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Usually the sexual content is presented as a reward for the player's successful fulfillment of certain tasks.Like other pornographic media in Japan, erotic scenes feature censorship of genitalia, only becoming uncensored if the game is licensed and released outside Japan, unless produced illegally by doujin (usually with a construction kit like NScripter or RPG Maker).
They have produced the BL games Sweet Pool, Lamento: Beyond the Void, Togainu no Chi and Dramatical Murder, each one of the last two have been given a manga and an anime adaptation.
Eroge was much less common on consoles - only NEC's PC Engine series had officially licensed adult games, and from the mid-90s, Sega's Saturn.
Both Nintendo and Sony disallowed adult video games on their consoles.
Boys' Love (BL) games (also known as yaoi games) usually refers to eroge oriented around male homosexual couples for the female market.
The defining distinction is that both the playable character(s) and possible objects of affection are male.
Most eroge games, a fairly large library, found its way on the NEC PC-98 platform.