Works

Game/Physics2D/PhysicsEngine2D.cs

@@ -69,6 +69,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
             for (int i = colliders.Count - 1; i >= 0; i--)
                 CheckCollisions(colliders[i], colliders, (c1, c2, v) =>
                 {
+                    // Console.WriteLine($"c1: {c1.BehaviourController.GameObject.Name}, c2: {c2.BehaviourController.GameObject.Name}");
                     NewMethod(c1, c2, v, intervalDeltaTime);
                     NewMethod(c2, c1, v, intervalDeltaTime);
 
@@ -89,7 +90,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
         if (c1.RigidBody2D is not IRigidBody2D)
             return;
 
-        Line vertexTrajectory = new Line(vertex, vertex - c1.RigidBody2D.Velocity);
+        Line vertexTrajectory = new Line(vertex, vertex - c1.RigidBody2D.Velocity * intervalDeltaTime);
         if (vertexTrajectory.LengthSquared <= 0.001f)
             return;
 
@@ -100,19 +101,22 @@ public class PhysicsEngine2D : IPhysicsEngine2D
 
         foreach (var line in lines)
         {
-            if (!vertexTrajectory.Intersects(line, out Vector2? intersectionPoint) || intersectionPoint is not null)
+            if (!vertexTrajectory.Intersects(line, out Vector2? intersectionPoint))
                 continue;
 
-            t = vertexTrajectory.GetT(vertex);
+            if (intersectionPoint is not Vector2 ip)
+                continue;
+
+            t = vertexTrajectory.GetT(ip);
             Vector2 lineDirection = line.Direction;
             normal = new(lineDirection.Y, lineDirection.X);
             break;
         }
 
-        StepRigidBody(c1.RigidBody2D, -t);
+        StepRigidBody(c1.RigidBody2D, -t * intervalDeltaTime);
 
         c1.RigidBody2D.Velocity = Vector2.Reflect(c1.RigidBody2D.Velocity, normal);
-        StepRigidBody(c1.RigidBody2D, intervalDeltaTime - t);
+        StepRigidBody(c1.RigidBody2D, intervalDeltaTime - t * intervalDeltaTime);
     }
 
     private void CheckCollisions(ICollider2D collider2D, List<ICollider2D> collider2Ds, Action<ICollider2D, ICollider2D, Vector2> OnCollisionDetectedAction)
@@ -126,11 +130,8 @@ public class PhysicsEngine2D : IPhysicsEngine2D
             for (int y = 0; y < collider2D.Vertices.Count; y++)
             {
                 Vector2 vertex = collider2D.Vertices[y];
-                if (collider2D.CheckCollision(vertex))
-                {
+                if (collider2DItem.CheckCollision(vertex))
                     OnCollisionDetectedAction?.Invoke(collider2D, collider2DItem, vertex);
-                    y--; // Recheck current vertex
-                }
             }
         }
     }

Game/Physics2D/PhysicsMath.cs

@@ -129,7 +129,7 @@ public static class PhysicsMath
     }
 
     public static bool LaysOn(this Vector2 point, Line line)
-        => line.Resolve(point.X) == point;
+        => ApproximatelyEqualEpsilon(line.Resolve(point.X), point, float.Epsilon);
 
     public static LineEquation ToLineEquation(this Line line)
     {
@@ -179,8 +179,8 @@ public static class PhysicsMath
 
     public static float GetT(this Line line, Vector2 point)
     {
-        if (!point.LaysOn(line))
-            throw new Exception("Point does not lay on Line");
+        //     if (!point.LaysOn(line))
+        //         throw new Exception("Point does not lay on Line");
 
         float fromX = MathF.Abs(line.From.X);
         float toX = MathF.Abs(line.To.X);
@@ -263,4 +263,24 @@ public static class PhysicsMath
 
     public static bool Inside(this Circle circle, Vector2 point)
         => (circle.Position - point).LengthSquared() <= circle.Radius * circle.Radius;
+
+    public static bool ApproximatelyEqualEpsilon(float a, float b, float epsilon)
+    {
+        if (a == b)
+            return true;
+
+        const float floatNormal = (1 << 23) * float.Epsilon;
+        float absA = Math.Abs(a);
+        float absB = Math.Abs(b);
+        float diff = Math.Abs(a - b);
+
+        if (a == 0.0f || b == 0.0f || diff < floatNormal)
+            return diff < (epsilon * floatNormal);
+
+        return diff / Math.Min((absA + absB), float.MaxValue) < epsilon;
+    }
+    public static bool ApproximatelyEqualEpsilon(Vector2 a, Vector2 b, float epsilon)
+    {
+        return ApproximatelyEqualEpsilon(a.X, b.X, epsilon) && ApproximatelyEqualEpsilon(a.Y, b.Y, epsilon);
+    }
 }