(
	(
		-400 <= x1 & x1 <= 400 &
		-400 <= x2 & x2 <= 400 &
		c1-0.1 <= cIn & cIn <= c1+0.1 &
		1 < w & w <= 30 & 
		-1.0001 <= ystr & ystr <= 1.0001 &
		-1.0001 <= y1dir & y1dir <= 1.0001
	) &
	(
		p-r<w&
		c1>0&
		c2>0&(
			x2<=-c2 |
			-x1-((p-r)/w*(c2-x2)+c1)>=0 | 
			x1-((p-r)/w*(c2-x2)+c1)>=0
		)
	)
)
-> (
  x2  <  -c2 - T * (p + r) |
  x2 > c2 + w / (p - r) * c1 + T * (p + r + w) |
  -(x1 + T * (p + r)) -
  ((p - r) / w * (c2 - (x2 - T * (r + p + w))) + c1) >=
  0 |
  x1 - T * (p + r) -
  ((p - r) / w * (c2 - (x2 - T * (r + p + w))) + c1) >=
  0 |
  x2 <= -c2 & x2 + T * p * y2post - T * w + T * r <= -c2 |
  -x1 - ((p - r) / w * (c2 - x2) + c1) >= 0 &
  -(x1 + T * p * y1post + T * r * (w / (w^2 + (p - r)^2)^(1 / 2))) -
  (
    (p - r) / w *
    (
      c2 -
      (
        x2 + T * p * y2post - T * w +
        T * r * (-(p - r) / (w^2 + (p - r)^2)^(1 / 2))
      )
    ) +
    c1
  ) >=
  0 |
  x1 - ((p - r) / w * (c2 - x2) + c1) >= 0 &
  x1 + T * p * y1post + T * r * (-w / (w^2 + (p - r)^2)^(1 / 2)) -
  (
    (p - r) / w *
    (
      c2 -
      (
        x2 + T * p * y2post - T * w +
        T * r * (-(p - r) / (w^2 + (p - r)^2)^(1 / 2))
      )
    ) +
    c1
  ) >=
  0
)