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Contemporary circus is relatively new subtype of circus (some 50 years relative to 250 of a traditional circus) which mixes elements of its predecessor with higher art and other type of media.
Circus of Maxentius is the best preserved circus from time of ancient Rome. It was designed and built with great care but it didn't see much use. Because of that we can today see, in great detail, how ancient circuses looked like.
Circus of Nero began as a place for public trainings of Caligula and Nero and became a place of martyrdom of many early Christians. When it was abandoned it became a place of not one but two basilicas.
The Circus Maximus (or in Italian Circo Massimo) was one of the greatest entertainment venues of the ancient world. It was used for entertainment and in religious purposes. Some consider it as a predecessor of modern circuses. Today is a city park.