[
	[
		-400 <= x1 & x1 <= 400 &
		-400 <= x2 & x2 <= 400 &
		10 < c & c <= 80 &
		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 |
			x2>c2+w/(p-r)*c1 |
			-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 |
  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
]