refactor: modularize simmapper and add Doxygen documentation

[M4X1K02]

This PR refactors the core mapping logic to improve modularity and maintainability.

Key changes:

• Modularized simulator initialization and cleanup logic within the mapping layer.
• Added comprehensive Doxygen-style documentation to simmapper.h and simmapper.c.
• Documented mathematical calculations and coordinate system conversions for better clarity.

[Spacefreak18]

the line length stuff i'm on board with, somewhere between 80-100 characters, i know the pointer arithmetic is hard to read and i did it all on one line. That code also needs to be as quick as possible.

i don't have a line length set in the astyle, i probably should.