Gazebo - A dynamic multi-robot simulator. Gazebo simulates multiple
robots in a 3D environment, with extensive dynamic interaction between
objects.

Optional dependencies

hdf5      - HDF support
gts       - CSG support
bullet    - Oculus Rift support
gdal      - digital elevation terrain support
graphviz  - model editor schematic view and OpenSource Virtual
            Reality (OSVR)

Optional dependencies not available at SlackBuilds.org

Simbody  https://simtk.org/projects/simbody
DART     http://dartsim.github.io/index.html
Player   http://playerstage.sourceforge.net
ronn     https://github.com/rtomayko/ronn