<s>
SimSpark	B-Application
is	O
a	O
generic	O
simulation	O
system	O
for	O
various	O
multiagent	O
simulations	O
.	O
</s>
<s>
It	O
supports	O
developing	O
physical	O
simulations	O
for	O
AI	O
and	O
robotics	O
research	O
with	O
an	O
open-source	B-Application
application	I-Application
framework	O
.	O
</s>
<s>
The	O
SimSpark	B-Application
project	O
started	O
in	O
2003	O
and	O
was	O
based	O
on	O
the	O
building	O
blocks	O
of	O
the	O
Spark	O
project	O
.	O
</s>
<s>
SimSpark	B-Application
was	O
registered	O
with	O
SourceForge	B-Application
in	O
2004	O
and	O
has	O
an	O
established	O
code	O
base	O
with	O
development	O
increasing	O
year-over-year	O
.	O
</s>
<s>
Agents	O
communicate	O
with	O
the	O
simulation	O
server	O
via	O
UDP	B-Protocol
or	O
TCP	B-Protocol
,	O
and	O
therefore	O
can	O
be	O
implemented	O
in	O
any	O
language	O
that	O
supports	O
such	O
sockets	O
.	O
</s>
<s>
Simulations	O
are	O
created	O
within	O
the	O
server	O
using	O
the	O
Ruby	B-Language
language	I-Language
and	O
text-based	O
RSG	O
files	O
.	O
</s>
<s>
SimSpark	B-Application
uses	O
the	O
Open	B-Application
Dynamics	I-Application
Engine	I-Application
(	O
ODE	O
)	O
for	O
detecting	O
collisions	O
and	O
for	O
simulating	O
rigid	O
body	O
dynamics	O
.	O
</s>
<s>
SimSpark	B-Application
is	O
the	O
simulation	O
engine	O
for	O
the	O
RoboCup	B-Application
3D	I-Application
Soccer	I-Application
Simulation	I-Application
League	I-Application
.	O
</s>
<s>
In	O
this	O
simulation	O
two	O
teams	O
play	O
soccer	B-Application
with	O
rules	O
similar	O
to	O
regular	O
soccer	B-Application
.	O
</s>
<s>
Software	O
agents	O
process	O
signals	O
from	O
these	O
sensors	O
(	O
also	O
known	O
as	O
perceptors	O
)	O
and	O
generate	O
control	O
signals	O
for	O
the	O
22	O
hinges	O
within	O
each	O
robot	O
's	O
body	O
in	O
order	O
to	O
achieve	O
whatever	O
forms	O
of	O
motion	O
are	O
required	O
to	O
win	O
a	O
game	O
of	O
soccer	B-Application
.	O
</s>
<s>
The	O
original	O
soccer	B-Application
robot	O
model	O
was	O
known	O
as	O
soccerbot	O
,	O
but	O
since	O
2008	O
it	O
has	O
been	O
replaced	O
with	O
a	O
Nao	O
robot	O
inspired	O
model	O
.	O
</s>
