Robot Simulator (Part 1)

[JoelChanZhiYang]

Description

The robot simulator has far too much code for reviewers to handle so it is split into 2 sections. This section exclude everything ev3. The section includes the initialization of the simulation, setting up of the physics engine and render engine. It can also render static cuboids.

This looks like a big PR but about half the code is tests. So only about 1000 lines of actual code

Type of change

Creation of the simulation set up

Please delete options that are not relevant.

• [ ] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [ ] This change requires a documentation update

How Has This Been Tested?

• Unit tests. This section has 100% coverage

  

• Run the code below to see the simulation come up. This requires you to use the PR 2882 from the frontend to work.

import {
  createCustomPhysics,
  createPhysics,
  createRenderer,
  init_simulation,
  createCuboid,
  createTimer,
  createWorld,
  createWall,
  createFloor,
  addControllerToWorld,
  createRobotConsole,
  saveToContext
} from "robot_simulation";

init_simulation(() => {
    const physics = createPhysics();
    const renderer = createRenderer();
    const timer = createTimer();
    const robot_console = createRobotConsole();

    const world = createWorld(physics, renderer, timer, robot_console);

    const floor = createFloor(physics, renderer);
    addControllerToWorld(floor, world);

    const wall = createWall(physics, renderer);
    addControllerToWorld(wall, world);

    saveToContext("world", world);

    return world;
});

Checklist:

• [x] My code follows the style guidelines of this project
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [x] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [x] I have added tests that prove my fix is effective or that my feature works
• [x] New and existing unit tests pass locally with my changes
• [x] Any dependent changes have been merged and published in downstream modules