Squirrels have fuzzy tails.
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I don't expect it to be a perfect simulation, but it will be simple and straightforward for someone familiar with java or c++.
you know . . . what would be even nicer is a simulator you can put on a webpage, maybe using shockwave or java . . . hint hint
i did the same thing, made a 2d simulator in java. Its basically just a top view of a diff drive bot, it doesnt do any physics or mechanical calculations or testing. Ive made a few sensor type bits for it. Its main use is for testing my software and trying to develop an effective ai.