#include<bits/stdc++.h>
using std::cin;
using std::cout;
const int N = 1005;
using ll = long long;
using u64 = unsigned long long;
using db = double;
using cp = std::complex<db>;
using pr = std::pair<db, db>;
const db inf = 1e30;
const db eps = 1e-9;
int n;

db D;
cp p[N], v[N];
cp get() {
	db x, y; cin >> x >> y;
	return cp(x, y);
}
pr get(int i, int j) {
	cp d = p[i] - p[j], v = ::v[i] - ::v[j];
	db l = 0, r = 1e5;
	auto eval = [&](db t) {
		cp z = d + t * v;
		return z.real() * z.real() + z.imag() * z.imag();
	};
	for(int i = 0;i < 120;++i) {
		db ml = (l + l + r) / 3;
		db mr = (l + r + r) / 3;
		if(eval(ml) < eval(mr)) {
			r = mr;
		} else {
			l = ml;
		}
	}
	if(eval(l) > (D + eps) * (D + eps)) {
		return {-1, -1};
	}
	db L = l, R = l, m = 1e5;
	for(int c = 0;c < 80;++c) {
		m /= 2;
		if(eval((L - m)) <= D * D) L -= m;
		if(eval((R + m)) <= D * D) R += m;
	}
	return {L, R};
}
pr edge[N][N];

db T[N];
using pd = std::pair<db, int>;
std::priority_queue<pd, std::vector<pd>, std::greater<pd>> Q;
void relax(int s, db d) {
	if(T[s] > d) {
		T[s] = d;
		Q.emplace(d, s);
	}
}
int vis[N];
void dijk(int s) {
	for(int i = 0;i <= n;++i) T[i] = inf;
	relax(0, 0);
	for(;Q.size();) {
		int i = Q.top().second; Q.pop();
		if(vis[i]) continue;
		vis[i] = 1;
		for(int j = 0;j <= n;++j) if(i != j) {
			if(T[i] > edge[i][j].second) continue;
			relax(j, std::max(T[i], edge[i][j].first));
		}
	}
}
int main() {
	std::ios::sync_with_stdio(false), cin.tie(0);

	cin >> n >> D;
	for(int i = 0;i <= n;++i) {
		p[i] = get();
		v[i] = get();
	}
	for(int i = 0;i <= n;++i) {
		for(int j = i + 1;j <= n;++j) {
			edge[i][j] = edge[j][i] = get(i, j);
		}
	}
	dijk(0);
	for(int i = 1;i <= n;++i) {
		if(T[i] > 1e20) {
			puts("-1");
		} else {
			printf("%.10lf\n", T[i]);
		}
	}
}