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The [[RoboCup 2D Soccer Simulation League|2D simulation sub-league]] had its first release in early 1995<ref>A makefile in sserver-0.1.tar.gz shows the date 1995/01/21</ref> with version 0.1. It has been actively maintained since then with updates every few months.<ref>{{Cite web | url=https://sourceforge.net/projects/sserver/files/rcssserver/ |title = The RoboCup Soccer Simulator - Browse /Rcssserver at SourceForge.net}}</ref> The ball and all players are represented as circles on the plane of the field. Their position is restricted to the two dimensions of the plane.
[[SimSpark]], the platform on top of which the [[RoboCup 3D Soccer Simulation League|3D simulation sub-league]] is built, was registered with SourceForge in 2004.<ref>{{Cite web | url=http://sourceforge.net/projects/simspark/ |title = Spark - A generic physical simulator| date=2 November 2017 }}</ref> The platform itself is now well established <ref>https://www.ohloh.net/p/simspark/factoids/3252289</ref> with ongoing development.<ref>https://www.ohloh.net/p/simspark/factoids/3252288</ref> The ball and all players are represented as articulated rigid bodies within a system that enforces the simulation of physical properties such as mass, inertia and friction.
As of 2010, a direct comparison of the gameplay of the 2D and 3D leagues shows a marked difference.<ref>[http://www.ustream.tv/discovery/recorded/all?q=robocup+simulation Videos from Japan Open 2010]</ref> 2D league teams are generally exhibiting advanced strategies and teamwork, whereas 3D teams appear to struggle with the basics of stability and ambulation. This is partly due to the difference in age of the two leagues, and partly to the difference in complexity involved in building agents for the two leagues. Replaying log files of finals over the recent years shows progress is being made by many teams.
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