A tessellation with salamanders (Escher).

We construct the famous Escher tessellation covering the plane with salamanders. We take an hexagon, divide it into proper parts and, applying a geometric transformation to them, we are able to draw a salamander. Performing new transformations, we can cover the plane without gaps.
Move the red slider to obtain the red salamander (repeat for the green and blue one). Moving d we generate the rest of the pictures. Which geometric transformations are involved in the construction?