deMeer5_Defender

#include "Player.h"

SoccerCommand Player::deMeer5_Defender()
{
SoccerCommand soc(CMD_ILLEGAL);
if (WM->isBeforeKickOff())
{
   // if not in kickoff formation, teleport to kick_off formation
   if (formations->getFormation() != FT_INITIAL || WM->getAgentGlobalPosition().getDistanceTo(WM->getStrategicPosition()) > 2.0)
   {
    formations->setFormation(FT_INITIAL);
    soc = teleportToPos(WM->getStrategicPosition());
   }
   // else turn to front
   else
   {
    soc = turnBodyToPoint(WM->getAgentGlobalPosition() + VecPosition(1, 0), 0);
    ACT->putCommandInQueue(alignNeckWithBody());
   }
}
else
{
   Log.log(100, " windywinter4defender");
   soc = windywinter4defender();
}

ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(WM->getChangeViewCommand());
return soc;
}

SoccerCommand Player::windywinter4defender()
{
SoccerCommand soc(CMD_ILLEGAL);
ObjectT ClosestTeamMate = WM->getClosestRelativeInSet(OBJECT_SET_TEAMMATES);
ObjectT ClosestOpponent = WM->getClosestRelativeInSet(OBJECT_SET_OPPONENTS);
int iTmp;

PS->setBallConfThr(0.95);
PS->setTackleHighConfThr(0.75);

// if ball pos unknown, search for it
if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr())
{
   Log.log(100, " search ball");
   soc = searchBall();
   ACT->putCommandInQueue(alignNeckWithBody());
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
}
// if kickable (which means the ball is in kickable range and the play mode allows us to kick)
else if (WM->isBallKickable())
{
   if (WM->isDeadBallUs() && WM->isInOwnPenaltyArea(WM->getBallPos()))
   {
    Log.log(100, " dead ball in penalty area");
    AngDeg angBall = (WM->getBallPos() - WM->getAgentGlobalPosition()).getDirection();
    angBall = VecPosition::normalizeAngle(angBall - 90);
    VecPosition pos = WM->getBallPos() + VecPosition(2, angBall, POLAR);
    soc = moveToPos(pos, PS->getPlayerWhenToTurnAngle());
    ACT->putCommandInQueue(lookaround(soc));
   }
   // if close to opponent goal or goalie and not an indirect free kick, shoot
   if ((WM->getAgentGlobalPosition().getDistanceTo(WM->getPosOpponentGoal()) < 12.0 || WM->getAgentGlobalPosition().getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_GOALIE)) < 3.0)
      && !WM->isIndirectFreeKickUs())
   {
    Log.log(100, " shoot");
    Line shoot_line_1 = Line::makeLineFromTwoPoints(WM->getBallPos(), WM->getPosOpponentGoalTop());
    Line shoot_line_2 = Line::makeLineFromTwoPoints(WM->getBallPos(), WM->getPosOpponentGoalBottom());
    double distance_1 = shoot_line_1.getDistanceWithPoint(WM->predictPosAfterNrCycles(OBJECT_OPPONENT_GOALIE, 1));
    double distance_2 = shoot_line_2.getDistanceWithPoint(WM->predictPosAfterNrCycles(OBJECT_OPPONENT_GOALIE, 1));
    VecPosition posGoal;
    double shoot_range = max(SS->getGoalWidth() * WM->getAgentGlobalPosition().getDistanceTo(WM->getPosOpponentGoal()) / PITCH_LENGTH, 0.3);
    if (distance_1 < distance_2)
    {
     posGoal = WM->getPosOpponentGoalBottom() - shoot_range;
    }
    else
    {
     posGoal = WM->getPosOpponentGoalTop() + shoot_range;
    }
    soc = kickTo(posGoal, SS->getBallSpeedMax()); // kick maximal
    ACT->putCommandInQueue(lookaround(soc));
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }
   // prepare to take dead ball, look for teammates first
   else if (WM->isDeadBallUs() && WM->getConfidence(ClosestTeamMate) < 0.98)
   {
    Log.log(100, " our dead ball, search for teammate");
    soc = SoccerCommand(CMD_TURN, VecPosition::normalizeAngle(WM->getAgentGlobalBodyAngle() + 60));
    ACT->putCommandInQueue(alignNeckWithBody());
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }
   else if (WM->getBallPos().getX() < -10.0
           && WM->getActualKickPowerRate(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS, OBJECT_BALL)) > 0.75//对于球相对于当前agent的位置，计算实际踢球力量的比率。
           && WM->getProbTackleSucceeds() > PS->getTackleHighConfThr())//agent铲球成功的概率>
   {
    Log.log(100, " too dangerous, tackle it");
    Line body = Line::makeLineFromPositionAndAngle(WM->getAgentGlobalPosition(), WM->getAgentGlobalBodyAngle());
    Line bottom = Line::makeLineFromTwoPoints(VecPosition(-PITCH_LENGTH/2, 7.01), VecPosition(-PITCH_LENGTH/2, -7.01));
    if (fabs(body.getIntersection(bottom).getY())>8.0)
    {
     soc = tackle(WM->getAgentGlobalBodyAngle());
    }
    else
    {
     VecPosition agent_to_top = VecPosition(-PITCH_LENGTH/2, PITCH_WIDTH/2) - WM->getAgentGlobalPosition();
     VecPosition agent_to_bottom = VecPosition(-PITCH_LENGTH/2, -PITCH_WIDTH/2) - WM->getAgentGlobalPosition();
     VecPosition agent_body = VecPosition(1, WM->getAgentGlobalBodyAngle(), POLAR);
     if (agent_body.getAngleTo(agent_to_top) < agent_body.getAngleTo(agent_to_bottom))
     {
      soc = tackle(agent_to_top.getDirection());
     }
     else
     {
      soc = tackle(agent_to_bottom.getDirection());
     }
    }
   }
   else
   {
    soc = getBestPassCmd_Defender();
    if (soc.commandType == CMD_ILLEGAL)
    {
     soc = getSecondPassCmd_Defender(8);
    }
    // pass ball (for both play on and dead ball)
    if (soc.commandType != CMD_ILLEGAL)
    {
     Log.log(100, " pass ball");
     // prevent too smart kick
     if (WM->isDeadBallUs() && soc.dPower < 30.0) soc.dPower = 100.0;
        ACT->putCommandInQueue(lookaround(soc));
    }
    // if no one to pass, stamina high and not a dead ball, dribble
    else if (WM->getAgentStamina().getStamina() > SS->getRecoverDecThr() * SS->getStaminaMax() + 800
            && !WM->isDeadBallUs())
    {
     ObjectT ClosestOpponentAhead = WM->getClosestAheadRelativeInSet(OBJECT_SET_OPPONENTS);
     double disToOpp=WM->getAgentGlobalPosition().getDistanceTo(WM->getGlobalPosition(ClosestOpponentAhead));
     if (ClosestOpponentAhead==OBJECT_ILLEGAL || disToOpp>5)
     {
      soc=dribble((WM->getPosOpponentGoal()-WM->getBallPos()).getDirection(),6);
     }
     else if (disToOpp>2)
     {
      double angOpp=VecPosition::normalizeAngle(WM->getGlobalBodyAngle(ClosestOpponentAhead));//标准化角度。（-180,180）
      double outPlayAng;
      if ((angOpp>=0)&&(angOpp<180)) outPlayAng=fabs(VecPosition::normalizeAngle(angOpp+45));
      else   outPlayAng=fabs(VecPosition::normalizeAngle(angOpp-45));
      soc=dribble(outPlayAng,5);
      Log.log(100,"dangerous outPlayAng is %lf ",outPlayAng);
     }
     else
     {
      Log.log(100, " no one to pass the ball, kick to opponent goal");
      VecPosition posGoal(PITCH_LENGTH / 2.0, (-1 + 2 * (WM->getCurrentCycle() % 2)) * 0.4 * SS->getGoalWidth());
      soc = kickTo(posGoal, SS->getBallSpeedMax());
      Log.log(100,"hold ball");
     }
     ACT->putCommandInQueue(lookaround(soc));
    }
    else
    {
     Log.log(100, " no one to pass the ball, kick to opponent goal");
     VecPosition posGoal(PITCH_LENGTH / 2.0, (-1 + 2 * (WM->getCurrentCycle() % 2)) * 0.4 * SS->getGoalWidth());
     soc = kickTo(posGoal, SS->getBallSpeedMax());
     ACT->putCommandInQueue(lookaround(soc));
    }
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }
}
// if we get a dead ball, and it's not in our penalty area (if is, the goalie will take it sooner or later)
// if this player is closest to the ball, he will go to take the ball
else if (WM->isDeadBallUs() && !WM->isBallInOwnPenaltyArea()
          && WM->getClosestInSetTo(OBJECT_SET_TEAMMATES_NO_GOALIE, OBJECT_BALL) == WM->getAgentObjectType())
{
   Log.log(100, " go to take dead ball");
   // if not in position, move to position
   if (WM->getRelativeDistance(OBJECT_BALL) >= SS->getPlayerSize()+0.05)
   {
    soc = moveToPos(getDeadBallPosition(), 5); // move to take dead ball
    // if stamina low, dash slowly
    if (soc.commandType == CMD_DASH && WM->getAgentStamina().getStamina() < SS->getRecoverDecThr() * SS->getStaminaMax() + 800)
    {
     Log.log(100, " but stamina is too low");
     soc.dPower = min(30.0 * WM->getAgentStamina().getRecovery(), soc.dPower*0.3);
    }
    ACT->putCommandInQueue(lookaround(soc));
   }
   // else wait till kickable signal
   else
   {
    soc = turnBodyToPoint(WM->getPosOpponentGoal());
    ACT->putCommandInQueue(lookaround(soc));
   }
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
}
// if this player is 2nd closest to the ball, he will go to back up the 1st one
else if (WM->isDeadBallUs() && !WM->isBallInOwnPenaltyArea()
          && WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES_NO_GOALIE, OBJECT_BALL) == WM->getAgentObjectType())
{
   Log.log(100, " go to backup dead ball");
   // if not in position, move to position
   if (WM->getRelativeDistance(OBJECT_BALL) >= SS->getOffsideKickMargin())
   {
    soc = moveToPos(getDeadBallBackUpPosition(), 5); // move to take dead ball
    // if stamina low, dash slowly
    if (soc.commandType == CMD_DASH && WM->getAgentStamina().getStamina() < SS->getRecoverDecThr() * SS->getStaminaMax() + 800)
    {
     Log.log(100, " but stamina is too low");
     soc.dPower = min(30.0 * WM->getAgentStamina().getRecovery(), soc.dPower*0.3);
    }
    ACT->putCommandInQueue(lookaround(soc));
   }
   // else wait till kickable signal
   else
   {
    soc = turnBodyToPoint(WM->getBallPos());
    ACT->putCommandInQueue(lookaround(soc));
   }
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
}
// if opponents get a dead ball in forward and this player can get there in time, go to set up a wall
else if (WM->isDeadBallThem() && WM->getBallPos().getX()<-15 && WM->predictNrCyclesToPoint(WM->getAgentObjectType(), WM->getBallPos()) < 18)
{//预测对象从当前位置移动到posTo所需的周期数。
   Log.log(100, " set up wall of players");
   VecPosition pos = getDeadBallDefencePosition();
   if (WM->getAgentGlobalPosition().getDistanceTo(pos) > SS->getPlayerSize())
   {
    Log.log(100, " move to pos (%f,%f)", pos.getX(), pos.getY());
    soc = moveToPos(pos, 20);
    VecPosition pos = getDeadBallDefencePosition();
    ACT->putCommandInQueue(lookaround(soc));
   }
   else
   {
    soc = turnBodyToPoint(WM->getBallPos());
    ACT->putCommandInQueue(alignNeckWithBody());
   }
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
}
// if opponents possess ball and it's safe to tackle it, tackle
else if (WM->getBallPos().getX() < -10.0
          && WM->isBallInTheirPossesion()//拥有球·-
          && WM->getProbTackleSucceeds() > PS->getTackleHighConfThr() * min(WM->getBallPos().getDistanceTo(WM->getPosOwnGoal())/30.0, (WM->getBallPos()-WM->getGlobalPosition(WM->getLastDefender())).getX()<0 ? 0.5 : 1))
{
   Log.log(100, " too dangerous, tackle it");
   // tackle to closest teammate
   if (ClosestTeamMate != OBJECT_ILLEGAL)
   {
    soc = tackle((WM->getGlobalPosition(ClosestTeamMate) - WM->getAgentGlobalPosition()).getDirection());
   }
   // tackle to body angle
   else
   {
    Line body = Line::makeLineFromPositionAndAngle(WM->getAgentGlobalPosition(), WM->getAgentGlobalBodyAngle());
    Line bottom = Line::makeLineFromTwoPoints(VecPosition(-PITCH_LENGTH/2, 7.01), VecPosition(-PITCH_LENGTH/2, -7.01));
    if (fabs(body.getIntersection(bottom).getY())>8.0)
    {
     soc = tackle(WM->getAgentGlobalBodyAngle());
    }
    else
    {
     VecPosition agent_to_top = VecPosition(-PITCH_LENGTH/2, PITCH_WIDTH/2) - WM->getAgentGlobalPosition();
     VecPosition agent_to_bottom = VecPosition(-PITCH_LENGTH/2, -PITCH_WIDTH/2) - WM->getAgentGlobalPosition();
     VecPosition agent_body = VecPosition(1, WM->getAgentGlobalBodyAngle(), POLAR);
     if (agent_body.getAngleTo(agent_to_top) < agent_body.getAngleTo(agent_to_bottom))
     {
      soc = tackle(agent_to_top.getDirection());
     }
     else
     {
      soc = tackle(agent_to_bottom.getDirection());
     }
    }
   }
   ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NORMAL, VQ_HIGH));
}
else
{
   int cycles_opponent_to_ball, cycles_fastest_to_ball, cycles_intercept;
   ObjectT obj_fastest_to_ball = WM->getFastestInSetTo(OBJECT_SET_TEAMMATES_NO_GOALIE, OBJECT_BALL, &cycles_fastest_to_ball);
   WM->predictCommandToInterceptBall(WM->getAgentObjectType(), interceptClose(), &cycles_intercept);
   WM->getFastestInSetTo(OBJECT_SET_OPPONENTS, OBJECT_BALL, &cycles_opponent_to_ball);
   // if fastest to ball, intercept it
   if ((obj_fastest_to_ball == WM->getAgentObjectType() || (cycles_intercept<=cycles_fastest_to_ball+2/* && cycles_opponent_to_ball<=cycles_fastest_to_ball+2*/))
      && !WM->isDeadBallThem() && !WM->isDeadBallUs()
      && WM->getBallPos().getDistanceTo(WM->getGlobalPosition(OBJECT_TEAMMATE_1)) > 1.085)
   {
    Log.log(100, " fastest to ball; can get there in %d cycles", cycles_intercept);
    soc = intercept(false);
    if ((WM->getCurrentTime().getTime()+WM->getCurrentTime().getTimeStopped())%2 == 1)
    {
     ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
    }
    else
    {
     ACT->putCommandInQueue(lookaround(soc));
    }
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }
   else
   {
    // find most valuable player to mark, if there is one and the ball is not in safe position
    pair<double, ObjectT> mark_target = getMostValuableMarkObj();
    if (WM->getBallPos().getX() < 6.0
     && mark_target.second != OBJECT_ILLEGAL && mark_target.first<10000 && WM->getGlobalPosition(mark_target.second).getX() < 0
     && !WM->isDeadBallUs() && (!WM->isDeadBallThem() || WM->isDeadBallThem() && WM->getRelativeDistance(OBJECT_BALL) > SS->getOffsideKickMargin()))
    {
     // if the obj is fastest to ball, mark ball instead
     Log.log(100, " mark %d, profit %f", SoccerTypes::getIndex(mark_target.second)+1, mark_target.first);
     if (WM->getFastestInSetTo(OBJECT_SET_OPPONENTS, OBJECT_BALL, &iTmp) == mark_target.second)
     {
      mark_target.second = OBJECT_BALL;
     }

     soc = mark(mark_target.second, 3.0, MARK_GOAL);

     // calculate save_stamina_rate
     double save_stamina_rate = 0.9* min(1+WM->getBallPos().getX()/((PITCH_LENGTH-PENALTY_AREA_LENGTH)/2), WM->getBallPos().getDistanceTo(WM->getGlobalPosition(mark_target.second)/(PITCH_LENGTH-PENALTY_AREA_LENGTH)));
     VecPosition target_to_ball = WM->getBallPos()-WM->getGlobalPosition(mark_target.second);
     VecPosition target_speed = WM->getGlobalVelocity(mark_target.second);
     if (target_speed.getAngleTo(target_to_ball) < 20.0) save_stamina_rate/=2;
     if (save_stamina_rate > 0.9) save_stamina_rate = 0.9;

     // if stamina low, dash slowly
     if (soc.commandType == CMD_DASH && WM->getAgentStamina().getStamina() < save_stamina_rate * SS->getStaminaMax() )
     {
      soc.dPower = min(30.0 * WM->getAgentStamina().getRecovery(), soc.dPower*0.3);
      Log.log(100, " but stamina is too low");
     }

     if (mark_target.second == OBJECT_BALL)
     {
      if (WM->getRelativeDistance(OBJECT_BALL) > 3.0)
      {
       ACT->putCommandInQueue(turnNeckToPoint(WM->getBallPos(), soc));
      }
      else
      {
       ACT->putCommandInQueue(lookaround(soc));
      }
     }
     else if (WM->getRelativeDistance(mark_target.second) < 6.0
       && WM->getTimeGlobalAngles(mark_target.second) == WM->getCurrentTime())
     {
      ACT->putCommandInQueue(turnNeckToPoint(WM->getGlobalPosition(mark_target.second) + VecPosition(12, WM->getGlobalNeckAngle(mark_target.second), POLAR), soc));
     }
     else
     {
      ACT->putCommandInQueue(turnNeckToPoint(WM->getGlobalPosition(mark_target.second), soc));
     }
     WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
    }
    // else if not near strategic pos, go to strategic pos
    else if (WM->getAgentGlobalPosition().getDistanceTo(WM->getStrategicPosition()) > SS->getPlayerSize()*4 /*+ fabs(WM->getAgentGlobalPosition().getX() - WM->getBallPos().getX()) / 10.0*/)
    {
     Log.log(100, " move to strategic position");
     soc = moveToPos(WM->getStrategicPosition(), PS->getPlayerWhenToTurnAngle());
     // calculate save_stamina_rate
     double save_stamina_rate = 0.9;
     if (WM->getAgentGlobalPosition().getX() < WM->getGlobalPosition(WM->getFirstOpponent()).getX())
     {
      save_stamina_rate = 0.3;
     }
     // if stamina low, dash slowly
     if (soc.commandType == CMD_DASH && WM->getAgentStamina().getStamina() < save_stamina_rate * SS->getStaminaMax() )
     {
      soc.dPower = min(30.0 * WM->getAgentStamina().getRecovery(), soc.dPower*0.3);
      Log.log(100, " but stamina is too low");
     }
     if ((WM->getCurrentTime().getTime()+WM->getCurrentTime().getTimeStopped())%2 == 1)
     {
      ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
     }
     else
     {
      ACT->putCommandInQueue(lookaround(soc));
     }
     WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
    }
    // nothing to do
    else
    {
     Log.log(100, " nothing to do but watching ball or looking around");
     if (WM->isDeadBallUs())
     {
      if ((WM->getCurrentTime().getTime()+WM->getCurrentTime().getTimeStopped())%2 == 1)
      {
       ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
      }
      else
      {
       ACT->putCommandInQueue(lookaround(soc));
      }
      ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
     }
     else
     {
      soc = turnBodyToPoint(WM->getAgentGlobalPosition() + VecPosition(1, 0), 0);
      ACT->putCommandInQueue(lookaround(soc));
     }
     WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
    }
   }
}
return soc;
}

SoccerCommand BasicPlayer::getBestPassCmd_Defender()
{
static Feature last_best_cmd;
if (last_best_cmd.getTimeSee() > WM->getCurrentTime()-2 && last_best_cmd.getCommand().commandType != CMD_ILLEGAL
   && WM->getMinEndSpeed4SafePass(last_best_cmd.getVec()) > 0
   && (WM->isOnside(last_best_cmd.getObject()) || !WM->isOnside(WM->getAgentObjectType())))//判断对象是否未越位。
{
   Log.log(101, " pass to same pos as last cycle");
   return kickTo(last_best_cmd.getVec(), last_best_cmd.getInfo());
}

SoccerCommand soc(CMD_ILLEGAL);
double max_pass_profit = 0.1;
VecPosition best_pass_target = VecPosition(UnknownDoubleValue, UnknownDoubleValue);
ObjectT best_pass_target_o = OBJECT_ILLEGAL;
double best_pass_speed = -1.0;
int iIndex;
for (ObjectT o = WM->iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES_NO_GOALIE, PS->getPlayerHighConfThr()); o != OBJECT_ILLEGAL;
      o = WM->iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES_NO_GOALIE, PS->getPlayerHighConfThr()))
{
   if (o != WM->getAgentObjectType() && (WM->isOnside(o) || !WM->isOnside(WM->getAgentObjectType())))
   {
    Log.log(101, " calculating pass to %d", SoccerTypes::getIndex(o)+1);
    double confidence = WM->getConfidence(o);
    for (AngDeg leading_dir = -180.0; leading_dir <= 180.0; leading_dir += 30.0)
    {
     if (WM->getTimeGlobalAngles(o) > WM->getCurrentTime()-4)//time储存了身体和脖子的角度
     {
      confidence *= cos(VecPosition::normalizeAngle(leading_dir - WM->getGlobalBodyAngle(o))/180 * PI/2)/2 + 0.5;
     }
     else
     {
      confidence *= 0.5;
     }
     for (double leading_dist = 0; leading_dist <= 4.0; leading_dist += 1.0)
     {
      VecPosition pass_target = WM->getGlobalPosition(o) + VecPosition(leading_dist, leading_dir, POLAR);
      double distX = pass_target.getX() - WM->getBallPos().getX();
      double posY = fabs(pass_target.getY());
      if (pass_target.getX()>30)
      {
       posY = PITCH_WIDTH / 2.0 - posY;
      }
      distX = min(24.0, distX);
      double profit = sin(distX/24.0*PI)*24.0 * posY/4.0;
      if (profit*confidence > max_pass_profit)
      {
       int pass_cycles;
       ObjectT fastest_opponent;
       double min_pass_speed = WM->getMinEndSpeed4SafePass(pass_target, &fastest_opponent, &pass_cycles);
       if (min_pass_speed > 0)
       {
        int cycles_o = WM->predictNrCyclesToPoint(o, pass_target);
        if (cycles_o <= pass_cycles)
        {
         int safety_cycles = min(3, WM->predictNrCyclesToPoint(fastest_opponent, pass_target) - pass_cycles);
         double max_pass_speed = WM->getEndSpeedFromFirstSpeed(WM->getBallPos().getDistanceTo(pass_target) *(1-SS->getBallDecay()) / (1- pow(SS->getBallDecay(), cycles_o+1)), cycles_o);

         //profit += min_pass_speed*4;
         confidence *= fabs(sin(min(1.0, safety_cycles/3.0)* PI/2));
         profit *= confidence;
         if (profit > max_pass_profit)
         {
          max_pass_profit = profit;
          best_pass_target = pass_target;
          best_pass_speed = (min_pass_speed+max_pass_speed)/2;
          best_pass_target_o = o;
         }
         Log.log(102, " pos (%f,%f) profit %f", pass_target.getX(), pass_target.getY(), profit);
        }
       }
      }
     }
    }
   }
}
WM->iterateObjectDone(iIndex);
if (best_pass_target_o != OBJECT_ILLEGAL)
{
   soc = kickTo(best_pass_target, best_pass_speed);
   last_best_cmd.setTimeSee(WM->getCurrentTime());
   last_best_cmd.setVec(best_pass_target);
   last_best_cmd.setInfo(best_pass_speed);
   last_best_cmd.setObject(best_pass_target_o);
   Log.log(101, " pass to %d pos (%f,%f) profit %f", SoccerTypes::getIndex(best_pass_target_o)+1, best_pass_target.getX(), best_pass_target.getY(), max_pass_profit);
}
return soc;
}

SoccerCommand BasicPlayer::getSecondPassCmd_Defender(double minPassProfit)
{
return getSecondPassCmd_Attacker(minPassProfit);
}