I did also hear about the cRIO sim at kickoff, and I was so excited to finally be able to code without the bot and get exact results. However, a few weeks ago, I had found this nice library -
http://code.google.com/p/frcjcss/ - I'm still unsure about C++ sims, but knowing the FRC community, there's one out there. If I stumble across one, I will be sure to report back here.