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...Besides support for all peripherals on the robot base, the simulator also fully supports the m32 extension module, and both can be simulated either independently or simultaneously. Furthermore, a simple 2d environment can easily be created to test lighting, collision, motor speeds and so on. The simulator does not run native AVR files, but instead a thin wrapper is provided so that the AVR code can be compiled natively. Thanks to this wrapper, and a flexible Lua driver interface, the simulator emulates most of the IO registers, requiring no or minimal code modifications. ...

The Massive G Engine is a simple yet feature-rich extensible 3D simulation engine for Robotics Research and gaming.

A simple object-oriented lattice-Boltzmann code for simulation of fluid dynamics with graphics.