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:
# include "bits/stdc++.h"
using namespace std;
using LL = long long;
using ULL = unsigned long long;
const double PI = acos(-1);
template<class T>constexpr T INF() { return ::std::numeric_limits<T>::max(); }
template<class T>constexpr T HINF() { return INF<T>() / 2; }
template <typename T_char>T_char TL(T_char cX) { return tolower(cX); };
template <typename T_char>T_char TU(T_char cX) { return toupper(cX); };
typedef pair<LL, LL> pii;
const int vy[] = { -1, -1, -1, 0, 1, 1, 1, 0 }, vx[] = { -1, 0, 1, 1, 1, 0, -1, -1 };
const int dx[4] = { 0,1,0,-1 }, dy[4] = { 1,0,-1,0 };
int popcnt(unsigned long long n) { int cnt = 0; for (int i = 0; i < 64; i++)if ((n >> i) & 1)cnt++; return cnt; }
int d_sum(LL n) { int ret = 0; while (n > 0) { ret += n % 10; n /= 10; }return ret; }
int d_cnt(LL n) { int ret = 0; while (n > 0) { ret++; n /= 10; }return ret; }
LL gcd(LL a, LL b) { if (b == 0)return a; return gcd(b, a%b); };
LL lcm(LL a, LL b) { LL g = gcd(a, b); return a / g*b; };
# define ALL(qpqpq)           (qpqpq).begin(),(qpqpq).end()
# define UNIQUE(wpwpw)        sort(ALL((wpwpw)));(wpwpw).erase(unique(ALL((wpwpw))),(wpwpw).end())
# define LOWER(epepe)         transform(ALL((epepe)),(epepe).begin(),TL<char>)
# define UPPER(rprpr)         transform(ALL((rprpr)),(rprpr).begin(),TU<char>)
# define FOR(i,tptpt,ypypy)   for(LL i=(tptpt);i<(ypypy);i++)
# define REP(i,upupu)         FOR(i,0,upupu)
# define INIT                 std::ios::sync_with_stdio(false);std::cin.tie(0)
# pragma warning(disable:4996)

//定義系

double EPS = 1e-10;

//誤差を考慮して足し算を行う
double add(double a, double b) {
	if (abs(a + b) < EPS*(abs(a) + abs(b)))return 0;
	return a + b;
}

//Point
struct Point {
	double x, y;
	Point() {}
	Point(double x, double y) :x(x), y(y) {
	}
	Point operator + (Point p) {
		return Point(add(x, p.x), add(y, p.y));
	}
	Point operator - (Point p) {
		return Point(add(x, -p.x), add(y, -p.y));
	}
	Point operator * (double d) {
		return Point(x*d, y*d);
	}
	Point operator / (double d) {
		return Point(x / d, y / d);
	}
	//内積
	double dot(Point p) {
		return add(x*p.x, y*p.y);
	}
	//外積
	double det(Point p) {
		return add(x*p.y, -y*p.x);
	}
	//点の大小比較
	bool operator <(const Point &p)const {
		return x != p.x ? x < p.x : y < p.y;
	}
	bool operator ==(const Point &p)const {
		return fabs(x - p.x) < EPS&&fabs(y - p.y) < EPS;
	}
};

//ベクトル。使い分けるといいかも
typedef Point Vector;

//ベクトルの大きさの2乗
double norm(Vector p) {
	return p.x*p.x + p.y*p.y;
}

//ベクトルの大きさ
double abs(Vector p) {
	return sqrt(norm(p));
}

//線分
struct Segment {
	Point p1, p2;
};

//直線
typedef Segment Line;

//中心c,半径rの円
struct Circle {
	Point c;
	double r;
	Circle(Point c = Point(), double r = 0.0) :c(c), r(r) {}
};

//多角形
typedef vector<Point> Polygon;

//頂点集合
typedef vector<Point> Points;




//計算・アルゴリズム系


//反時計回りCCW
static const int COUNTER_CLOCKWISE = 1;
static const int CLOCKWISE = -1;
static const int ONLINE_BACK = 2;
static const int ONLINE_FRONT = -2;
static const int ON_SEGMENT = 0;
int ccw(Point p0, Point p1, Point p2) {
	Vector a = p1 - p0;
	Vector b = p2 - p0;
	if (a.det(b) > EPS)return COUNTER_CLOCKWISE;
	if (a.det(b) < -EPS)return CLOCKWISE;
	if (a.dot(b) < -EPS)return ONLINE_BACK;
	if (norm(a)<norm(b))return ONLINE_FRONT;

	return ON_SEGMENT;
}

//線分p1p2と線分p3p4の交差判定
bool intersect(Point p1, Point p2, Point p3, Point p4) {
	return (ccw(p1, p2, p3)*ccw(p1, p2, p4) <= 0 && ccw(p3, p4, p1)*ccw(p3, p4, p2) <= 0);
}
bool intersect(Segment s1, Segment s2) {
	return intersect(s1.p1, s1.p2, s2.p1, s2.p2);
}

//ベクトルa,bの直交判定
bool isOrthogonal(Vector a, Vector b) {
	return a.dot(b) == 0.0;
}
bool isOrthogonal(Point a1, Point a2, Point b1, Point b2) {
	return isOrthogonal(a1 - a2, b1 - b2);
}
bool isOrthogonal(Segment s1, Segment s2) {
	return (s1.p2 - s1.p1).dot(s2.p2 - s2.p1) == 0.0;
}

//ベクトルa,bの並行判定
bool isParallel(Vector a, Vector b) {
	return a.det(b) == 0.0;
}
bool isParallel(Point a1, Point a2, Point b1, Point b2) {
	return isParallel(a1 - a2, b1 - b2);
}
bool isParallel(Segment s1, Segment s2) {
	return (s1.p2 - s1.p1).det(s2.p2 - s2.p1) == 0.0;
}

//射影(点p1と点p2を通る直線に点pから垂線を引いた交点xを求める)
Point project(Segment s, Point p) {
	Vector base = s.p2 - s.p1;
	double r = (p - s.p1).dot(base) / norm(base);
	return s.p1 + base*r;
}

//反射(点p1と点p2を通る直線を対象軸として点pと線対称の位置にある点xを求める)
Point reflect(Segment s, Point p) {
	return p + (project(s, p) - p)*2.0;
}

//点aと点bの距離
double getDistance(Point a, Point b) {
	return abs(a - b);
}

//直線lと点pの距離
double getDistanceLP(Line l, Point p) {
	return abs((l.p2 - l.p1).det(p - l.p1) / abs(l.p2 - l.p1));
}

//線分sと点pの距離
double getDistanceSP(Segment s, Point p) {
	if ((s.p2 - s.p1).dot(p - s.p1) < 0.0)return abs(p - s.p1);
	if ((s.p1 - s.p2).dot(p - s.p2) < 0.0)return abs(p - s.p2);
	return getDistanceLP(s, p);
}

//線分s1と線分s2の距離
double getDistance(Segment s1, Segment s2) {
	if (intersect(s1, s2))return 0.0;
	return min({ getDistanceSP(s1, s2.p1), getDistanceSP(s1, s2.p2), getDistanceSP(s2, s1.p1), getDistanceSP(s2, s1.p2) });
}

//線分s1と線分s2の交点
Point getCrossPoint(Segment s1, Segment s2) {
	Vector base = s2.p2 - s2.p1;
	double d1 = abs(base.det(s1.p1 - s2.p1));
	double d2 = abs(base.det(s1.p2 - s2.p1));
	double t = d1 / (d1 + d2);
	return s1.p1 + (s1.p2 - s1.p1)*t;
}

//円cと線分lの交点
pair<Point, Point>getCrossPoints(Circle c, Line l) {
	Vector pr = project(l, c.c);
	Vector e = (l.p2 - l.p1) / abs(l.p2 - l.p1);
	double base = sqrt(c.r*c.r - norm(pr - c.c));
	return make_pair(pr + e*base, pr - e*base);
}

//距離の二乗
double dist(Point p, Point q) {
	return (p - q).dot(p - q);
}

//辞書順で比較
bool cmp_x(const Point& p, const Point& q) {
	if (p.x != q.x)return  p.x < q.x;
	return p.y < q.y;
}

//凸包を求める
vector<Point> convex_hull(Point* ps, int n) {
	sort(ps, ps + n, cmp_x);
	int k = 0;//凸法の頂点数
	vector<Point> qs(n * 2);//構築中の凸包

						//下限凸包の作成
	for (int i = 0; i < n; i++) {
		while (k > 1 && (qs[k - 1] - qs[k - 2]).det(ps[i] - qs[k - 1]) <= 0)k--;
		qs[k++] = ps[i];
	}

	//上限凸包の作成
	for (int i = n - 2, t = k; i >= 0; i--) {
		while (k > t && (qs[k - 1] - qs[k - 2]).det(ps[i] - qs[k - 1]) <= 0)k--;
		qs[k++] = ps[i];
	}
	qs.resize(k - 1);
	return qs;
}

int main() {
	Circle c;
	Line l;
	cin >> c.c.x >> c.c.y >> c.r;
	int q;
	cin >> q;
	REP(qqq, q) {
		cin >> l.p1.x >> l.p1.y >> l.p2.x>>l.p2.y;
		pair<Point, Point> p = getCrossPoints(c, l);
		if (p.second < p.first)swap(p.first, p.second);
		cout <<fixed<<setprecision(13)<< p.first.x << " " << p.first.y << " " << p.second.x << " " << p.second.y << endl;
	}
}