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 <vector>
#include <algorithm>
#include <iostream>
#include <cstdio>
#include <cmath>
#include <climits>

using namespace std;

#define EPS (1e-10)
#define equals(a, b) (fabs((a) - (b)) < EPS)

//???
class Point {
public:
    double x, y;
    
    Point (double x = 0, double y = 0):x(x), y(y){}
    Point operator + (Point p){return Point(x + p.x, y + p.y);}
    Point operator - (Point p){return Point(x - p.x, y - p.y);}
    Point operator * (double a){return Point(a * x, a * y);}
    Point operator / (double a){return Point(x / a, y / a);}
    
    double norm(){return x*x + y*y;};
    double absolute(){return sqrt(norm());};
    
    bool operator < (const Point &p) const{
        return x != p.x ? x < p.x : y < p.y;
    }
    
    bool operator == (const Point &p) const{
        return equals(x, p.x) && equals(y, p.y);
    }
    
};
typedef Point Vector;                               //????????????
typedef struct Segment{Point p1, p2;}Segment;       //??????
typedef Segment Line;                               //??´???
typedef struct Circle{Point c; double r;}Circle;    //???
typedef vector<Point> Polygon;                      //????§???¢
//????????????a????????????
double norm(Vector a){
    return a.x * a.x + a.y * a.y;
}
//????????????a?????§??????
double absolute(Vector a){
    return sqrt(norm(a));
}

//????????????a,b?????????
double dot(Vector a, Vector b){
    return a.x * b.x + a.y * b.y;
}
//????????????a,b?????????
double cross(Vector a, Vector b){
    return a.x * b.y - a.y * b.x;
}

//????????????a??¨b?????´?????????
//a??¨b?????´????????´??????????????????0?????????
bool isOrthogonal(Vector a, Vector b){
    return equals(dot(a,b), 0.0);
}

//????????????a??¨b???????????????
//a??¨b?????´????????´??????????????????0?????????
bool isParallel(Vector a , Vector b){
    return equals(cross(a,b), 0.0);
}

//??????s(p1p2)???????????????p????°???±
Point project(Segment s, Point p){
    Vector base = s.p2 - s.p1;
    double r = dot(p - s.p1, base) / norm(base);
    return s.p1 + base * r;
}

//??????s(p1p2)???????§°?????¨?????????p???????±????
Point reflect(Segment s, Point p){
    return p + (project(s, p) - p) * 2.0;
}

//???a,???b???????????¢
double getDistance(Point a, Point b){
    return absolute(a - b);
}

//??´???s??¨???p????????¢
double getDistanceLP(Line l, Point p){
    return abs(cross(l.p2 - l.p1, p - l.p1) / absolute(l.p2 - l.p1));
}

//??????s(p1p2)??¨???p????????¢d????±???????
//??\???????????????????????§??´?????????
//??????????????????p2-p1??¨???????????????p-p1??????????§???????90???????????§????????´???????????????-90?????????????°?????????´?????????d??????p??¨???p1??¨????????¢
//??????????????????p1-p2??¨???????????????p-p2??????????§???????90???????????§????????´???????????????-90?????????????°?????????´?????????d??????p??¨???p2??¨????????¢
//??????????????\???????????????????????´??????d??????p??¨??´???p1p2????????¢
double getDistanceSP(Segment s, Point p){
    if (dot(s.p2 - s.p1, p - s.p1) < 0.0) return absolute(p - s.p1);
    if (dot(s.p1 - s.p2, p - s.p2) < 0.0) return absolute(p - s.p2);
    return getDistanceLP(s, p);
}


//??????p0, p1, p2???????????????????????????p0p1???????????????p2??????????????????
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(cross(a, b) > EPS) return COUNTER_CLOCKWISE;
    if(cross(a, b) < -EPS) return CLOCKWISE;
    if(dot(a, b) < -EPS) return ONLINE_BACK;
    if(norm(a) < norm(b)) return ONLINE_FRONT;
    return ON_SEGMENT;
}

//??????S1(p1p2)??¨??????s2(p2p3)????????????????????????
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.p1);
}

//??????s1??¨??????s2????????¢
//??\????????????????????¢????????§????????????????????????
//????????????s1??¨??????s2????§????s2.p1????????¢
//????????????s1??¨??????s2?????????s2.p2????????¢
//????????????s2??¨??????s1????§????s1.p1????????¢
//????????????s2??¨??????s1?????????s1.p2????????¢
double getDistance(Segment s1, Segment s2){
    if ( intersect(s1, s2) ) return 0.0;
    return min(
               min(getDistanceSP(s1, s2.p1), getDistanceSP(s1, s2.p2)),
               min(getDistanceSP(s2, s1.p1), getDistanceSP(s2, s1.p2))
               );
}

//??????s1??¨??????s2?????????????±???????
Point getCrossPoint(Segment s1, Segment s2){
    Vector base = s2.p2 - s2.p1;
    double d1 = abs(cross(base, s1.p1 - s2.p1));
    double d2 = abs(cross(base, s1.p2 - s2.p1));
    double t = d1 / (d1 + d2);
    return s1.p1 + (s1.p2 - s1.p1) * t;
}

//?????¨??????l?????????????±???????
pair<Point, Point> getCrossPoints(Circle c, Line l){
    Vector pr = project(l, c.c);
    Vector e = (l.p2 - l.p1) / absolute(l.p2 - l.p1);
    double base = sqrt(c.r * c.r - norm(pr - c.c));
    return make_pair(pr + e * base, pr - e * base);
}

//???c1??¨???c2?????????????±???????
Vector polar(double a, double r){
    //??????a,?§????r???point????±???????
    return Point(cos(r) * a, sin(r) * a);
}
pair<Point, Point> getCrossPoints(Circle c1, Circle c2){
    Vector v = c2.c - c1.c;
    double d = absolute(v);
    double a = acos((c1.r * c1.r + d * d - c2.r * c2.r) / (2 * c1.r * d) );
    double t = atan2(v.y, v.x);
    return make_pair(c1.c + polar(c1.r, t+a), c1.c + polar(c1.r, t-a));
}



int main(){
    
    int cx, cy;
    double r;
    int q;
    int x1, y1, x2, y2;
    
    cin >> cx >> cy >> r >> q;
    
    Circle c = {Point(cx, cy), r};
    
    for (int i = 0; i < q; i++) {
        cin >> x1 >> y1 >> x2 >> y2;
        
        Line l = {Point(x1, y1), Point(x2, y2)};
        
        pair<Point, Point> ans = getCrossPoints(c, l);
        bool swap_flag = (ans.first.x == ans.second.x) ? ans.first.y > ans.second.y : (ans.first.x > ans.second.x);
        if(swap_flag) swap(ans.first, ans.second);
        
        printf("%.8lf %.8lf %.8lf %.8lf\n", ans.first.x, ans.first.y, ans.second.x, ans.second.y);
    }

    return 0;
}