{

public:

string nearMiss(vector <int> p1, vector <int> v1, vector <int> p2, vector <int> v2, int R)

{

int r[3], v[3];

for(int i = 0; i < 3; i++){

r[i] = p1[i]-p2[i];

v[i] = v1[i]-v2[i];

}

int num = -(r[0]*v[0]+r[1]*v[1]+r[2]*v[2]);

int dnum = (v[0]*v[0]+v[1]*v[1]+v[2]*v[2]);

if((r[0]*r[0]+r[1]*r[1]+r[2]*r[2]) < R*R)

return "YES";

if(dnum == 0 || num < 0) return "NO";

double t = num/dnum;

double rx = 0.0;

for(int i = 0; i < 3; i++)

rx += (p1[i]+v1[i]*t-p2[i]-v2[i]*t)*(p1[i]+v1[i]*t-p2[i]-v2[i]*t);

if(rx <= R*R) return "YES";

else return "NO";

}