South Africa coach Rassie Erasmus: "We have so much respect for Wales and the coach. We thought they might pull it through late on but we had a bit of luck, but they are a class team. We are only half way there, we would love to win but we will play a class England outfit. You never know.

"The way our group stands together, no one cares who we substitute, we have a team spirit that will make the nation proud."

Tom Shanklin
Former Wales international on BBC Radio 5 Live

He gets the best out of his players, he installs self belief and a winning mentality. That has come through Gatland and what he has done.

Matt Dawson
England World Cup winner on BBC Radio 5 Live

Most people across rugby would agree that if it was boxing match, it's heavyweight against middleweight and the middleweight would have had to come up with something magical to overpower them.

Wales nearly did and there were opportunities - they just couldn't get the scraps and if you're going to win against South Africa with so many injuries, with physically lighter weight, you have got to get every single scrap. If the bounce of that ball is anywhere on the field, you're first to it, and unfortunately it didn't go Wales' way.

Image source, Getty Images

More from Warren Gatland: "We probably gave away too many penalties in our own half and that cost us dearly.

"We never gave up and were in the arm wrestle.

"At 16-16 it was pretty close and you're dreaming of the three points going our way."

Becky Grey
BBC Sport at International Stadium Yokohama

The whole Springbok team has gone over the barriers. They’re in the corner of the stadium, facing a huge group of South Africa fans who are chanting ‘Ole’ back at them.

Image source, AFP

Matt Dawson
England World Cup winner on BBC Radio 5 Live

The heavyweights of world rugby are England, New Zealand and South Africa. To be competing at this level now, you have to be able to absorb parity in the set-piece, the maul and the scrum. As you saw today, it's too big a factor.

Chris Jones
BBC rugby union correspondent at International Stadium Yokohama

At 16-16 they will think, with South Africa making mistakes, that was the time Wales had to pounce, when it became an arm wrestle. There will be a lot of lingering regret in the changing rooms.

Matt Dawson
England World Cup winner on BBC Radio 5 Live

You are there with an opportunity when you are in the semi-final, but they could not get the ball in an area where they could apply pressure to the scoreboard and make South Africa play in a different way. Wales should be incredibly proud of the way they played, they had one heck of a fixture list.

Image source, Reuters

Wales coach Warren Gatland: "A tough physical match, congratulations to South Africa they defended well but I am proud of the boys. It was a very tough encounter, and well done to South Africa

"I am proud of them, we punched massively above our weight in terms of playing numbers in Wales, we gave 100% in a close contest. But South Africa deserved to win tonight."

Becky Grey
BBC Sport at International Stadium Yokohama

Alun Wyn Jones has just climbed over the barriers so he can get even closer to the fans. Wales are showing so much respect for those who travelled so far to watch them.

South Africa made almost twice as many tackles than Wales out there - 142 to 74.

That Springbok defence is pieced together with industrial strength superglue.

The green and golds won more turnovers (15 to 8) and made more metres (283 to 189) despite only enjoying 39% possession and a 38% share of the territory.

Tom Shanklin
Former Wales international on BBC Radio 5 Live

Best scrummaging team won, South Africa shut up shop, if you have a big pack you will play one way and go route one.

But credit to Wales, they were in it, they could have won. With the injuries they have had to dug in to the last minute, they can be proud of themselves.

Image source, PA Media

And here is Wales captain Alun Wyn Jones: "We showed it today, stayed in the arm wrestle and stayed in it at 16-16 but we piggybacked penalties and South Africa took advantage and congratulations to them.

"Today we fell short, it wasn’t our day and I am still proud to pull this jersey on and represent all the Welsh in the stadium."

Becky Grey
BBC Sport at International Stadium Yokohama

Wales gathered in a huddle on the pitch for what I imagine is a pretty emotional team talk from Alun Wyn Jones.

Then, they stood in a line and bowed to their fans. There’s a lot of emotion in the air.

Matt Dawson
England World Cup winner on BBC Radio 5 Live

Wales wanted to play, for all their dare I say boring tactics, Wales could not pick up the scraps. They could not get their hands on the ball, and could not get the magic to ensue. South Africa have ground out the victory.

Image source, AFP

Tom Shanklin
Former Wales international on BBC Radio 5 Live

They emptied the tank, played with a half fit Davies, North pulled a hamstring but the effort they put in was incredible. The difference was the South African pack.

Image source, PA Media

Adrian Hadley
Former Wales international on BBC Radio Wales

That is so, so disappointing. We have come here with our best chance ever of getting through to the World Cup final and winning it, but we made field errors and our chance has gone. I thought it was one we could win and those players will be devastated after that. We gave away penalties, they got field position and kicked their kicks.

It wasn't pretty, but what an intense semi-final.

South Africa are understandably delighted, but Wales' wait to reach a first World Cup final goes on.

Image source, AFP