Graphics Rework

[judicaelclair]

Changes

• Updated README.md to latest (added Quick Start section with installation instructions)
• Added temporary fix for race conditions between logic and graphics threads (global lock)
• Added GuiController and SimulatorConfig classes and restructured + ironed out bugs in GUI code.
• FlatMap and SquareMesh for super fast (both render and load times) and arbitrarily high resolution 2D map visualisation.
• Made OMPL dependency optional
• Added utility.compatibility for typing and OMPL detection
• Moved structures.py into structures folder, which now contains many other structures Tracked, TrackedHeap, Heap, TrackedList, TrackedSet and factory methods for choosing a tracked or untracked structure based on if graphics with animations is enabled.
• Added TrackedForest and TrackedCyclicGraph with appropriate factory methods for forests and cyclic graphs.
• Tracked structures are used by the renderer for lazy scene updating (huuuge performance boost).
• Experimental high resolution top-view screenshots.
• Added Render with immediate mode style rendering of lines, circles, spheres,...
• Reworked most, if not all, map displays, each having an optimal (or very close to optimal) implementation when tracked data is being used, as well a rudimentary implementation when structure is not tracked.
• Custom heuristics for spheres, circles and line sizes based on map dimensions.
• Essentially reworked entire rendering pipeline.

Known Issues

• I advise against using the simulator config window for now, as the hacky fix for race conditions with a lock can lead to a deadlock when starting a new simulation environment.
• Large 2D maps are somewhat sluggish when square colours are being updated. This is because we're editing a really big texture, which Panda3D doesn't like. In the future, partitioning the map will hopefully fix this issue.
• Do not move the agent or goal position while an algorithm is running (wait till animation is completely over), otherwise UB.

GLHF reviewing xD

[Nabushika]

Some stuff about newlines at the end of files, still don't like functions in functions..

Loading much improved, still can be slow. Rendering is much faster for 2D maps, 3D maps can still be a little slow. seems like it works

we should update readme coverage

[codecov-io]

Codecov Report

Merging #16 (8a7f25e) into master (58cf726) will decrease coverage by 2.41%. The diff coverage is 53.97%.

@@            Coverage Diff             @@
##           master      #16      +/-   ##
==========================================
- Coverage   81.95%   79.54%   -2.42%     
==========================================
  Files          32       42      +10     
  Lines        1868     2039     +171     
==========================================
+ Hits         1531     1622      +91     
- Misses        337      417      +80     

Impacted Files	Coverage Δ
src/algorithms/configuration/maps/dense_map.py	89.14% <0.00%> (ø)
src/simulator/services/services.py	50.45% <25.00%> (-1.98%)	:arrow_down:
src/structures/tracked_heap.py	47.61% <47.61%> (ø)
src/structures/tracked_set.py	48.78% <48.78%> (ø)
src/structures/factory.py	50.00% <50.00%> (ø)
src/structures/tracked_list.py	50.00% <50.00%> (ø)
src/structures/heap.py	55.55% <55.55%> (ø)
src/structures/tracked_container.py	58.82% <58.82%> (ø)
src/structures/structures.py	70.47% <66.66%> (ø)
...lator/services/event_manager/events/reset_event.py	75.00% <75.00%> (ø)
... and 13 more

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