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DESMO-J is a framework for rapidly building discrete event driven simulation models in Java, which is not restrained to any particular domain of application. It supports both event-oriented and process-oriented modelling views. See http://desmoj.de.
Tank Battles is a 3D simulator for teaching robot artificial inteligence. It's
heavilly influenced by Robocode, but differs from the former in that it adds the complexity of a full 3D scene, realistic physics simulation, among other features.