Problem: For given a circle $c$ and a line $l$, print the coordinates of the cross points of them.

Constraints

* $p1$ and $p2$ are different
* The circle and line have at least one cross point
* $1 \leq q \leq 1,000$
* $-10,000 \leq cx, cy, x1, y1, x2, y2 \leq 10,000$
* $1 \leq r \leq 10,000$

Input

The input is given in the following format.

$cx\; cy\; r$
$q$
$Line_1$
$Line_2$
:
$Line_q$


In the first line, the center coordinate of the circle and its radius are given by $cx$, $cy$ and $r$. In the second line, the number of queries $q$ is given.

In the following $q$ lines, as queries, $Line_i$ are given ($1 \leq i \leq q$) in the following format.

$x_1\; y_1\; x_2\; y_2$

Each line is represented by two points $p1$ and $p2$ which the line crosses. The coordinate of $p1$ and $p2$ are given by ($x1$, $y1$) and ($x2$, $y2$) respectively. All input values are given in integers.

Output

For each query, print the coordinates of the cross points in the following rules.

* If there is one cross point, print two coordinates with the same values.
* Print the coordinate with smaller $x$ first. In case of a tie, print the coordinate with smaller $y$ first.



The output values should be in a decimal fraction with an error less than 0.000001.

Example

Input

2 1 1
2
0 1 4 1
3 0 3 3


Output

1.00000000 1.00000000 3.00000000 1.00000000
3.00000000 1.00000000 3.00000000 1.00000000

Solution (in CPP):

Solution:
//
// 円と直線の交点
//
// verified:
//   AOJ Course CGL_7_D Circles - Cross Points of a Circle and a Line
//     http://judge.u-aizu.ac.jp/onlinejudge/description.jsp?id=CGL_7_D&lang=jp
//


#include <iostream>
#include <vector>
#include <cmath>
#include <iomanip>
#include <algorithm>
using namespace std;


/* Point */
using DD = double;
const DD INF = 1LL<<60;      // to be set appropriately
const DD EPS = 1e-10;        // to be set appropriately
const DD PI = acos(-1.0);
DD torad(int deg) {return (DD)(deg) * PI / 180;}
DD todeg(DD ang) {return ang * 180 / PI;}

struct Point {
    DD x, y;
    Point(DD x = 0.0, DD y = 0.0) : x(x), y(y) {}
    friend ostream& operator << (ostream &s, const Point &p) {return s << '(' << p.x << ", " << p.y << ')';}
};

inline Point operator + (const Point &p, const Point &q) {return Point(p.x + q.x, p.y + q.y);}
inline Point operator - (const Point &p, const Point &q) {return Point(p.x - q.x, p.y - q.y);}
inline Point operator * (const Point &p, DD a) {return Point(p.x * a, p.y * a);}
inline Point operator * (DD a, const Point &p) {return Point(a * p.x, a * p.y);}
inline Point operator * (const Point &p, const Point &q) {return Point(p.x * q.x - p.y * q.y, p.x * q.y + p.y * q.x);}
inline Point operator / (const Point &p, DD a) {return Point(p.x / a, p.y / a);}
inline Point conj(const Point &p) {return Point(p.x, -p.y);}
inline Point rot(const Point &p, DD ang) {return Point(cos(ang) * p.x - sin(ang) * p.y, sin(ang) * p.x + cos(ang) * p.y);}
inline Point rot90(const Point &p) {return Point(-p.y, p.x);}
inline DD cross(const Point &p, const Point &q) {return p.x * q.y - p.y * q.x;}
inline DD dot(const Point &p, const Point &q) {return p.x * q.x + p.y * q.y;}
inline DD norm(const Point &p) {return dot(p, p);}
inline DD abs(const Point &p) {return sqrt(dot(p, p));}
inline DD amp(const Point &p) {DD res = atan2(p.y, p.x); if (res < 0) res += PI*2; return res;}
inline bool eq(const Point &p, const Point &q) {return abs(p - q) < EPS;}
inline bool operator < (const Point &p, const Point &q) {return (abs(p.x - q.x) > EPS ? p.x < q.x : p.y < q.y);}
inline bool operator > (const Point &p, const Point &q) {return (abs(p.x - q.x) > EPS ? p.x > q.x : p.y > q.y);}
inline Point operator / (const Point &p, const Point &q) {return p * conj(q) / norm(q);}

/* Line */
struct Line : vector<Point> {
    Line(Point a = Point(0.0, 0.0), Point b = Point(0.0, 0.0)) {
        this->push_back(a);
        this->push_back(b);
    }
    friend ostream& operator << (ostream &s, const Line &l) {return s << '{' << l[0] << ", " << l[1] << '}';}
};

/* Circle */
struct Circle : Point {
    DD r;
    Circle(Point p = Point(0.0, 0.0), DD r = 0.0) : Point(p), r(r) {}
    friend ostream& operator << (ostream &s, const Circle &c) {return s << '(' << c.x << ", " << c.y << ", " << c.r << ')';}
};


////////////////////////////
// 円や直線の交点
////////////////////////////

Point proj_for_crosspoint(const Point &p, const Line &l) {
    DD t = dot(p - l[0], l[1] - l[0]) / norm(l[1] - l[0]);
    return l[0] + (l[1] - l[0]) * t;
}
vector<Point> crosspoint(const Line &l, const Line &m) {
    vector<Point> res;
    DD d = cross(m[1] - m[0], l[1] - l[0]);
    if (abs(d) < EPS) return vector<Point>();
    res.push_back(l[0] + (l[1] - l[0]) * cross(m[1] - m[0], m[1] - l[0]) / d);
    return res;
}
vector<Point> crosspoint(const Circle &e, const Circle &f) {
    vector<Point> res;
    DD d = abs(e - f);
    if (d < EPS) return vector<Point>();
    if (d > e.r + f.r + EPS) return vector<Point>();
    if (d < abs(e.r - f.r) - EPS) return vector<Point>();
    DD rcos = (d * d + e.r * e.r - f.r * f.r) / (2.0 * d), rsin;
    if (e.r - abs(rcos) < EPS) rsin = 0;
    else rsin = sqrt(e.r * e.r - rcos * rcos);
    Point dir = (f - e) / d;
    Point p1 = e + dir * Point(rcos, rsin);
    Point p2 = e + dir * Point(rcos, -rsin);
    res.push_back(p1);
    if (!eq(p1, p2)) res.push_back(p2);
    return res;
}
vector<Point> crosspoint(const Circle &e, const Line &l) {
    vector<Point> res;
    Point p = proj_for_crosspoint(e, l);
    DD rcos = abs(e - p), rsin;
    if (rcos > e.r + EPS) return vector<Point>();
    else if (e.r - rcos < EPS) rsin = 0;
    else rsin = sqrt(e.r * e.r - rcos * rcos);
    Point dir = (l[1] - l[0]) / abs(l[1] - l[0]);
    Point p1 = p + dir * rsin;
    Point p2 = p - dir * rsin;
    res.push_back(p1);
    if (!eq(p1, p2)) res.push_back(p2);
    return res;
}



bool cmp(const Point &a, const Point &b) { return make_pair(a.x, a.y) < make_pair(b.x, b.y); }
int main() {
    Circle c; cin >> c.x >> c.y >> c.r;
    int Q; cin >> Q;
    for (int _ = 0; _ < Q; ++_) {
        Point x, y;
        cin >> x.x >> x.y >> y.x >> y.y;
        Line l(x, y);
        vector<Point> cp = crosspoint(c, l);
        if (cp.size() == 1) cp.push_back(cp[0]);
        sort(cp.begin(), cp.end(), cmp);
        cout << fixed << setprecision(10)
            << cp[0].x << " " << cp[0].y << " " << cp[1].x << " " << cp[1].y << endl;
    }
}