'''
const float PI = 3.1415926535897932384626433832795; const float PI_2 = 1.57079632679489661923; const float PI_4 = 0.785398163397448309616;
float PI180 = float(PI / 180.0); float sind(float a){return sin(a * PI180);} float cosd(float a){return cos(a * PI180);}
'''