#include<iostream>#include<cstdlib>#include<cstring>#include<stdio.h>#include<cmath>#include<algorithm>#include<vector>using namespace std;int n,cnt,pa[100000],ans[10000],ncnt,adj[11000][100],num[100000],f[100][11000],cont[100];double v1,v2,ru,ru1,ru2,dp[100000],t1[100],t2[100],eps=1e-7;struct point{ double x,y; int id,id1,id2;};point list[100000];bool visit[100000];double dist(double x1,double y1,double x2,double y2){ return sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2));}double dijkstra(){ int i,j,s,p,q,u,id; double in; for(i=0;i<cnt;i++) dp[i]=1000000000; dp[0]=0.000; memset(visit,false,sizeof(visit)); while(true) {in=1000000000;for(i=0;i<cnt;i++){ if(visit[i]==false&&in>dp[i]) { u=i; in=dp[i]; }} if(u==1) return dp[u];visit[u]=true;for(int ii=0;ii<num[u];ii++)//for(i=0;i<cnt;i++){ i=adj[u][ii]; double val,vs1,vs2; if(list[u].id==list[i].id) val=dist(list[u].x,list[u].y,list[i].x,list[i].y)/(v1+v2); else { if(list[u].id==0||list[u].id==n+1) vs1=0; else vs1=t2[list[u].id]; if(list[i].id==0||list[i].id==n+1) vs2=0; else vs2=t1[list[i].id]; val=vs1+vs2+dist(list[u].x,list[u].y,list[i].x,list[i].y)/v1; } if(dp[i]>dp[u]+val) { dp[i]=dp[u]+val; pa[i]=u; }}id=list[u].id;for(int ii=0;ii<cont[id];ii++){ i=f[id][ii]; double val,vs1,vs2; if(list[u].id==list[i].id) val=dist(list[u].x,list[u].y,list[i].x,list[i].y)/(v1+v2); else { if(list[u].id==0||list[u].id==n+1) vs1=0; else vs1=t2[list[u].id]; if(list[i].id==0||list[i].id==n+1) vs2=0; else vs2=t1[list[i].id]; val=vs1+vs2+dist(list[u].x,list[u].y,list[i].x,list[i].y)/v1; } if(dp[i]>dp[u]+val) { dp[i]=dp[u]+val; pa[i]=u; } } }}int main(){ double xa,ya,xb,yb,v,x1[100],y1[100],x2[100],y2[100]; int i,j,s,p,q; scanf("%d",&n); scanf("%lf%lf%lf%lf%lf%lf",&xa,&ya,&xb,&yb,&v1,&v2); for(i=1;i<=n;i++) scanf("%lf%lf%lf%lf%lf%lf",&x1[i],&y1[i],&x2[i],&y2[i],&t1[i],&t2[i]); swap(v1,v2); cnt=0; list[cnt].x=xa; list[cnt].y=ya; list[cnt].id1=list[cnt].id2=list[cnt].id=0; cnt++; list[cnt].x=xb; list[cnt].y=yb; list[cnt].id1=list[cnt].id2=list[cnt].id=n+1; cnt++; v=sqrt(2*v1*v2+v2*v2); memset(num,0,sizeof(num)); memset(cont,0,sizeof(cont)); adj[0][num[0]++]=1; adj[1][num[1]++]=0; for(i=1;i<=n;i++) { ru=v1*((x2[i]-x1[i])*(ya-y1[i])-(y2[i]-y1[i])*(xa-x1[i]))/v-(x1[i]-xa)*(x2[i]-x1[i])-(y1[i]-ya)*(y2[i]-y1[i]); ru/=((x2[i]-x1[i])*(x2[i]-x1[i])+(y2[i]-y1[i])*(y2[i]-y1[i])); list[cnt].x=x1[i]+ru*(x2[i]-x1[i]); list[cnt].y=y1[i]+ru*(y2[i]-y1[i]); list[cnt].id=i; list[cnt].id1=0; list[cnt++].id2=i; f[i][cont[i]++]=cnt-1; adj[cnt-1][num[cnt-1]++]=0; adj[0][num[0]++]=cnt-1; ru=-v1*((x2[i]-x1[i])*(ya-y1[i])-(y2[i]-y1[i])*(xa-x1[i]))/v-(x1[i]-xa)*(x2[i]-x1[i])-(y1[i]-ya)*(y2[i]-y1[i]); ru/=((x2[i]-x1[i])*(x2[i]-x1[i])+(y2[i]-y1[i])*(y2[i]-y1[i])); list[cnt].x=x1[i]+ru*(x2[i]-x1[i]); list[cnt].y=y1[i]+ru*(y2[i]-y1[i]); list[cnt].id=i; list[cnt].id1=0; list[cnt++].id2=i; f[i][cont[i]++]=cnt-1; adj[cnt-1][num[cnt-1]++]=0; adj[0][num[0]++]=cnt-1; ru=v1*((x2[i]-x1[i])*(yb-y1[i])-(y2[i]-y1[i])*(xb-x1[i]))/v-(x1[i]-xb)*(x2[i]-x1[i])-(y1[i]-yb)*(y2[i]-y1[i]); ru/=((x2[i]-x1[i])*(x2[i]-x1[i])+(y2[i]-y1[i])*(y2[i]-y1[i])); list[cnt].x=x1[i]+ru*(x2[i]-x1[i]); list[cnt].y=y1[i]+ru*(y2[i]-y1[i]); list[cnt].id=i; list[cnt].id1=i; list[cnt++].id2=n+1; f[i][cont[i]++]=cnt-1; adj[cnt-1][num[cnt-1]++]=1; adj[1][num[1]++]=cnt-1; ru=-v1*((x2[i]-x1[i])*(yb-y1[i])-(y2[i]-y1[i])*(xb-x1[i]))/v-(x1[i]-xb)*(x2[i]-x1[i])-(y1[i]-yb)*(y2[i]-y1[i]); ru/=((x2[i]-x1[i])*(x2[i]-x1[i])+(y2[i]-y1[i])*(y2[i]-y1[i])); list[cnt].x=x1[i]+ru*(x2[i]-x1[i]); list[cnt].y=y1[i]+ru*(y2[i]-y1[i]); list[cnt].id=i; list[cnt].id1=i; list[cnt++].id2=n+1; f[i][cont[i]++]=cnt-1; adj[cnt-1][num[cnt-1]++]=1; adj[1][num[1]++]=cnt-1; } for(i=1;i<=n;i++) for(j=i+1;j<=n;j++) { double a1,b1,c1,a2,b2,c2; for(s=0;s<4;s++) { a1=v*((x2[i]-x1[i])*(x2[i]-x1[i])+(y2[i]-y1[i])*(y2[i]-y1[i])); if(s==0||s==2) { b1=-v*((x2[i]-x1[i])*(x2[j]-x1[j])+(y2[i]-y1[i])*(y2[j]-y1[j]))-v1*((x2[i]-x1[i])*(y2[j]-y1[j])-(y2[i]-y1[i])*(x2[j]-x1[j])); c1=v*((x2[i]-x1[i])*(x1[i]-x1[j])+(y2[i]-y1[i])*(y1[i]-y1[j]))-v1*((y2[i]-y1[i])*(x1[i]-x1[j])-(x2[i]-x1[i])*(y1[i]-y1[j])); } else { b1=-v*((x2[i]-x1[i])*(x2[j]-x1[j])+(y2[i]-y1[i])*(y2[j]-y1[j]))+v1*((x2[i]-x1[i])*(y2[j]-y1[j])-(y2[i]-y1[i])*(x2[j]-x1[j])); c1=v*((x2[i]-x1[i])*(x1[i]-x1[j])+(y2[i]-y1[i])*(y1[i]-y1[j]))+v1*((y2[i]-y1[i])*(x1[i]-x1[j])-(x2[i]-x1[i])*(y1[i]-y1[j])); } b2=-v*((x2[j]-x1[j])*(x2[j]-x1[j])+(y2[j]-y1[j])*(y2[j]-y1[j])); if(s==0||s==1) { a2=v*((x2[j]-x1[j])*(x2[i]-x1[i])+(y2[j]-y1[j])*(y2[i]-y1[i]))-v1*((x2[i]-x1[i])*(y2[j]-y1[j])-(y2[i]-y1[i])*(x2[j]-x1[j])); c2=v*((x2[j]-x1[j])*(x1[i]-x1[j])+(y2[j]-y1[j])*(y1[i]-y1[j]))-v1*((x1[i]-x1[j])*(y2[j]-y1[j])-(y1[i]-y1[j])*(x2[j]-x1[j])); } else { a2=v*((x2[j]-x1[j])*(x2[i]-x1[i])+(y2[j]-y1[j])*(y2[i]-y1[i]))+v1*((x2[i]-x1[i])*(y2[j]-y1[j])-(y2[i]-y1[i])*(x2[j]-x1[j])); c2=v*((x2[j]-x1[j])*(x1[i]-x1[j])+(y2[j]-y1[j])*(y1[i]-y1[j]))+v1*((x1[i]-x1[j])*(y2[j]-y1[j])-(y1[i]-y1[j])*(x2[j]-x1[j])); } ru1=(c2*b1-c1*b2)/(a1*b2-a2*b1); ru2=(c2*a1-c1*a2)/(b1*a2-b2*a1); list[cnt].x=x1[i]+ru1*(x2[i]-x1[i]); list[cnt].y=y1[i]+ru1*(y2[i]-y1[i]); list[cnt].id1=i; list[cnt].id2=j; list[cnt++].id=i; f[i][cont[i]++]=cnt-1; adj[cnt-1][num[cnt-1]++]=cnt; list[cnt].x=x1[j]+ru2*(x2[j]-x1[j]); list[cnt].y=y1[j]+ru2*(y2[j]-y1[j]); list[cnt].id1=i; list[cnt].id2=j; list[cnt++].id=j; f[j][cont[j]++]=cnt-1; adj[cnt-1][num[cnt-1]++]=cnt-2; } } printf("%.6lfn",dijkstra()); int u=1; ncnt=0; while(u!=0) { ans[ncnt++]=u; u=pa[u]; } printf("%dn",ncnt); for(i=ncnt-1;i>=0;i--) { int val,id=ans[i]; if(i==ncnt-1||list[ans[i]].id!=list[ans[i+1]].id)val=0; elseval=list[id].id; printf("%d %.6lf %.6lfn",val,list[id].x+eps,list[id].y+eps); } return 0;}
