th);y+l3*sin(th)];
    W1=[x0-r2,y0+r2,2*r2,2*r2,0,360*64];
    W2=[x1-r2,y1+r2,2*r2,2*r2,0,360*64];
    
    
    if i==1 then
      xpoly(xpp,ypp); hp1 = gce();
      hp1.thickness=10;
      hp1.foreground=9
      xpolys(xp,yp); 
      xfarcs([W1',W2']); 
    else
      xpoly(xpp,ypp); hp1 = gce();
      hp1.thickness=10;
      hp1.foreground=9
      xpolys(xp,yp); 
      xfarcs([W1',W2']); 
    end
  end
  set_posfig_dim(0,0); 
  xend(); 
  driver(dr); 

  unix(SCI+'/bin/BEpsf carsim ');

endfunction