Open-source urban driving simulator

Question

Open-source urban driving simulator needed to build an automated taxi driver. The dream feature-set may include:

* easy import of external AI code
* other agents, such as cars and pedestrians
* simulated programmable traffic and traffic regulations
* relatively realistic physics engine

I had a look at TORCS, which has most of these features, only simulates a racetrack. Any suggestions are highly appreciated.

Answer 1

There's an open source GTA clone. (Maybe there are others, but that's what I found when googling). I don't know how far the project is.

IT should include other cars as well as pedestrians in an urban setup. But it's basically 2D and the physics aren't that well, probably.