feat: added raycasting support for physics engine 2D

Engine.Physics2D/PhysicsEngine2D.cs

@@ -15,6 +15,7 @@ public class PhysicsEngine2D : Behaviour, IPreUpdate, IPhysicsEngine2D
 
     protected readonly ICollisionDetector2D collisionDetector = null!;
     protected readonly ICollisionResolver2D collisionResolver = null!;
+    protected readonly IRaycastResolver2D raycastResolver = null!;
 
     private static Comparer<IBehaviour> SortByPriority() => Comparer<IBehaviour>.Create((x, y) => y.Priority.CompareTo(x.Priority));
     protected ActiveBehaviourCollectorSorted<IPrePhysicsUpdate> physicsPreUpdateCollector = new() { SortBy = SortByPriority() };
@@ -27,6 +28,35 @@ public class PhysicsEngine2D : Behaviour, IPreUpdate, IPhysicsEngine2D
     public int IterationPerStep { get => _iterationPerStep; set => _iterationPerStep = value < 1 ? 1 : value; }
     public float IterationPeriod { get => _iterationPeriod; set => _iterationPeriod = value.Max(0.0001f); }
 
+    public RaycastResult? Raycast(Ray2D ray, float length = float.MaxValue)
+    {
+        RaycastResult? closestResult = null;
+        float closestDistance = float.MaxValue;
+
+        for (int i = 0; i < colliderCollector.Count; i++)
+            if (raycastResolver.RaycastAgainst(colliderCollector[i], ray, length) is RaycastResult raycastResult)
+            {
+                float magnitudeSquared = raycastResult.Position.FromTo(ray.Origin).MagnitudeSquared;
+
+                if (magnitudeSquared > closestDistance)
+                    continue;
+
+                closestDistance = magnitudeSquared;
+                closestResult = raycastResult;
+            }
+
+        return closestResult;
+    }
+
+    public void Raycast(Ray2D ray, IList<RaycastResult> results, float length = float.MaxValue)
+    {
+        results.Clear();
+
+        for (int i = 0; i < colliderCollector.Count; i++)
+            if (raycastResolver.RaycastAgainst(colliderCollector[i], ray, length) is RaycastResult raycastResult)
+                results.Add(raycastResult);
+    }
+
     public void Step(float deltaTime)
     {
         float intervalDeltaTime = deltaTime / IterationPerStep;
@@ -216,13 +246,15 @@ public class PhysicsEngine2D : Behaviour, IPreUpdate, IPhysicsEngine2D
     {
         collisionDetector = new CollisionDetector2D();
         collisionResolver = new CollisionResolver2D();
+        raycastResolver = new RaycastResolver2D();
         Priority = int.MaxValue;
     }
 
-    public PhysicsEngine2D(ICollisionDetector2D collisionDetector, ICollisionResolver2D collisionResolver)
+    public PhysicsEngine2D(ICollisionDetector2D collisionDetector, ICollisionResolver2D collisionResolver, IRaycastResolver2D raycastResolver)
     {
         this.collisionDetector = collisionDetector;
         this.collisionResolver = collisionResolver;
+        this.raycastResolver = raycastResolver;
         Priority = int.MaxValue;
     }
 }