feat: added raycasting support for physics engine 2D

Engine.Physics2D/Abstract/IPhysicsEngine2D.cs

@@ -1,3 +1,5 @@
+using System.Collections.Generic;
+
 using Syntriax.Engine.Core;
 
 namespace Syntriax.Engine.Physics2D;
@@ -35,6 +37,26 @@ public interface IPhysicsEngine2D
     /// <param name="deltaTime">The time step.</param>
     void StepIndividual(IRigidBody2D rigidBody, float deltaTime);
 
+    /// <summary>
+    /// Casts a <see cref="Ray2D"/> into the scene and returns the closest <see cref="RaycastResult"/> it hits, if any.
+    /// </summary>
+    /// <param name="ray">The <see cref="Ray2D"/> to cast.</param>
+    /// <param name="length">The maximum distance to check for intersections. Defaults to <see cref="float.MaxValue"/>.</param>
+    /// <returns>
+    /// A <see cref="RaycastResult"/> containing information about the hit, or <see cref="null"/> if no hit was detected.
+    /// </returns>
+    RaycastResult? Raycast(Ray2D ray, float length = float.MaxValue);
+
+    /// <summary>
+    /// Casts a <see cref="Ray2D"/> into the scene and stores all hit results in the provided list.
+    /// </summary>
+    /// <param name="ray">The <see cref="Ray2D"/> to cast.</param>
+    /// <param name="results">
+    /// A list to which all <see cref="RaycastResult"/>s will be added. The list will be populated with zero or more <see cref="RaycastResult"/> objects.
+    /// </param>
+    /// <param name="length">The maximum distance to check for intersections. Defaults to <see cref="float.MaxValue"/>.</param>
+    void Raycast(Ray2D ray, IList<RaycastResult> results, float length = float.MaxValue);
+
     readonly record struct PhysicsIterationArguments(IPhysicsEngine2D Sender, float IterationDeltaTime);
     readonly record struct PhysicsStepArguments(IPhysicsEngine2D Sender, float StepDeltaTime);
 }

Engine.Physics2D/Abstract/IRaycastResolver2D.cs

@@ -0,0 +1,23 @@
+using Syntriax.Engine.Core;
+
+namespace Syntriax.Engine.Physics2D;
+
+/// <summary>
+/// Represents a 2D raycast resolver.
+/// </summary>
+public interface IRaycastResolver2D
+{
+    /// <summary>
+    /// Casts a <see cref="Ray2D"/> against a specific <see cref="ICollider2D"/> shape and returns the first hit, if any.
+    /// </summary>
+    /// <typeparam name="T">The type of the <see cref="ICollider2D"/>, which must implement <see cref="ICollider2D"/>.</typeparam>
+    /// <param name="shape">The <see cref="ICollider2D"/> shape to test against.</param>
+    /// <param name="ray">The <see cref="Ray2D"/> to cast.</param>
+    /// <param name="length">
+    /// The maximum distance to check along the <see cref="Ray2D"/>. Defaults to <see cref="float.MaxValue"/>.
+    /// </param>
+    /// <returns>
+    /// A <see cref="RaycastResult"/> containing information about the intersection, or <see cref="null"/> if there was no hit.
+    /// </returns>
+    RaycastResult? RaycastAgainst<T>(T shape, Ray2D ray, float length = float.MaxValue) where T : ICollider2D;
+}

Engine.Physics2D/Abstract/RaycastResult.cs

@@ -0,0 +1,14 @@
+using Syntriax.Engine.Core;
+
+namespace Syntriax.Engine.Physics2D;
+
+public readonly struct RaycastResult(Ray2D ray, ICollider2D collider2D, Vector2D position, Vector2D normal)
+{
+    public readonly Ray2D Ray = ray;
+
+    public readonly Vector2D Position = position;
+    public readonly Vector2D Normal = normal;
+
+    public readonly ICollider2D Collider2D = collider2D;
+    public readonly RigidBody2D? RigidBody2D = collider2D.BehaviourController.GetBehaviourInParent<RigidBody2D>();
+}