138 lines
4.5 KiB
C++
138 lines
4.5 KiB
C++
#include<iostream>
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#include<cstdio>
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#include<complex>
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#include<vector>
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#include<cmath>
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#include<cstdlib>
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#include<algorithm>
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using namespace std;
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const double eps=1.0e-8;
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typedef complex<double> point;
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typedef vector<point> polygon;
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struct line : public vector<point> {
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line() {}
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line(const point& a, const point& b) { push_back(a); push_back(b); }
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};
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inline point vec(const line& l) { return l[1]-l[0];}
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inline double dot (const point& a, const point& b) { return (a*conj(b)).real();}
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inline double cross(const point& a, const point& b) { return (conj(a)*b).imag();}
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inline int dlcmp(const double& x){
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return x<-eps?-1:x>eps;
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}
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bool intersectSP(const line& s, const point& p) {
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return abs(s[0]-p)+abs(s[1]-p)<abs(s[1]-s[0])+eps;
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}
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point projection(const line &l, const point &p) {
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double t = dot(p-l[0], l[0]-l[1]) / norm(l[0]-l[1]);
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return l[0] + t*(l[0]-l[1]);
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}
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double distanceSP(const line &s, const point &p) {
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const point& r = projection(s, p);
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if (intersectSP(s, r)) return abs(r - p);
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return min(abs(s[0]-p), abs(s[1]-p));
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}
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polygon p;
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const int MAXN=50005;
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bool direction[MAXN];
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inline double calc(const point& start, const point& m, const point& target, const double& Vr, const double& Vs){
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return abs(start-m)/Vr+abs(m-target)/Vs;
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}
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point m1, m2, v;
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double mid, midd;
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double solve(const line& S, const point& start, const point& target, const double& Vr, const double& Vs, double& ts){
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double l=0.0, r=1.0;
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v=vec(S);
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while(l+eps<r){
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mid=(l+r)/2.0;
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midd=(mid+r)/2.0;
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m1=S[0]+mid*v;
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m2=S[0]+midd*v;
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if(calc(start,m1,target,Vr,Vs)<calc(start,m2,target,Vr,Vs)){
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r=midd;
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}
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else{
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l=mid;
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}
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}
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ts=abs(S[0]+l*v-target)/Vs;
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return calc(start,S[0]+l*v,target,Vr,Vs);
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}
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point cut[2];
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int R[2];
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point p1, p2;
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int main(){
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int T, n; cin>>T;
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while(T--){
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double Ts, Vr, Vs; cin>>Ts>>Vr>>Vs;
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double Xo, Yo, Xp, Yp; cin>>Xo>>Yo>>Xp>>Yp;
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point O(Xo,Yo), P(Xp,Yp);
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cin>>n;
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p.clear();
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double x, y;
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for(int i=0; i<n; i++){
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scanf("%lf%lf",&x,&y);
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p.push_back(point(x,y));
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}
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if(dlcmp(cross(p[1]-p[0],p[2]-p[1]))<0){
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reverse(p.begin(),p.end());
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}
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double carry_and_swim=1.0e20;
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for(int i=0; i<n; i++){
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carry_and_swim=min(carry_and_swim,distanceSP(line(p[i],p[(i+1)%n]),P));
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}
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carry_and_swim=2.0*carry_and_swim/Vs;
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double sum=0.0;
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for(int i=0; i<n; i++){
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direction[i]=dlcmp(cross(p[i]-O,p[(i+1)%n]-p[i]))>=0;
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sum+=abs(p[i]-p[(i+1)%n]);
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}
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int cnt=0;
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for(int i=0; i<n; i++){
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if(direction[i]!=direction[(i+1)%n]){
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R[cnt++]=(i+1)%n;
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}
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if(intersectSP(line(p[i],p[(i+1)%n]),O)){
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cut[0]=p[i];
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cut[1]=p[(i+1)%n];
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R[0]=i; R[1]=(i+1)%n;
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}
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}
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if(cnt!=0){
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if(direction[R[0]]!=0) swap(R[0],R[1]);
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cut[0]=p[R[0]]; cut[1]=p[R[1]];
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}
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double ans=1.0e20;
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int st=R[0], ed=R[1];
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if(ed<st) ed+=n;
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double ft=0.0;
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double ts, ts1, ts2, ret;
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for(int i=st; i<ed; i++){
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p1=p[i%n], p2=p[(i+1)%n];
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ret=solve(line(p1,p2),O,P,Vr,Vs,ts);
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if(ts+carry_and_swim-eps<=Ts){
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ans=min(ans,ret);
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}
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ft+=abs(p1-p2);
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}
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swap(st,ed);
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if(ed<st) ed+=n;
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double bk=0.0, al=(sum-ft), d1, d2;
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for(int i=st; i<ed; i++){
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p1=p[i%n], p2=p[(i+1)%n];
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d1=(abs(O-cut[1])+bk)/Vr+solve(line(p1,p2),p1,P,Vr,Vs,ts1);
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d2=(abs(O-cut[0])+al-bk-abs(p1-p2))/Vr+solve(line(p2,p1),p2,P,Vr,Vs,ts2);
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if(ts1+carry_and_swim-eps<=Ts){
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ans=min(ans,d1);
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}
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if(ts2+carry_and_swim-eps<=Ts){
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ans=min(ans,d2);
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}
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bk+=abs(p1-p2);
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}
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ans+=carry_and_swim;
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if(ans<=1.0e19) printf("%.2f\n",ans);
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else printf("-1\n");
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}
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return 0;
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}
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