Over the past few days @tridge has added support for the Morse robotics simulator which uses the Blender game engine to produce high quality 3D renderings of the environment. It also supports many different sensors including 360 lidar so this will be a good testing environment for work on object avoidance.
For developers interested in giving it a try, the setup instructions are here. So far it works only on Linux/Ubuntu environments. If you run into troubles feel free to reach out to us in the ArduPilot Gitter chat.
The simulator has been tested with Copters and Rovers but it is likely that more vehicles will be added in the future (submarines perhaps?).