[WIP] 3D Ocean environment: CodeBall

[neverix]

This is a faithful port of Russian AI Cup 2018: CodeBall generated by Gemini based on the published simulator pseudocode.

The robots do not manage to learn to perform simple tasks such as running towards the center of the arena as of me making this PR.

TODO:

• Fix NaNs when n_robots > 6
• Get the agents to run towards the center
  • Increase vf coefficient and try continuous reward
• Make the agents beat a random baseline
  • Add a scripted mode which makes only one team agents
• Perform action conversion in C
• Clean up Cython code and pass buffers directly
• Allow agent to jump and use nitro
• Make Makefile work on linux by default
• Find and fix memory leaks on Colab
• Render nitro
• (Optional) render curved corners for the arena
• Try more arena sizes/robot counts
• (Ambitious) Curriculum training with more microticks
• Clean up comments, look through the code again
• Remove changes outside of the project files I needed to make to get PufferLib to compile on my machine