PR C — Rigid OBB collider + SAT vs AABB (core)

[flyingrobots]

PR C — Rigid OBB collider + SAT vs AABB (core)

Labels: physics, collision, sat, high-priority, project:newton
Milestone: PROJECT: Newton

Summary

Implement oriented rectangle (OBB) collider for rigid-dynamic. Use SAT vs static AABB to compute MTV, resolve, apply restitution and basic friction. Draw OBB and MTV in overlay (toggle).

Acceptance Criteria

• Deterministic MTV resolution on orthogonal and diagonal hits
• Restitution within tolerance; tangential component damped by friction
• Overlay draws OBB and MTV when enabled

Tests (write first)

• satObbAabb.test: projection intervals + MTV direction
• rigidObbIntegration.test: canonical hits reflect/bounce as expected

Notes

• Keep MODE=test stable (no GSAP in tests)