Frontend: Dynamic obstacles with trigger-based movement for sim_control

[Copilot]

Extends the Dreamview frontend to author, visualize, and send dynamic obstacle configurations to the sim_control backend — including per-obstacle trajectory paths, trigger zones, and lifecycle state tracking.

New abstractions

• src/utils/dynamic_obstacle_constants.js — Shared ObstacleState / TriggerType / ObstacleType enums, isolated to break the store↔renderer circular dependency.
• src/store/dynamic_obstacle_manager.js — MobX store owning obstacle state machine (IDLE → MOVING → FINISHED), CRUD, trigger config, and path editing delegation to the renderer.
• src/renderer/dynamic_obstacles.js — Three.js renderer drawing:
  • Polygon boundary and trajectory path (color keyed to state)
  • Trigger zone: filled circle (reach_position) or ring (distance_to_ego)
  • Yellow "wire" line connecting trigger zone to the first trajectory waypoint
  • Interactive pin meshes during path editing
• src/components/DynamicObstacleEditor/ — React panel with per-obstacle cards; supports trigger type + parameter config, map-click path editing (Edit Path → click waypoints → Confirm Path / Undo), and a Send Config button.

Integration hooks

• renderer/index.js — enableDynamicObstacleEditing / disableDynamicObstacleEditing / updateDynamicObstacles wired into the existing render loop.
• websocket_realtime.js — sendDynamicObstacleConfig(obstacles) sends JSON to the backend; incoming SimWorldUpdate.dynamicObstacle[] syncs lifecycle states.
• store/index.js — dynamicObstacleManager added; editing auto-stopped when panel closes.
• Sidebar + ToolView — New "Dynamic Obstacles" button (showDynamicObstacleEditor) follows existing sidebar/option patterns.

Utilities

• utils/misc.js — IsPointInPolygon via ray-casting (consistent naming with existing IsPointInRectangle), enabling arbitrary polygon trigger zone checks.

Warning

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Original prompt

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This section details on the original issue you should resolve

<issue_title>Task: Extend Apollo sim_control to support dynamic obstacles with trigger-based movement.</issue_title>
<issue_description>Task: Extend Apollo sim_control to support dynamic obstacles with trigger-based movement.

1. Data Structure (Protobuf):

• Define a DynamicObstacle message including:
• id, type, polygon_vertices.
• trajectory: A list of (x, y, v, t) points.
• trigger: OneOf {reach_position, distance_to_ego, time_delay}.

2. Trigger Manager Logic (C++):

• Implement a TriggerEvaluator class that runs in the sim_control loop.
• Function: bool IsTriggered(const EgoState& ego, const TriggerConfig& config).
• If spatial_trigger is used, implement a Point-in-Polygon check to see if the ego vehicle has entered the activation zone.

3. Frontend Interaction (React/Three.js):

• Path Editor: Reuse the Routing Editor logic to create a smooth path for the obstacle.
• Trigger Linkage: Visual representation of a "wire" connecting a trigger zone to an obstacle in the UI.
• State Management: Handle the obstacle's lifecycle: IDLE (waiting for trigger) -> MOVING (following path) -> FINISHED.</issue_description>

<agent_instructions>Task: Extend Apollo sim_control to support dynamic obstacles with trigger-based movement.

1. Data Structure (Protobuf):

• Define a DynamicObstacle message including:
• id, type, polygon_vertices.
• trajectory: A list of (x, y, v, t) points.
• trigger: OneOf {reach_position, distance_to_ego, time_delay}.

2. Trigger Manager Logic (C++):

• Implement a TriggerEvaluator class that runs in the sim_control loop.
• Function: bool IsTriggered(const EgoState& ego, const TriggerConfig& config).
• If spatial_trigger is used, implement a Point-in-Polygon check to see if the ego vehicle has entered the activation zone.

3. Frontend Interaction (React/Three.js):

• Path Editor: Reuse the Routing Editor logic to create a smooth path for the obstacle.
• Trigger Linkage: Visual representation of a "wire" connecting a trigger zone to an obstacle in the UI.
• State Management: Handle the obstacle's lifecycle: IDLE (waiting for trigger) -> MOVING (following path) -> FINISHED.</agent_instructions>

Comments on the Issue (you are @copilot in this section)

• Fixes Task: Extend Apollo sim_control to support dynamic obstacles with trigger-based movement. #9

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