rigidbody, forces and collision testing

PhysicsEngine/UI/DrawHelper.cs

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+using System;
+using System.Numerics;
+using Raylib_cs;
+
+namespace PhysicsEngine
+{
+    public static class DrawHelper
+    {
+        public static Color GetDarkerColor(Color color, float factor = 0.5f)
+        {
+            return new Color(
+                (byte)(color.R * factor),
+                (byte)(color.G * factor),
+                (byte)(color.B * factor),
+                color.A
+            );
+        }
+
+        public static void DrawRotatedBox(Vector2 position, Vector2 size, float rotationRadians, Color fillColor, float pixelsPerMeter = 100.0f, float outlineThickness = 3.0f)
+        {
+            Vector2 sizePixels = size * pixelsPerMeter;
+            Vector2 positionPixels = position * pixelsPerMeter;
+            float rotationDegrees = rotationRadians * (180.0f / MathF.PI);
+
+            Color outlineColor = GetDarkerColor(fillColor);
+
+            // 1. Draw the outer outline rectangle (exact original size, outline colour)
+            Vector2 outerSizePixels = sizePixels;
+            Vector2 outerOrigin = outerSizePixels * 0.5f;
+            Rectangle outerRec = new Rectangle(positionPixels.X, positionPixels.Y, outerSizePixels.X, outerSizePixels.Y);
+            Raylib.DrawRectanglePro(outerRec, outerOrigin, rotationDegrees, outlineColor);
+
+            // 2. Draw the inner fill rectangle, reduced by outlineThickness on all sides
+            Vector2 innerSizePixels = new Vector2(
+                MathF.Max(0, sizePixels.X - outlineThickness),
+                MathF.Max(0, sizePixels.Y - outlineThickness)
+            );
+            Vector2 innerOrigin = innerSizePixels * 0.5f;
+            Rectangle innerRec = new Rectangle(positionPixels.X, positionPixels.Y, innerSizePixels.X, innerSizePixels.Y);
+            Raylib.DrawRectanglePro(innerRec, innerOrigin, rotationDegrees, fillColor);
+        }
+
+        public static void DrawCircleBody(Vector2 position, float radius, float rotationRadians, Color fillColor, float pixelsPerMeter = 100.0f, float outlineThickness = 3.0f)
+        {
+            Vector2 positionPixels = position * pixelsPerMeter;
+            float radiusPixels = radius * pixelsPerMeter;
+            Color outlineColor = GetDarkerColor(fillColor);
+
+            // 1. Draw outer circle (outline colour, exact radius)
+            Raylib.DrawCircleV(positionPixels, radiusPixels, outlineColor);
+
+            // 2. Draw inner circle (fill colour, radius reduced by outlineThickness)
+            float innerRadius = MathF.Max(0, radiusPixels - outlineThickness);
+            Raylib.DrawCircleV(positionPixels, innerRadius, fillColor);
+
+            // Draw rotation indicator line inside the fill (same as before, but from centre to inner edge)
+            float cos = MathF.Cos(rotationRadians);
+            float sin = MathF.Sin(rotationRadians);
+            Vector2 edge = positionPixels + new Vector2(cos, sin) * innerRadius;
+            Raylib.DrawLineEx(positionPixels, edge, 2.0f, outlineColor);
+        }
+    }
+}

PhysicsEngine/UI/MuiDarkColor.cs

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+using Raylib_cs;
+
+namespace PhysicsEngine
+{
+    public enum MuiDarkColor : uint
+    {
+        // Backgrounds & Surfaces
+        BackgroundDefault = 0x121212FF, // #121212
+        SurfacePaper = 0x121212FF,      
+        SurfaceVariant = 0x1E1E1EFF,    // #1E1E1E
+
+        // Text Colors
+        TextPrimary = 0xFFFFFFFF,       // #FFFFFF
+        TextSecondary = 0xFFFFFFB3,     
+        TextDisabled = 0xFFFFFF80,      
+
+        // Actions & States
+        ActionHover = 0xFFFFFF14,       
+        ActionSelected = 0xFFFFFF29,    
+        Divider = 0xFFFFFF1F,           
+
+        // Brand / Theme Accents
+        PrimaryMain = 0x90CAF9FF,       // #90CAF9
+        SecondaryMain = 0xCE93D8FF,     // #CE93D8
+        ErrorMain = 0xEF5350FF,         // #EF5350
+        WarningMain = 0xFF9800FF,       // #FF9800
+        SuccessMain = 0x66BB6AFF        // #66BB6A
+    }
+
+    public static class MuiDarkColorExtensions
+    {
+        public static Color ToColor(this MuiDarkColor colorEnum)
+        {
+            uint packedValue = (uint)colorEnum;
+            
+            byte r = (byte)(packedValue >> 24);
+            byte g = (byte)((packedValue >> 16) & 0xFF);
+            byte b = (byte)((packedValue >> 8) & 0xFF);
+            byte a = (byte)(packedValue & 0xFF);
+
+            return new Color(r, g, b, a);
+        }
+    }
+}