kSim 2.0 is the second generation of my custom vehicle simulation software, developed in parallel with the TVQuad search and rescue platform. The kSim project arose from a need for precise vehicle simulation including advanced surface contacts and highly accurate dynamics. Since the original version, kSim has been updated to include faster multi-object computation, improved geometric/graphical complexity, and video recording capabilities. The result is a more fully-featured simulation package able to handle multiple vehicles operating concurrently while also achieving even better physical accuracy than before.

Key Features:
– High accuracy simulation of multiple vehicles
– Elastic damping based continuous surface collision (friction supported)
– State information, sensor data, and video footage output
– Control system performance simulation (multithreading supported)