[1] It is characterised by independently moving software players (agents) that play soccer on a virtual field inside a computer simulation.
[7] 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.
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.
[9] 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.