TORCS
TORCS is an acronym for The Open Racing Car Simulator. It is an open source 3D racing simulator using OpenGL technologies. TORCS is designed to enabled pre-programmed AI drivers to race against one another, while allowing the user to control a vehicle using either a keyboard, mouse, or wheel input. The official website states the concept is derived from RARS (the Robot Auto Racing Simulator).
TORCS has been proven to run on these platforms:
Linux,
Microsoft Windows
The game offers a wide variety of real-life high-performance vehicles as well as Formula 1 racers and off-road rally racers. They are categorized by performance level and drivetrain configuration: Note: This list is incomplete.
Track Racers * Front-wheel drive
Peugeot 406 * Rear-wheel drive
Lotus GT1 (RWD)
McLaren F1
Porsche GT
Dodge Viper GTS-R
Jaguar XJ-220
Ferrari 360 Modena
Mercedes-Benz CLK DTM
Ford GT40 Conceptual
Acura NSX Type S-Zero
All-wheel drive
Alfa Romeo 155 DTM
Source Wikipedia
More info on the Official website