Check the 'show combat only if both sides are fleets' option in the game's settings.
This is dependant on your choices in the "Battle Options" section of your interface settings. There are three basic "matchups" that can happen- one on one, fleet vs one, and fleet vs fleet. To see the full 3D all the time, you'll want to move "Battle Length" to Full, check "Full Fleet Battles", and uncheck "Show Full Fleet Battles Only if Both Sides are Fleets".
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