Their bracket placement and indentation is like some sick, twisted joke meant to confuse and torment me. (from http://opensteer.svn.sourceforge.net/viewvc/opensteer/trunk/plugins/Soccer.cpp?revision=181&view=markup ) It looks like the only problem is the "else" on line 14. Wrong, keep looking and it will start hurting your eyes.

gistfile1.cpp

if(collisionAvoidance != Vec3::zero)
    applySteeringForce (collisionAvoidance, elapsedTime);
else
    {
    float distHomeToBall = Vec3::distance (m_home, m_Ball->position());
    if( distHomeToBall < 12.0f)
        {
        // go for ball if I'm on the 'right' side of the ball
            if( b_ImTeamA ? position().x > m_Ball->position().x : position().x < m_Ball->position().x)
            {
            Vec3 seekTarget = xxxsteerForSeek(m_Ball->position());
            applySteeringForce (seekTarget, elapsedTime);
            }
        else
            {
            if( distHomeToBall < 12.0f)
                {
                float Z = m_Ball->position().z - position().z > 0 ? -1.0f : 1.0f;
                Vec3 behindBall = m_Ball->position() + (b_ImTeamA ? Vec3(2.0f,0.0f,Z) : Vec3(-2.0f,0.0f,Z));
                Vec3 behindBallForce = xxxsteerForSeek(behindBall);
                annotationLine (position(), behindBall , Color(0.0f,1.0f,0.0f));
                Vec3 evadeTarget = xxxsteerForFlee(m_Ball->position());
                applySteeringForce (behindBallForce*10.0f + evadeTarget, elapsedTime);
                }
            }
        }
    else	// Go home
        {
        Vec3 seekTarget = xxxsteerForSeek(m_home);
        Vec3 seekHome = xxxsteerForSeek(m_home);
        applySteeringForce (seekTarget+seekHome, elapsedTime);
        }

    }

For what its worth, the OpenSteer soccer demo was contributed user code. Not to say that the “official” OpenSteer code is perfect, and certainly not well-maintained.

Craig
http://www.red3d.com/cwr/