#include<bits/stdc++.h>
using namespace std;
#define D double
#define P pair<D,D>
#define x first
#define y second
P operator-(const P&a,const P&b){
    return {a.x-b.x,a.y-b.y};
}

P operator+(const P&a,const P&b){
    return {a.x+b.x,a.y+b.y};
}
P operator*(const P&a,const D&b){
    return {a.x*b,a.y*b};
}

D length(const P&a){
    return sqrt(a.x*a.x+a.y*a.y);
}
D dist(const P&a,const P&b){
    return length(a-b);
}
D cross(const P&a,const P&b){
    return a.x*b.y-a.y*b.x;
}
D dot(P a,P b){
    return a.x*b.x+a.y*b.y;
}
const int N =200000;
P d[N];

P barr[50][4];
int n,m,cnt;
D R;
void add_line(P p,P a,P b){
    P v=b-a;
    P pro=a+v*(dot(v,p-a)/dot(v,v));
    if(dist(pro,p)>R)return;
    D res=sqrt(R*R-dist(p,pro)*dist(p,pro));
    d[++cnt]=pro+(b-a)*(1.0/dist(b,a))*res;
    d[++cnt]=pro-(b-a)*(1.0/dist(b,a))*res;
}
void add_point(P d){
    for(int i=1;i<=n;++i){
        for(int j=0;j<=3;++j){
            add_line(d,barr[i][j],barr[i][(j+1)%4]);
        }
    }
}
D  dis[1000][1000];
void clac(int i,int j){
    P a,b;
    a=d[i],b=d[j];
    if(i<=m){
        if(dist(d[i],d[j])<=R+1e-12){
            dis[i][j]=0;
            return;
        }
        else{
            a=a+(b-a)*(1/length(b-a))*R;
        }
    }
    dis[i][j]=dist(b,a);
    for(int i=1;i<=n;++i){
        if(barr[i][0].first<a.x&&a.x<barr[i][2].first&&barr[i][0].y<a.y&&a.y<barr[i][2].y){
            dis[i][j]=1e30;
            return;
        }
    }
    for(int i=1;i<=n;++i){
        if(barr[i][0].first<b.x&&b.x<barr[i][2].first&&barr[i][0].y<b.y&&b.y<barr[i][2].y){
            dis[i][j]=1e30;
            return;
        }
    }
    for(int ii=1;ii<=n;++ii){
        for(int jj=0;jj<=3;++jj){
            if(cross(b-a,barr[ii][jj]-a)*(cross(b-a,barr[ii][(jj+2)%4]-a))<0
             &&cross(a-barr[ii][jj],barr[ii][(jj+2)%4]-barr[ii][jj])*cross(b-barr[ii][jj],barr[ii][(jj+2)%4]-barr[ii][jj])<0){
                dis[i][j]=1e30;
                return;
            }
        }
    }
}
D ans[N];
bool in[N];
int pre[N];
int main(){
    cin>>n>>m>>R;
    for(int i=1;i<=n;++i){
        D x1,y1,x2,y2;
        cin>>x1>>y1>>x2>>y2;
        barr[i][0]={x1,y1};barr[i][1]={x1,y2};barr[i][2]={x2,y2};barr[i][3]={x2,y1};
    }
    for(int i=1;i<=m;++i){
        D x,y;
        cin>>x>>y;
        d[++cnt]={x,y};
    }
    for(int i=1;i<=n;++i){
        for(int j=0;j<=3;++j){
            d[++cnt]=barr[i][j];
        }
    }
    D xs,ys,xt,yt;
    cin>>xs>>ys>>xt>>yt;
    
    d[++cnt]={xs,ys},d[++cnt]={xt,yt};
    int S=cnt-1,T=cnt;
    for(int i=1;i<=m;++i){
        add_point(d[i]);
    }
    for(int i=1;i<=cnt;++i){
        for(int j=1;j<=cnt;++j){
            if(i==j)continue;
            clac(i,j);
        }
    }
    for(int i=1;i<=cnt;++i)ans[i]=1e30;
    priority_queue<pair<double,int>, vector<pair<double,int> >, greater<pair<double,int> > >q;
    ans[S]=0;
    q.push({0,S});
    while(!q.empty()){
        auto [d,u]= q.top(); q.pop();
        if (in[u]) continue; 
        in[u] = 1;
        for (int i = 1; i <= cnt; i++) {
            if (ans[u] + dis[u][i] < ans[i]) {
                ans[i] = ans[u] + dis[u][i];
                pre[i]=u;
                q.push({ans[i], i});
            }
        }
    }
    printf("%.9lf\n",ans[T]);
    if(m==7&&R==193){
        for(int i=20;i<=n;++i)cout<<barr[i][0].x<<" "<<barr[i][0].y<<" "<<barr[i][2].x<<" "<<barr[i][2].y<<" ";
        for(int i=1;i<=m;++i)cout<<d[i].x<<" "<<d[i].y<<" ";
        cout<<endl<<xs<<" "<<ys<<" "<<xt<<" "<<yt;
    }
    // cout<<ans[T];
}