Speed up dev

[mingzhang96]

Content

1. Add filters before EnvRender.get_overlap() to reduce the num of balls to detect.
2. Decrease state_tick_per_second when doing training, because we don't need so many state tick to perform the game well.
3. Optimize PrecisionCollisionDetection in utils/collision_detection.py to get faster.
4. Update related doc.

Performance

The settings of the game is as following:

team_num=4,
player_num_per_team=3,
map_width=1000,
map_height=1000,
match_time=60*10,
state_tick_per_second=10, # frame
action_tick_per_second=5,
save_video=False,
obs_settings=dict(
    with_spatial=False,
    with_speed=False,
    with_all_vision=False,
),

In our testing machine(AMD EPYC 7742 64-Core Processor), we get the following testing results: item	cost time (ms)
server.step()	7
server.obs()	4

As the state of game is unstable, there may be somewhat fluctuating.

[codecov[bot]]

Codecov Report

Merging #15 (c92d165) into main (5b08903) will increase coverage by 0.77%. The diff coverage is 98.97%.

@@            Coverage Diff             @@
##             main      #15      +/-   ##
==========================================
+ Coverage   93.37%   94.14%   +0.77%     
==========================================
  Files          55       55              
  Lines        3379     3398      +19     
==========================================
+ Hits         3155     3199      +44     
+ Misses        224      199      -25     

Flag	Coverage Δ
unittests	94.14% <98.97%> (+0.77%)	:arrow_up:

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
gobigger/server/server_default_config.py	100.00% <ø> (ø)
gobigger/render/env_render.py	85.19% <98.71%> (+9.46%)	:arrow_up:
gobigger/utils/collision_detection.py	98.00% <100.00%> (-0.24%)	:arrow_down:
gobigger/agents/bot_agent.py	78.94% <0.00%> (-0.59%)	:arrow_down:
gobigger/server/server.py	72.41% <0.00%> (+2.15%)	:arrow_up:

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