Torcs
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The Open Racing Car Simulator. TORCS is a highly portable multi platform car racing simulation. It is used as ordinary car racing game, as AI racing game and as research platform. There are various sites on the Internet dedicated to TORCS with additional content (cars, tracks, documentation, patches, etc.)
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There is a new fork of TORCS with improved graphics and features called Speed Dreams:
http://www.speed-dreams.org/
http://twitter.com/speed_dreams