[
	[
		-400 <= x1 & x1 <= 400 &
		-400 <= x2 & x2 <= 400 &
		-400 <= g1 & g1 <= 400 &
		-400 <= g2 & g2 <= 400 &
		40 < c1 & c1 <= 200 &
		40 < c2 & c2 <= 200 &
		1 < w & w <= 30 & 
		-1 < ystr & ystr <= 1 &
		-1 < y1dir & y1dir <= 1
	] &
	[
		20-5<w&
		c1>0&
		c2>0&[
			x2<=-c2 |
			x2>c2+w/(p-r)*c1 |
			-x1-((p-r)/w*(c2-x2)+c1)>=0 | 
			x1-((p-r)/w*(c2-x2)+c1)>=0
		]
	]
]
-> [
[x2 <= -c2 & x2 + T * p * y2post - T * w + T * r <= -c2] |
[
  x2 > c2 + w / (p - r) * c1 &
  x2 + T * p * y2post - T * w - T * r > c2 + w / (p - r) * c1
] |
[
  -x1 - ((p - r) / w * (c2 - x2) + c1) >= 0 &
  -(x1 + T * p * y1post + T * r) -
  (
    (p - r) / w * (c2 - (x2 + T * p * y2post - T * w - T * r)) +
    c1
  ) >=
  0
] |
[
  x1 - ((p - r) / w * (c2 - x2) + c1) >= 0 &
  x1 + T * p * y1post - T * r -
  (
    (p - r) / w * (c2 - (x2 + T * p * y2post - T * w - T * r)) +
    c1
  ) >=
  0
]
]