Algodoo

Open this scene, close algodoo, connect a controller with 2 joysticks to your computer, and open algodoo again.
Above the crawler in this scene is a model with two yellow circles. Set their controls to your joysticks, press play, and have fun!
I replaced the acceleration controls with thruster controls, seeing how they worked in my other scene, and they work now. I also added torquers controlled by the triggers.