合工大机器人足球仿真考试题56题(底层uva)

题目要求

//拿球后行为,利用已有 Worldmodel(21)
(1)在 playOn 模式下,拿到球以后朝前方快速带球。
(2)在 PlayOn 模式下,拿到球以后朝球门方向慢速带球。
(3)在 playOn 模式下,拿到球以后把球围绕自己身体逆时针转。
(4)在 playOn 模式下,拿到球后,有人逼抢(自身周围 7 米范围有至少 1 名对方
球员),则把球踢到距离对手的另外一侧,安全带球(如对手在右侧,把球踢
到左侧,如对手仔左侧,把球踢到右侧)。
(5)在 playOn 模式下,拿到球以后,有人逼抢,传球给最近的队友;否则向球门
方向快速带球。
(6)在 playOn 模式下,如果有人逼抢(自身周围 7 米范围有至少 1 名对方球员), 则安全带球;否则向球门方向快速带球。
(7)在 PlayOn 模式下,若前方没有对方球员,则直接以最大速度向对方球门射门
(周期数为偶数,球门的右侧射门,周期为奇数,向球门的左侧射门)。
(8)在 playOn 模式下,拿到球后,在本方半场踢到球场中心点;过了半场,快速
带球到对方球门。
(9)在 PlayOn 模式下,拿到球后,把传给最近的周围没人防守的队友(没有人防
守以其周围 5 米范围是否有对方球员为准)脚下。
(10) 在 playOn 模式下,拿到球后,把球传给最靠近自己的前方的没人防守的
队友(判断队友身边 5 米范围是否有对方防守队员)。
(11) 在 playOn 模式下,拿到球后以后,在本方半场传给次近的队友;在对方
半场,非 10 号球员传球给 10 号球员,10 号球员则快速向球门方向带球。
(12) 在 playOn 模式下,如果在本方半场,则朝前方慢速带球,如果在对方半
场,则朝球门快速带球。
(13) 在 playOn 模式下,拿到球后,如果是 2 号,则把球踢到左侧边线,如果
是 5 号,则把球踢到右侧边线,并把脖子方向转向球;其他球员则向前带球。
(14) 在 playOn 模式下,拿到球后,如果 4 号,则传球给 7 号; 否则的话,传
球给最近的队友;到对方禁区后以最大速度射向空隙大的球门一侧。
(15) 在 playOn 模式下,拿球后垂直带球。
(16) 在 playOn 模式下,拿到球后带球到达球场中心;在球场中心附近位置(中 心位置周围 2 米半径范围内)传给最近的球员。
(17) 在 playOn 模式下,如果 10 号控球,则其带球前进,然后 5 号跟着 10
号一起前进,两球员在同一水平线上,且距离为 5。
(18) 在 playon 模式下,如果是 10 号球员,在可踢球的状态下,如果自身的
x 轴坐标大于 30,则直接朝着离对方球员远的球门点射门。
(19) 在 playOn 模式下,如果是 9 号拿到球,则令 9 号和 10 号同时冲至敌方
球门处,在球门前,9 号传给 10 号,由 10 号进行射门
(20) 在 playOn 模式下,如果我是 4 号球员并且拿到了球,则传给 7 号球员,
同时 7 号球员再传给 9 号球员,9 号球员继续以最大速度冲到球门处射门。
(21) 在 playOn 模式下,如果在我方半场拿到球,则向中场线以最大的速度踢,
如果在敌方半场拿到球,则向敌方球门处以最大的速度踢
//拿球以后,需要自己添加 WorldModel 函数(12)
(22) 在 playOn 模式下,拿球后传球给更靠近对方球门的最近队友。
(23) 在 playOn 模式下,拿球后,搜索前方-30~30 之间距离自己 20 米内是否
有队友,如果有则传给该队友,否则自己带球。
(24) 在 playon 模式下,求出 y 轴等于 0 的两侧的对方球员数量,将球传向对
手少的一方,并且 x 轴值最大的队友。
(25) 在 playon 模式下,如果自身 7 米范围内有两个或两个以上的对手的话,
则传球到 x 轴值最大的队友。
(26) 在 playon 模式下,求出己方的越位线,存在可以踢球的队友的话,如果
自身是 10 号。那么 10 球员垂直跑向越位线的 x 轴值-2 米,y 轴不变的点。
(27) 在 playon 的模式下,求出球运动方向(即求出其对应的直线方程),并
且求出自己到该直线的距离,如果距离小于 4 的话,那么就垂直跑向该条直
线。
(28) 在 playon 的模式下,如果是自己可以踢球的状态下,如果自身 7 米内没
有对方球员的话,则快速带球,带球方向是朝着点(53,0)方向。
(29) 在 playon 的模式下,如果距离球最近的是我方队友的话,如果我的 x
坐标小于 30 的话,并且我是 10 号,那么我跑向球的坐标加上(0,10)的坐
标位置。
(30) 在 playon 的模式下,发现前方没有队友的时候,如果自身 5 米内有两个
及两个以上的对手的话,那么将球传给最近的队友。
(31) 在 playon 的模式下,发现前方没有对方球员的时候,则快速向球门放向
带球,距离守门员 5-10 米时向空隙较大的一侧射门。
(32) 在 playon 的模式下,发现前方没有对方球员的时候,则快速向球门放向
带球,距离守门员 5-10 米时向空隙较大的一侧射门。
(33) 在 playon 的模式下,(8,9,10,11)前方没有对方球员的时候,则快 速向球门放向带球,距离守门员 5-10 米时向空隙较大的一侧射门。
//其他比赛模式下,进攻行为(8)
(34) 在本方角球模式下,如果自己是 10 号球员,则跑向角球点,并开球(球
可踢,则踢球给 9 号);如果自己是 9 号球员,则跑向距离角球点附近(随
机选一点),准备接应球,其他球员跑本位点.
(35) 在本方边线球模式下,如果自己是距离球最近的队员,跑向球;并开球
(球在自己脚下则把球传给最近的队友)。
(36) 在本方边线球模式下,在本方半场左侧,则由 2 号去发;如果是本方半
场右侧,则由 5 号去发;球在 2 号或者 5 号脚下,则踢向距离自己最近的队
友。
(37) 在本方边线球的模式下,如果我是距离第二近的队友的话,那么我也跑
朝着球的位置跑,直到距离球 7 米的范围。
(38) 在本方边线球的模式下,如果我是 4 号的话,并且距离球最近的队友不
是我,那么我将跑向球的坐标加上(5,0)的位置上去。
(39) 在本方边线球的模式下,如果我是距离球第二近的队友,那么我跑向距
离球 12 米的范围内,并且距离对方球门点(53,0)最近的点。
(40) 在本方边线球的模式下,距离球最近的队友跑向球并开球,如果我不是
距离球第二近的队友,那么我向自身向量(5,0)的方向跑去。
(41) 在本方边线球的模式下,距离球最近的队友跑向球并开球。如果我不是
距离球第二近的队友,那么求出距离球第二近的队友的坐标加上(10,5)的
点;如果该点在球场内,则跑向该点,如果该点在场外,则计算距离该点最 近的边界点。
//playOn 模式下,防守行为(8)
(42) 在 playOn 模式下,5 号球员与拿球的对方球员的距离始终为 5。
(43) 在 playOn 模式下,2 号和 4 号一起去盯防对方拿球队员。
(44) 在 playOn 模式下,如果对方 10 号拿球,如果我是 2、3、4 号,则去盯
防 10 号。
(45) 在 playOn 模式下,如对方 9 号拿球,我方 2、3、4 号距离球最近的球员
去盯防 9 号,其他队员盯防距离自己最近的对方球员
(46) 在 playOn 模式下,如果对方比我先接近球,则离球最近的队员去盯球,
其他球员盯防距离自己最近的对方球员。
(47) 在 playOn 模式下,如果对方 11 号拿到球,则 7 号球员从左边去断球,8 号球员从右边去断球。
(48) 在 playOn 模式下,防守模式下(即球不在我方球员脚下),我方 6 号球
员始终跟着敌方 9 号,我方 7 号始终跟着敌方 10 号,8 号球员始终跟着敌方
11 号球员。
(49) 在 playOn 模式下,防守模式下(即球不在我方球员脚下),我方距离球
最近的 2 名队员负责去盯防对方离球最近的球员,其他球员其他球员采用人 球都盯的方式盯防防距离自己最近的对方球员(即跑到距离自己最近的对方
球员的可能接球路线的前面位置点) //其他比赛模式下,防守行为(7)
(50) 在对方边线球的模式下,如果我是 4 号,那么我就跑向距离球最近的对
方球员处。
(51) 在对方边线球的模式下,如果我是距离球第二近的队员的话,那么我跑
向距离球第二近的对方球员的位置。
(52) 在对方角球模式情况下,如果球在我方左侧,则 2,3,6,7 号平均分布
在以球的位置为圆心,半径 10 米的圆弧上(其中 2 号的初始位置可以自行设
定,间距也可以自行设定,但是需要保证 2,3,6,7 都在场内);如果球在
我方右侧,则 4,5,7,8 号平均分布在以球的位置为圆心,半径 10 米的圆 弧上(其中 4 号的初始位置可以自行设定,间距也可以自行设定,但是需要
保证 4,5,7,8 都在场内)。
(53) 在对方边线球的模式下,如果我不是距离球最近的队友,并且我的 x 轴
坐标大于 0 的话,那么我跑向自身位置加(-10,0)的点的位置去。
(54) 在对方边线球的模式下,如果我身边 5 米内有对方球员的话,那么我跑
向身边对方球员的位置,并且我的 x 轴坐标的值要比该对方的大 2。
(55) 在对方边线球的模式下,如果球的位置的 x 轴小于 0,如果我是 4 号或 5
号的话,一起跑向距离球第二近的对方球员的位置。
(56) 在对方角球模式情况下,如果球在我方左侧,则 2,3 号负责盯防对方距 离球第二近的对方球员;如果球在我方右侧,则 4,5 号负责盯防对方距离球
第二近的对方球员。

注:本代码中的fabs(),sqrt()函数,由于使用的时候编译器报错,添加了文件还是报错,所以使用这两个函数的时候注意。
本代码未经测试,仅供参考,如有错误,欢迎指正!如有更好地思路,欢迎交流!

添加函数
WorldModel.h
    /*************************add***************************/
    /*----------------start---------------------*/
    ObjectT getTeammateClosestToGoalAndAgent();
    ObjectT getTeammateAtAngleDist( AngDeg ang1, AngDeg ang2, double dist );
    int getOpponentNumSideY( int mark );
    ObjectT getXMaxTeammateBySide( int mark );
    ObjectT getClosestFlagToPos( VecPosition pos );
    bool isTeammateAtAngle( AngDeg ang1, AngDeg ang2 );
    double getAgentDistFromGoalie();
    ObjectT getNearestBallObj( ObjectT obj1, ObjectT obj2);
    ObjectT getOppByDistAndPos( double dist, double x, double y );
    /*----------------end----------------------*/
WorldModel.cpp
/****************************add***************************/
/*----------------------start-------------------------------*/
ObjectT WorldModel::getTeammateClosestToGoalAndAgent()
{
    int iIndex;
    ObjectT closeAgent = OBJECT_ILLEGAL;
    ObjectT closeBoth = OBJECT_ILLEGAL;
    VecPosition posGoal( 52.5, 0 );
    VecPosition posAgent = getGlobalPosition( getAgentObjectType() );
    
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES))
    {  
        if( closeAgent==OBJECT_ILLEGAL || posAgent.getDistanceTo( o )<posAgent.getDistanceTo( closeAgent ))
        {
            closeAgent = o;
            if( closeBoth==OBJECT_ILLEGAL || posGoal.getDistanceTo( closeAgent )<posGoal.getDistanceTo( closeBoth ))
                closeBoth = closeAgent;
        }   
    }
    iterateObjectDone( iIndex );
    return closeBoth; 
}

ObjectT WorldModel::getTeammateAtAngleDist( AngDeg ang1, AngDeg ang2, double dist)
{
    VecPosition posAgent = getAgentGlobalPosition();
    VecPosition posTeammate;
    AngDeg ang;
    int iIndex;
    
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES))
    {
        posTeammate = getGlobalPosition( o );
        ang = (posTeammate - posAgent).getDirection();
        if( (ang>=ang1 && ang<=ang2) && (posAgent.getDistanceTo(posTeammate) < dist))
            return o;
    }
    iterateObjectDone(iIndex);
    
    return OBJECT_UNKNOWN;
}

int WorldModel::getOpponentNumSideY( int mark )// mark<0获得 Y<0半场 对方球员 数
{
    VecPosition posOpp;
    int iIndex;
    int oppNumT;
    int oppNumB;
    
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS))
    {
        posOpp = getGlobalPosition( o );
        if( posOpp.getY() < 0 )
            oppNumT++;
        else if( posOpp.getY() > 0)
            oppNumB++;
    }
    iterateObjectDone(iIndex);
    
    if( mark < 0)
        return oppNumT;
    else if( mark > 0)
        return oppNumB;
    else
        return 65001;
}

ObjectT WorldModel::getXMaxTeammateBySide( int mark )// mark<0获得 Y<0半场
{
    int iIndex;
    ObjectT maxTeammate = OBJECT_ILLEGAL;
    
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES))
    {
        VecPosition pos = getGlobalPosition( o );
        if( (pos.getY()<0 && mark<0) || (pos.getY()>0 && mark>0) )
        {
            if( maxTeammate==OBJECT_ILLEGAL || pos.getX()>getGlobalPosition( maxTeammate ).getX() )
                maxTeammate = o;
        }
    }
    iterateObjectDone( iIndex );
    return  maxTeammate; 
}

ObjectT WorldModel::getClosestFlagToPos( VecPosition pos )
{
    int iIndex;
    double dist = 65001;
    ObjectT flag = OBJECT_ILLEGAL; 
    
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_FLAGS);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_FLAGS))
    {
        if( pos.getDistanceTo( o ) < dist )
        {
            dist = pos.getDistanceTo( o );
            flag = o;
        }
    }
    iterateObjectDone( iIndex );
    return flag; 
}
bool WorldModel::isTeammateAtAngle( AngDeg ang1, AngDeg ang2 )
{
    VecPosition posAgent = getAgentGlobalPosition();
    VecPosition posTeammate;
    AngDeg ang;
    int iIndex;
    
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES))
    {
        posTeammate = getGlobalPosition( o );
        ang = (posTeammate - posAgent).getDirection();
        if( ang>=ang1 && ang<=ang2 )
            return true;    
    }
    iterateObjectDone(iIndex);
    return false;
}

double WorldModel::getAgentDistFromGoalie()
{
    VecPosition posAgent = getAgentGlobalPosition();
    VecPosition posGoalie = getGlobalPosition( getOppGoalieType() );
    
    return  posAgent.getDistanceTo( posGoalie );

}

ObjectT WorldModel::getNearestBallObj( ObjectT obj1, ObjectT obj2)
{
    VecPosition pos1 = getGlobalPosition( obj1 );
    VecPosition pos2 = getGlobalPosition( obj2 );
    VecPosition posBall = getGlobalPosition( OBJECT_BALL );
    double dist1 = posBall.getDistanceTo( pos1 );
    double dist2 = posBall.getDistanceTo( pos2 );
    if( dist1 >= dist2 )
        return obj1;
    else
        return obj2;
}

//获得与我距离dist,x轴坐标值相差x,y轴坐标值相差y的对方球员
ObjectT WorldModel::getOppByDistAndPos( const double dist, const double x, const double y )
{
    int iIndex;
    VecPosition posAgent = getAgentGlobalPosition();
    for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS);
         o == OBJECT_ILLEGAL;
         o = iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS))
    {
        VecPosition pos = getGlobalPosition( o );
        if( posAgent.getDistanceTo( o )==dist && (posAgent.getX()-pos.getX())==x &&(posAgent.getY()-pos.getY())==y )
            return o;
    }
    iterateObjectDone( iIndex );
}
/*-----------------------end------------------------------*/


PlayerTeams.cpp
 /*********************exam questions****************************/
        /*---------------------------start-------------------------------*/
        /*1*/
        if( WM->isBallKickable() )
        {
            AngDeg ang = 0.0;
            soc = dribble( ang, DRIBBLE_FAST );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*2*/
        if( WM->isBallKickable() )
        {
            VecPosition vec = VecPosition(52.5, 0) - WM->getAgentGlobalPosition();//我的位置到球门位置的向量
            AngDeg ang = vec.getDirection(); //获得角度
            soc = dribble( ang, DRIBBLE_SLOW );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*3*/
        if( WM->isBallKickable() )
        {
            soc = kickBallCloseToBody(-180);//逆时针旋转角度为负
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*4*/
        if( WM->isBallKickable() )
        {
            Circle cir( posAgent, 7.0 );  //建立以自身位置 为圆心,7 为半径的圆
            int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir ); //获得圆内 对方球员的个数
            if( oppNum >= 1 )
            {
                ObjectT opp = WM->getClosestInSetTo(OBJECT_SET_OPPONENTS, posAgent);//获得 离我最近的对方球员
                VecPosition oppPos = WM->getGlobalPosition(opp);  //获得他的  位置
                VecPosition  meOpp = oppPos - posAgent; // 我与他连线的向量
                AngDeg ang = meOpp.getDirection();
                if( ang >= 0 )
                {
                    ang -= 60;
                }
                else
                {
                    ang += 60;
                }
                soc = dribble( ang, DRIBBLE_ILLEGAL );               
            }
            else
            {
                soc = dribble( 0.0, DRIBBLE_FAST );//否则向前快速 带球,可写可不写
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*5*/
        if( WM->isBallKickable() )
        {
            Circle cir( posAgent, 7.0 );
            int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
            if( oppNum >= 1)
            {
                ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );//获得离我最 近的队友
                VecPosition vec = WM->getGlobalPosition( teammate ) - posAgent;
                soc = kickTo( vec, PS->getPassEndSpeed() );
            }
            else
            {
                soc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_FAST );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*6*/
        if( WM->isBallKickable() )
        {
            Circle cir( posAgent, 7.0 );
            int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
            AngDeg ang = (VecPosition(52.5, 0) - posAgent).getDirection();
            if( oppNum >= 1)
            {
                soc = dribble( ang, DRIBBLE_ILLEGAL );
            }
            else
            {
                soc = dribble( ang, DRIBBLE_FAST );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*7*/
        if( WM->isBallKickable() )
        {
            if( WM->isOpponentAtAngle(-30.0, 30.0) )//如果  我前方60度范围内没有 对方球员
            {
                VecPosition posGoal( PITCH_LENGTH/2.0,
                                     (-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );//根据当前的周期数  交替的 踢向球门的 两个死角
                soc = kickTo( posGoal, SS->getBallSpeedMax() );
                ACT->putCommandInQueue( soc );
                ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
            }
        }
        
        /*8*/
        if( WM->isBallKickable() )
        {
            if( posBall.getX() < 0)// 球在我方半场
            {
                soc = kickTo( VecPosition(0.0, 0.0), PS->getPassEndSpeed() );
            }
            else
            {
                soc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_FAST );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*9*/
        if( WM->isBallKickable() )
        {
            ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );
            Circle cir( WM->getGlobalPosition(teammate), 5.0 );
            int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
            if( oppNum <= 0 )
            {
                soc = leadingPass( teammate, PS->getPassEndSpeed() );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*10*/
        if( WM->isBallKickable() )
        {
            ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );
            VecPosition teammatePos = WM->getGlobalPosition( teammate );
            Circle cir( teammatePos, 5.0 );
            int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
            AngDeg ang = ( teammatePos - posAgent ).getDirection();
            if( oppNum<=0 && (ang>=-90 && ang<=90) )//判断 该 队友是否有人 防守 是否  在我  前方
            {
                soc = leadingPass( teammate, PS->getPassEndSpeed() );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*11*/
        if( WM->isBallKickable() )
        {
            if( posBall.getX() < 0 )
            {
                soc = leadingPass( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, WM->getAgentObjectType() ), PS->getPassEndSpeed() );
            }
            else
            {
                if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )//如果 我是 10号
                    soc = dribble( VecPosition(52.5, 0).getDirection(), DRIBBLE_FAST );
                else
                    soc = leadingPass( OBJECT_TEAMMATE_10, PS->getPassEndSpeed() );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*12*/
        if( WM->isBallKickable() )
        {
            if( posBall.getX() < 0)
                soc = dribble( 0.0, DRIBBLE_SLOW );
            else
                soc = dribble( (VecPosition(52.5, 0)- posAgent).getDirection(), DRIBBLE_FAST );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*13*/
        if( WM->isBallKickable() )
        {
            if( WM->getAgentObjectType() == OBJECT_TEAMMATE_2 )
            {
                soc = kickTo( VecPosition( posBall.getX(), -34 ), PS->getPassEndSpeed() );              
                ACT->putCommandInQueue( soc );
            }
            else if( WM->getAgentObjectType() == OBJECT_TEAMMATE_5 )
            {
                soc = kickTo( VecPosition( posBall.getX(), 34 ), PS->getPassEndSpeed() );
                ACT->putCommandInQueue( soc );
                ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
            }
            else
            {
                soc = dribble( 0.0, DRIBBLE_ILLEGAL );
                ACT->putCommandInQueue( soc );
                ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
            }
        }
        
        /*14*/
        if( WM->isBallKickable() )
        {
            if( WM->getAgentObjectType() == OBJECT_TEAMMATE_4 )
                soc = leadingPass( OBJECT_TEAMMATE_7, PS->getPassEndSpeed() );
            else
                soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent), PS->getPassEndSpeed() );
            if( WM->isInTheirPenaltyArea( posBall ))//如果在 对方禁区
            {
                 VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );//对方守门员位置
                 AngDeg meGoalie = (posGoalie - posAgent).getDirection();
                 AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();
                 AngDeg angBottom = ( VecPosition(52.5 -6.0) - posAgent ).getDirection();
                 // 由于编译器不支持我使用fabs()函数,所以这里采用这种形式求绝对值
                 AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);
                 AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);
                  if( ang1 >= ang2 )
                      soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );
                  else
                      soc = kickTo( VecPosition(52.5, -6.0) - posAgent, SS->getBallSpeedMax() );
                  ACT->putCommandInQueue( soc );
                  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
            }
        }
        
        /*15*/
        if( WM->isBallKickable() )
        {
            //  沿着y轴 跑
            if( posBall.getY() <= 0)
                soc = dribble( -90, DRIBBLE_SLOW );
            else
                soc = dribble( 90, DRIBBLE_SLOW );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*16*/
        if( WM->isBallKickable() )
        {
            soc = dribble( (VecPosition(0,0)-posAgent).getDirection(), DRIBBLE_WITHBALL );//拿到球后带球到达球场中心
 
            ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );
            if( posAgent.getDistanceTo( teammate ) <= 2.0)
                soc = leadingPass( teammate, PS->getPassEndSpeed() );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
            
        /*17*/
        if( WM->getPlayerNumber() == 10 )
        {
            soc = dribble( 0.0, DRIBBLE_WITHBALL );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        if( WM->getPlayerNumber() == 5)
        {
            VecPosition pos( posBall.getX() - 5, posBall.getY() ); //保持五米
            soc = moveToPos( pos, PS->getPlayerWhenToTurnAngle() );
            ACT->putCommandInQueue( soc );
        }
        
        /*18*/
        if( WM->getPlayerNumber()==10 && WM->isBallKickable() && posAgent.getX()>30 )
        {
            VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );
            AngDeg meGoalie = (posGoalie - posAgent).getDirection();
            AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();
            AngDeg angBottom = ( VecPosition(52.5 -6.0) - posAgent ).getDirection();
            // 由于编译器不支持我使用fabs()函数,所以这里采用这种形式求绝对值
            //AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);
            //AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);
             if( fabs(angTop-meGoalie) >= fabs(angBottom-meGoalie) )
                 soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );
             else
                 soc = kickTo( VecPosition(52.5, -6.0) - posAgent, SS->getBallSpeedMax() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*19*/
        if( WM->getPlayerNumber()==9 && WM->isBallKickable() )
        {
            soc = dribble( (VecPosition(52.5, 0)-posAgent).getDirection(), DRIBBLE_FAST );//9号快速带球  到球门 处
            if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )
                soc = dashToPoint( VecPosition(52.5, 0), WM->getCurrentCycle() );//10号跑向球门
            if( WM->isInTheirPenaltyArea( posBall ) )
            {
                soc = leadingPass( OBJECT_TEAMMATE_10, PS->getPassEndSpeed() );//传球给 10号
                if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )
                    soc = kickTo( (VecPosition(52.5, 0) - posAgent).getDirection(), SS->getBallSpeedMax() );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*20*/
        if( WM->getPlayerNumber()==4 && WM->isBallKickable() )
        {
            soc = leadingPass( OBJECT_TEAMMATE_7, PS->getPassEndSpeed() );
            if( WM->getAgentObjectType()==OBJECT_TEAMMATE_7 && WM->isBallKickable() )//7号拿球    可踢
                soc = leadingPass( OBJECT_TEAMMATE_9, PS->getPassEndSpeed() ); // 传给9号
            if( WM->getAgentObjectType()==OBJECT_TEAMMATE_9 && WM->isBallKickable() )//9号拿球   可踢
            {
                if( WM->getRelativeDistance( WM->getOppGoalieType() ) >= 20 )//距离对方球门较远时
                    soc =  dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_FAST );//快速向球门带球
                 soc = kickTo( VecPosition(52.5, 0), SS->getBallSpeedMax() );
            }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*21*/
        if( WM->isBallKickable() && posBall.getX()<0 )
            soc = kickTo( VecPosition( 0, posBall.getY() ), SS->getBallSpeedMax() );
        else if( WM->isBallKickable() && posBall.getX()>0)
            soc = kickTo( VecPosition(52.5, 0), SS->getBallSpeedMax() );
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        
        /*22*/
        if( WM->isBallKickable() )
        {
            soc = leadingPass( WM->getTeammateClosestToGoalAndAgent(), PS->getPassEndSpeed() );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*23*/
        if( WM->isBallKickable() )
        {
            ObjectT o = WM->getTeammateAtAngleDist(-30, 30, 20.0);
            if( o != OBJECT_UNKNOWN )
                soc = leadingPass( o, PS->getPassEndSpeed() );
            else
                soc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_ILLEGAL );
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
        }
        
        /*24*/
         if( WM->isBallKickable() )
         {
             ObjectT maxX;
             if( WM->getOpponentNumSideY( -1 ) > WM->getOpponentNumSideY( 1 ))// 我方半场 对方球员 较多
                  maxX = WM->getXMaxTeammateBySide( 1 );
             else
                 maxX = WM->getXMaxTeammateBySide( -1 );
             soc = leadingPass( maxX, PS->getPassEndSpeed() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
             
         }
         
         /*25*/
         if( WM->isBallKickable() )
         {
             Circle cir( posAgent, 7.0 );
             int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
             if( oppNum >= 2)
             {
                 ObjectT mate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, VecPosition( 52.0, 0) );// x 最大的队友 离对方 球门最近
                 soc = leadingPass( mate, PS->getPassEndSpeed() );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*26*/
         if( WM->getPlayerNumber()==10 && WM->isBallInOurPossesion() )
             soc = moveToPos( VecPosition(WM->getOffsideX()-2, posAgent.getY() ), 30);
         ACT->putCommandInQueue( soc );
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         
         /*27*/
         Line ballLine = Line::makeLineFromPositionAndAngle( WM->getBallPos(), WM->getBallDirection() );//  根据球的位置和方向 角 创建直线
         if( ballLine.getDistanceWithPoint( posAgent ) < 4)
             soc = moveToPos( ballLine.getPointOnLineClosestTo( posAgent ), 30);
         ACT->putCommandInQueue( soc );
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         
         /*28*/
         if( WM->isBallKickable() )
         {
             Circle cir( posAgent, 7.0 );
             int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
             if( oppNum <= 0 )
                 soc = dribble( (VecPosition(53.0, 0)-posAgent).getDirection(), DRIBBLE_FAST );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*29*/
         if( WM->isBallInOurPossesion() && posAgent.getX()<30 && WM->getPlayerNumber()==10 )
         {
             soc = moveToPos( (VecPosition(0, 10)+posAgent), 30);
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*30*/
         if( WM->isBallKickable() )
         {
             Circle cir( posAgent, 5.0 );
             int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
             if( oppNum>=2 && WM->isTeammateAtAngle(-30, 30) )
                 soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent), PS->getPassEndSpeed() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*31*/
         if( WM->isBallKickable() )
         {
             if( !WM->isOpponentAtAngle( -30, 30 ) )
                 soc = dribble( (VecPosition(52.5, 0)-posAgent).getDirection(), DRIBBLE_FAST );
             double dist = WM->getAgentDistFromGoalie();
             if( dist>=5 && dist<=10 )
             {
                 VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );//对方守门员位置
                 AngDeg meGoalie = (posGoalie - posAgent).getDirection();
                 AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();
                 AngDeg angBottom = ( VecPosition(52.5, -6.0) - posAgent ).getDirection();
                 // 由于编译器不支持我使用fabs()函数,所以这里采用这种形式求绝对值
                 //AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);
                 //AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);
                  if( fabs(angTop-meGoalie) >= fabs(angBottom-meGoalie) )
                      soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );
                  else
                      soc = kickTo( VecPosition(52.5 -6.0) - posAgent, SS->getBallSpeedMax() );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*33*/
         int playNum = WM->getPlayerNumber();
         if( (playNum==8 || playNum==9 || playNum==10 || playNum==11) && WM->isOpponentAtAngle( -30, 30 ) )
         {
             soc = dribble( (VecPosition(52.5, 0)-posAgent).getDirection(), DRIBBLE_FAST );
             double dist = WM->getAgentDistFromGoalie();
             if( dist>=5 && dist<=10 )
             {
                 VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );//对方守门员位置
                 AngDeg meGoalie = (posGoalie - posAgent).getDirection();
                 AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();
                 AngDeg angBottom = ( VecPosition(52.5, -6.0) - posAgent ).getDirection();
                 // 由于编译器不支持我使用fabs()函数,所以这里采用这种形式求绝对值
                 //AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);
                 //AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);
                  if( fabs(angTop-meGoalie) >= fabs(angBottom-meGoalie) )
                      soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );
                  else
                      soc = kickTo( VecPosition(52.5 -6.0) - posAgent, SS->getBallSpeedMax() );
             }
            ACT->putCommandInQueue( soc );
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*34*/
         if( WM->isCornerKickUs() )
         {
             if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )
             {
                 if( WM->isBallKickable() )
                     soc = leadingPass( OBJECT_TEAMMATE_9, PS->getPassEndSpeed() );
                 else
                     soc = moveToPos( posBall, 30);
             }
             if( WM->getAgentObjectType() == OBJECT_TEAMMATE_9 )    
             {
                 VecPosition pos;
                 pos.setX( posBall.getX() );
                 if( posBall.getY() > 0 )
                     pos.setY( posBall.getY() - 10 );
                 else
                     pos.setY( posBall.getY() + 10 );
                 soc = moveToPos( pos, 30 );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*35*/
         if( WM->isOffsideUs() )
         {
             if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) == WM->getAgentObjectType() )
                soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );
              if( WM->isBallKickable() )
                  soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, WM->getAgentObjectType() ), PS->getPassEndSpeed() );
              ACT->putCommandInQueue( soc );
              ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*36*/
         if( WM->isOffsideUs() )
         {
             if( posBall.getX()<0 && posBall.getY()<0 && WM->getAgentObjectType()==OBJECT_TEAMMATE_2 )
                 soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );
             else if( posBall.getX()<0 && posBall.getY()>0 && WM->getAgentObjectType()==OBJECT_TEAMMATE_5 )
                 soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );
             if( WM->isBallKickable() && (WM->getAgentObjectType()==OBJECT_TEAMMATE_2 || WM->getAgentObjectType()==OBJECT_TEAMMATE_5) )
                 soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, WM->getAgentObjectType() ), PS->getPassEndSpeed() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );      
         }
         
         /*37*/
         if( WM->isOffsideUs() )
         {
             double dist = sqrt((posAgent.getX()-posBall.getX())*(posAgent.getX()-posBall.getX()) + (posAgent.getY()-posBall.getY())*(posAgent.getY()-posBall.getY()));
             if( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL)==WM->getAgentObjectType() && dist>=7 )
             {
                 VecPosition pos = posBall - posAgent;
                 double d = posBall.getDistanceTo( posAgent );
                 VecPosition target( (pos.getX()/d)*7.0, (pos.getY()/d)*7.0 );
                 soc = moveToPos( posAgent+target, PS->getPlayerWhenToTurnAngle() );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
         }
         
         /*38*/
         if( WM->isOffsideUs() )
         {
             if( WM->getPlayerNumber() == 4)
             {
                 if( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) != WM->getAgentObjectType() )
                     soc = moveToPos( posBall+VecPosition( 5, 0 ), PS->getPlayerWhenToTurnAngle() );
                 ACT->putCommandInQueue( soc );
                 ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
             }
         }
         
         /*39*/
         if( WM->isOffsideUs() )
         {
             if( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) == WM->getAgentObjectType() )
             {
                 VecPosition posGoal( 53, 0 );
                 double dist = posBall.getDistanceTo( posGoal );// 球和 球门间的 距离
                 if( dist > 12 )
                 {
                     VecPosition pos = posGoal - posBall;
                     VecPosition target( (pos.getX()/dist)*12, (pos.getY()/dist)*12 );
                     soc = moveToPos( posBall+target, PS->getPlayerWhenToTurnAngle() );//  球员在 球与球门 连线上, 距离球12
                     ACT->putCommandInQueue( soc );
                     ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
                 }
             }
         }
         
         /*40*/
         if( WM->isOffsideUs() )
         {
             ObjectT nearestMate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             if( nearestMate == WM->getAgentObjectType() )
                 soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );
             if( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) != WM->getAgentObjectType() )
                 soc = moveToPos( posAgent+VecPosition( 5, 0 ), PS->getPlayerWhenToTurnAngle() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
         }
         
         /*41*/
         if( WM->isOffsideUs() )
         {  
             if( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) == WM->getAgentObjectType() )
                 soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );
             ObjectT secNear = WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             if( secNear != WM->getAgentObjectType() )
             {
                 VecPosition pos = WM->getGlobalPosition( secNear ) + VecPosition( 10, 5 );
                 if( WM->isInField( pos ) )
                     soc = moveToPos( pos, PS->getPlayerWhenToTurnAngle() );
                 else
                 {
                     ObjectT o = WM->getClosestFlagToPos( pos );
                     soc = moveToPos( WM->getGlobalPosition( o ), PS ->getPlayerWhenToTurnAngle() );
                 }   
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
         }
         
         /*42*/
         if( WM->getPlayerNumber() == 5)
         {
             ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
             VecPosition posOpp = WM->getGlobalPosition( oppBallKeeper );
             VecPosition pos =  posAgent - posOpp;
             double d = posOpp.getDistanceTo( posAgent );
             VecPosition target( (pos.getX()/d)*5, (pos.getY()/d)*5 );
             soc = moveToPos( posOpp+target, PS->getPlayerWhenToTurnAngle() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
         }
         
         /*43*/
         if( WM->getPlayerNumber()==2 || WM->getPlayerNumber()==4)
         {
             ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
             soc = mark( oppBallKeeper, 0.0, MARK_BALL );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
         }
         
         /*44*/
         ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
         if( oppBallKeeper == OBJECT_OPPONENT_10 )
         {
              if( WM->getAgentObjectType()==OBJECT_TEAMMATE_2
                  || WM->getAgentObjectType()==OBJECT_TEAMMATE_3
                  || WM->getAgentObjectType()==OBJECT_TEAMMATE_4 )
              {
                  soc = mark( oppBallKeeper, 0.0, MARK_BISECTOR );
                  ACT->putCommandInQueue( soc );
                  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
              } 
         }
         
         /*45*/
         ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
         if( oppBallKeeper == OBJECT_OPPONENT_9 )
         {
             ObjectT nearestBall = WM->getNearestBallObj( OBJECT_TEAMMATE_2, WM->getNearestBallObj( OBJECT_TEAMMATE_3, OBJECT_TEAMMATE_4 ) );
             if( nearestBall == WM->getAgentObjectType() )
                 soc = mark( oppBallKeeper, 0.0, MARK_BISECTOR );
             else
             {
                 ObjectT nearestOpp = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, WM->getAgentObjectType() );
                 soc = mark( nearestOpp, 0.0, MARK_ILLEGAL );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );  
         }
         
         /*46*/
         double *dist1;
         double *dist2;
         WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL, dist1 );
         WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, dist2 );
         if( *dist1 < *dist2 )
         {
             ObjectT nearestBall = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             if( nearestBall == WM->getAgentObjectType() )
                 soc = mark( nearestBall, 0.0, MARK_BISECTOR );
             else
                 soc = mark( WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, WM->getAgentObjectType() ), 5.0, MARK_ILLEGAL );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*47*/
         //这个所谓的左右,你就当自己是 站在球场上的球员,来判断左右。  注意 球场上y轴正方向 朝下
         if( !WM->isBallKickable() && WM->getAgentObjectType()==OBJECT_OPPONENT_11 )
         {
             if( WM->getPlayerNumber() == 7)
             {
                 soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_11 )+VecPosition( 0, -5 ), PS->getPlayerWhenToTurnAngle() );
                 soc = intercept( true );
             }
             else if( WM->getPlayerNumber() == 8 )
             {
                 soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_11 )+VecPosition( 0, 5 ), PS->getPlayerWhenToTurnAngle() );
                 soc = intercept( true );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*48*/
         if( !WM->isBallInOurPossesion() )
         {
             if( WM->getPlayerNumber() == 6 )
                 soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_9 ), PS->getPlayerWhenToTurnAngle() );
             else if( WM->getPlayerNumber() == 7 )
                 soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_10 ), PS->getPlayerWhenToTurnAngle() ); 
             else if( WM->getPlayerNumber() == 8 )
                 soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_11 ), PS->getPlayerWhenToTurnAngle() ); 
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*49*/
         if( !WM->isBallInOurPossesion() )
         {
             ObjectT teammate1 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             ObjectT teammate2 = WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             ObjectT opp = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
             //ObjectT opp2 = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
             if( WM->getAgentObjectType()==teammate1 || WM->getAgentObjectType()==teammate2 ) 
                 soc = mark( opp, 0.0, MARK_ILLEGAL );
             else
             {
                 ObjectT nearestOpp = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, WM->getAgentObjectType() );
                 VecPosition posOpp = WM->getGlobalPosition( nearestOpp );
                 VecPosition oppToBall = posBall - posOpp;
                 VecPosition target( oppToBall.getX()/2.0, oppToBall.getY()/2.0 );
                 soc = moveToPos( posAgent+target, PS->getPlayerWhenToTurnAngle() );// 跑到对方球员 与球连线的 中点
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*50*/
         if( WM->isOffsideThem() )
         {
             if( WM->getPlayerNumber() == 4)
                 soc = moveToPos( WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL ), PS->getPlayerWhenToTurnAngle() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*51*/
         if( WM->isOffsideThem() )
         {
             ObjectT o = WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             if( WM->getAgentObjectType() == o )
             {
                 ObjectT opp = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
                 soc = moveToPos( WM->getGlobalPosition( opp ), PS->getPlayerWhenToTurnAngle() );   
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*52*/
         if( WM->isCornerKickThem() )
         {
             if( posBall.getY() < 0 )
             {
                 VecPosition pos2 = WM->getGlobalPosition( OBJECT_TEAMMATE_2 );
                 VecPosition pos3 = WM->getGlobalPosition( OBJECT_TEAMMATE_3 );
                 VecPosition pos6 = WM->getGlobalPosition( OBJECT_TEAMMATE_6 );
                 VecPosition pos7 = WM->getGlobalPosition( OBJECT_TEAMMATE_7 );
                 if( WM->isInField( pos2 ) && WM->isInField( pos3 ) && WM->isInField( pos6 ) && WM->isInField( pos7 ))
                 {
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_2 )
                         soc = moveToPos( posBall+VecPosition( 10, 0 ), PS->getPlayerWhenToTurnAngle() );
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_3 )
                         soc = moveToPos( posBall+VecPosition( -10, 0 ), PS->getPlayerWhenToTurnAngle() );
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_6 )
                         soc = moveToPos( posBall+VecPosition( 0, 10 ), PS->getPlayerWhenToTurnAngle() );
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_7 )
                         soc = moveToPos( posBall+VecPosition( 0, -10 ), PS->getPlayerWhenToTurnAngle() );
                 }
             }
             else
             {
                 VecPosition pos4 = WM->getGlobalPosition( OBJECT_TEAMMATE_4 );
                 VecPosition pos5 = WM->getGlobalPosition( OBJECT_TEAMMATE_5 );
                 VecPosition pos7 = WM->getGlobalPosition( OBJECT_TEAMMATE_7 );
                 VecPosition pos8 = WM->getGlobalPosition( OBJECT_TEAMMATE_8 );
                 if( WM->isInField( pos4 ) && WM->isInField( pos5 ) && WM->isInField( pos7 ) && WM->isInField( pos8 ))
                 {
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_4 )
                         soc = moveToPos( posBall+VecPosition( 10, 0 ), PS->getPlayerWhenToTurnAngle() );
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_5 )
                         soc = moveToPos( posBall+VecPosition( -10, 0 ), PS->getPlayerWhenToTurnAngle() );
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_7 )
                         soc = moveToPos( posBall+VecPosition( 0, 10 ), PS->getPlayerWhenToTurnAngle() );
                     if( WM->getAgentObjectType() == OBJECT_TEAMMATE_8 )
                         soc = moveToPos( posBall+VecPosition( 0, -10 ), PS->getPlayerWhenToTurnAngle() );
                 }
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*53*/
         if( WM->isOffsideThem() )
         {
             ObjectT o = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );
             ObjectT agent = WM->getAgentObjectType();
             if( agent!=o && WM->getGlobalPosition( agent ).getX()>0 )
                 soc = moveToPos( posAgent+VecPosition( -10, 0 ), PS->getPlayerWhenToTurnAngle() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*54*/
         if( WM->isOffsideThem() )
         {
             Circle cir( posAgent, 5 );
             int num = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );
             if( num > 0 )
                soc = moveToPos( WM->getGlobalPosition( WM->getOppByDistAndPos( 5, 2, 0 )), PS->getPlayerWhenToTurnAngle() );
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
         
         /*55*/
         if( WM->isOffsideThem() )
         {
             if( posBall.getX() < 0 )
             {
                 ObjectT agent = WM->getAgentObjectType();
                 if( agent==OBJECT_TEAMMATE_4 || agent==OBJECT_TEAMMATE_5 )
                 {
                     ObjectT opp = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
                     soc = moveToPos( WM->getGlobalPosition( opp ), PS->getPlayerWhenToTurnAngle() );
                 }
                 ACT->putCommandInQueue( soc );
                 ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
             }
         }
         
         /*56*/
         if( WM->isCornerKickThem() )
         {
             ObjectT agent = WM->getAgentObjectType();
             ObjectT oppSecNearBall = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );
             if( posBall.getY() < 0)
             {
                 if( agent==OBJECT_TEAMMATE_2 || agent==OBJECT_TEAMMATE_3 )
                     soc = moveToPos( WM->getGlobalPosition( oppSecNearBall ), PS->getPlayerWhenToTurnAngle() );
             }
             else
             {
                 if( agent==OBJECT_TEAMMATE_4 || agent==OBJECT_TEAMMATE_5 )
                     soc = moveToPos( WM->getGlobalPosition( oppSecNearBall ), PS->getPlayerWhenToTurnAngle() );
             }
             ACT->putCommandInQueue( soc );
             ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         }
        /*-----------------------------end---------------------------------*/


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