update:
https://sourceforge.net/projects/newctruck3drally/
It's a 3D, physically realistic truck/car simulator, oriented to dirt tracks. This is subsancially kept as hystorical. The environment is a hilly terrain which can also be user-defined in the form of a Bitmap image file (where intensity of red component defines height). It's similar to the classic "Terep 2". Particular care for internal cam. Written in standard C. There's a Windows executable ready for use, but it's compilable and playable on all Linux, BSD, MacOSX systems. Official VIDEO presentation: http://www.youtube.com/watch?v=B74QvPGyBYM
The physical simulation was written from 0 of course, so no external 'third-party' libraries are used; except GLUT+OpenGL for the graphical visualisation & good interactivity.