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[[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>http://sourceforge.net/projects/simspark/</ref>. The plaform 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.
In the 2D system, movement around the plane is achieved via commands from the agents such as ''move'', ''dash'', ''turn'' and ''kick''<ref>[http://sourceforge.net/apps/mediawiki/sserver/index.php?title=Users_Manual/Soccer_Server#Player_Control Player control commands on project wiki</ref>. The 3D system has fewer command choices for agents to send, but the mechanics of motion about the field are much more involved as the positions of 22 hinges throughout the articulated body must be simultaneously controlled.
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