#include<bits/stdc++.h>
using namespace std;
typedef long long ll;
typedef long double ld;
const ld eps = 1e-8;
const int N = 50009;
const ld pi = acos(-1);
struct Point {
ld x, y;
Point(ld X = 0, ld Y = 0) { x = X, y = Y; }
Point operator-(Point a) { return Point(x - a.x, y - a.y); }
Point operator+(Point a) { return Point(x + a.x, y + a.y); }
ld operator*(Point a) { return x * a.y - y * a.x; }
ld operator^(Point a) { return x * a.x + y * a.y; }
Point operator*(ld a) { return Point(x * a, y * a); }
Point rotate(ld thi) {
return Point(x * cos(thi) + y * sin(thi), -x * sin(thi) + y * cos(thi));
}
ld dis() { return sqrt(x * x + y * y); }
void out() { printf("%.2Lf %.2Lf
", x, y); }
} p[N];
int stk[N], used[N];
int dcmp(ld a, ld b) {
if (fabs(a - b) < eps)
return 0;
else if (a > b)
return 1;
else
return -1;
}
typedef Point Vector;
struct Line {
Point s;
Vector dir;
};
ld angle(Vector v1, Vector v2) { return acos(v1 ^ v2) / v1.dis() / v2.dis(); }
void out(ld x) { printf("%.2Lf
", x); }
bool cmp(Point a, Point b ) {
if (dcmp(a.x, b.x)==0) {
return a.y > b.y;
}
return a.x < b.x;
}
void solve() {
int n;
cin >> n;
ld a, b, r;
cin >> a >> b >> r;
int idn = 0;
for (int i = 1; i <= n; i ++) {
ld x, y, thi;
cin >> x >> y >> thi;
Point v1, v2, v3, v4;
Point v = {x, y};
v1 = {x + b/2 - r, y + a/2 - r};
v2 = {x + b/2 - r, y - a/2 + r};
v3 = {x - b/2 + r, y - a/2 + r};
v4 = {x - b/2 + r, y + a/2 - r};
v1 = v1 - v;
v2 = v2 - v;
v3 = v3 - v;
v4 = v4 - v;
v1 = v1.rotate(-thi);
v2 = v2.rotate(-thi);
v3 = v3.rotate(-thi);
v4 = v4.rotate(-thi);
p[++idn] = v1 - v;
p[++idn] = v2 - v;
p[++idn] = v3 - v;
p[++idn] = v4 - v;
}
n = idn;
sort(p + 1, p + 1 + n, cmp);
int tp = 1;
stk[tp] = 1;
for (int i = 2; i <= n; i ++) {
while (tp >= 2 && dcmp((p[i] - p[stk[tp]]) * (p[i] - p[stk[tp-1]]), 0) >= 0) {
used[stk[tp--]] = 0;
}
stk[++tp] = i;
used[i] = 1;
}
int tmp = tp;
for (int i = n-1; i >= 1; i--) {
if (used[i])continue;
while (tp >= tmp + 1 && dcmp((p[i] - p[stk[tp]]) * (p[i] - p[stk[tp-1]]), 0) >= 0)tp--;
stk[++tp] = i;
used[i] = 1;
}
ld ans = 0;
for (int i = 1; i < tp; i ++) {
ans += (p[stk[i + 1]] - p[stk[i]]).dis();
}
printf("%.2Lf
", ans + 2 * pi * r);
}
signed main() {
ll t = 1;//cin >> t;
while (t--) {
solve();
}
}