feat: Basic Shape to Shape Collision Detection

Engine.Physics2D/CollisionDetector.cs

@@ -38,7 +38,26 @@ public class CollisionDetector : ICollisionDetector
 
     private static bool DetectShapeShape(IShapeCollider2D left, IShapeCollider2D right, out CollisionDetectionInformation? collisionInformation)
     {
-        throw new System.NotImplementedException();
+        collisionInformation = default;
+
+        var vertices = left.ShapeWorld.Vertices;
+        int count = vertices.Count;
+
+        for (int indexProjection = 0; indexProjection < count; indexProjection++)
+        {
+            Vector2D projectionVector = vertices[indexProjection].FromTo(vertices[(indexProjection + 1) % count]).Perpendicular().Normalized;
+
+            Projection leftProjection = left.ShapeWorld.ToProjection(projectionVector);
+            Projection rightProjection = right.ShapeWorld.ToProjection(projectionVector);
+
+            if (!leftProjection.Overlaps(rightProjection, out float depth))
+                return false;
+
+            if (collisionInformation == default || Math.Abs(collisionInformation.Penetration) > Math.Abs(depth))
+                collisionInformation = new(left, right, projectionVector, depth);
+        }
+
+        return true;
     }
 
     private static bool DetectShapeCircle(IShapeCollider2D shapeCollider, ICircleCollider2D circleCollider, out CollisionDetectionInformation? collisionInformation)