class Hit {
  public static void main (String args[]) {

    // v, w = velocity and rotation before impact
    // c, o = velocity and rotation after impact
    // I = moment of intertia
    // m = mass
    // s = sliding friction [0,1]
    // E = restitution coeff [0,1]

    double  x1, y1, z1, x2, y2, z2;
    double vx1,vy1,vz1,vx2,vy2,vz2;
    double wx1,wy1,wz1,wx2,wy2,wz2;
    double cx1,cy1,cz1,cx2,cy2,cz2;
    double ox1,oy1,oz1,ox2,oy2,oz2;
    double Ix1,Iy1,Iz1,Ix2,Iy2,Iz2;
    double  m1, m2, s, E;

    // default values

     x1=-1;  y1=-1;  z1=0;  x2=1;  y2=1;  z2=0;
    vx1=1; vy1=0; vz1=0; vx2=-1; vy2=0; vz2=0;
    wx1=0; wy1=0; wz1=0; wx2=0; wy2=0; wz2=0;
    Ix1=1; Iy1=1; Iz1=1; Ix2=1; Iy2=1; Iz2=1;
     m1=1;  m2=1;   s=0;   E=1;

    // parse parameters
    int i;
    for (i=0; i<args.length; ++i)
      if (args[i].equals("p1")) {
        x1 = Double.valueOf(args[++i]).doubleValue();
        y1 = Double.valueOf(args[++i]).doubleValue();
        z1 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("p2")) {
        x2 = Double.valueOf(args[++i]).doubleValue();
        y2 = Double.valueOf(args[++i]).doubleValue();
        z2 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("v1")) {
        vx1 = Double.valueOf(args[++i]).doubleValue();
        vy1 = Double.valueOf(args[++i]).doubleValue();
        vz1 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("v2")) {
        vx2 = Double.valueOf(args[++i]).doubleValue();
        vy2 = Double.valueOf(args[++i]).doubleValue();
        vz2 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("w1")) {
        wx1 = Double.valueOf(args[++i]).doubleValue();
        wy1 = Double.valueOf(args[++i]).doubleValue();
        wz1 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("w2")) {
        wx2 = Double.valueOf(args[++i]).doubleValue();
        wy2 = Double.valueOf(args[++i]).doubleValue();
        wz2 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("I1")) {
        Ix1 = Double.valueOf(args[++i]).doubleValue();
        Iy1 = Double.valueOf(args[++i]).doubleValue();
        Iz1 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("I2")) {
        Ix2 = Double.valueOf(args[++i]).doubleValue();
        Iy2 = Double.valueOf(args[++i]).doubleValue();
        Iz2 = Double.valueOf(args[++i]).doubleValue();
      }
      else if (args[i].equals("m1"))
        m1 = Double.valueOf(args[++i]).doubleValue();
      else if (args[i].equals("m2"))
        m2 = Double.valueOf(args[++i]).doubleValue();
      else if (args[i].equals("s"))
        s = Double.valueOf(args[++i]).doubleValue();
      else if (args[i].equals("E"))
        E = Double.valueOf(args[++i]).doubleValue();
      else
        System.out.println("Unknown parameter "+i+" is "+args[i]);

    // These are some temporary variables

    double EE, P, M;
    double Ay, Az;
    double t1, t2, t3;

    EE = -1*E*(vx1 - vx2 - wy1*z1 + wy2*z2 + wz1*y1 - wz2*y2);
    P = (z1*z1/Iy1 + z2*z2/Iy2 + y1*y1/Iz1 + y2*y2/Iz2)*m1*m2;
    M = m1 + m2;
    Ay = (m1*vy1 + m2*vy2)/M;
    Az = (m1*vz1 + m2*vz2)/M;

    // Compute cy and cz

    cy1 = (1 - s)*vy1 + s*Ay;
    cz1 = (1 - s)*vz1 + s*Az;
    cy2 = (1 - s)*vy2 + s*Ay;
    cz2 = (1 - s)*vz2 + s*Az;

    // Compute cx

    t1 = (EE + wy1*z1 - wy2*z2 - wz1*y1 + wz2*y2)*m2;
    t2 = (vz2 - vz1)*(x1*z1/Iy1 + x2*z2/Iy2) +
         (vy2 - vy1)*(x1*y1/Iz1 + x2*y2/Iz2);
    t3 = P*vx1 + m1*vx1 + m2*vx2;

    cx1 = (t1 + m1/M*m2*m2*s*t2 + t3) / (M + P);
    cx2 = m1/m2*(vx1 - cx1) + vx2;

    // Compute o1 and o2

    ox1 = m1/Ix1*s*((Ay - vy1)*z1 - (Az - vz1)*y1) + wx1;
    ox2 = m2/Ix2*s*((Ay - vy2)*z2 - (Az - vz2)*y2) + wx2;
    oy1 = m1/Iy1*((vx1 - cx1)*z1 + (Az - vz1)*s*x1) + wy1;
    oy2 = m2/Iy2*((vx2 - cx2)*z2 + (Az - vz2)*s*x2) + wy2;
    oz1 = m1/Iz1*((cx1 - vx1)*y1 - (Ay - vy1)*s*x1) + wz1;
    oz2 = m2/Iz2*((cx2 - vx2)*y2 - (Ay - vy2)*s*x2) + wz2;

    System.out.println("p1 = \t"+ x1+"\t"+ y1+"\t"+ z1);
    System.out.println("p2 = \t"+ x2+"\t"+ y2+"\t"+ z2);
    System.out.println("v1 = \t"+vx1+"\t"+vy1+"\t"+vz1);
    System.out.println("v2 = \t"+vx2+"\t"+vy2+"\t"+vz2);
    System.out.println("w1 = \t"+wx1+"\t"+wy1+"\t"+wz1);
    System.out.println("w2 = \t"+wx2+"\t"+wy2+"\t"+wz2);
    System.out.println("c1 = \t"+cx1+"\t"+cy1+"\t"+cz1);
    System.out.println("c2 = \t"+cx2+"\t"+cy2+"\t"+cz2);
    System.out.println("o1 = \t"+ox1+"\t"+oy1+"\t"+oz1);
    System.out.println("o2 = \t"+ox2+"\t"+oy2+"\t"+oz2);
    System.out.println("I1 = \t"+Ix1+"\t"+Iy1+"\t"+Iz1);
    System.out.println("I2 = \t"+Ix2+"\t"+Iy2+"\t"+Iz2);
    System.out.println("m1 = \t"+m1);
    System.out.println("m2 = \t"+m2);
    System.out.println("s,E = \t"+s+"\t"+E);
    System.out.println("EE,P,M = \t"+EE+"\t"+P+"\t"+M);
    System.out.println("Ay = \t"+Ay);
    System.out.println("Az = \t"+Az);
    System.out.println("t = \t"+ t1+"\t"+ t2+"\t"+ t3);
  }
}