As a part of my PhD I was developing wrapper around bullet physics engine which was capable of instanciating robots in a given initial state and simulate them forward in time very quickly. The repository is in Spirit Repo
Some of the features are
Custom gui based on Pangolin
Quick state initialization of robot from state vector
Adjustable vechile configurations on the fly (geometric and parametric)
Planner objects like waypoints and trajecotry objects in state space
Ceres-Solver based non-linear optimization
Here is an example of spirit runnign a AWD car model with a PID control on steering. The 3D gui is fully interactive (not showin in this video).