fix: rewrite ClosestLine and PolygonPolygonClosestLine logic for improved accuracy on sloped polygons

[mattjennings]

===:clipboard: PR Checklist :clipboard:===

• 📌 issue exists in github for these changes
• 🔬 existing tests still pass
• 🙈 code conforms to the style guide
• 📐 new tests written and passing / old tests updated with new scenario(s)
• 📄 changelog entry added (or not needed)

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Improves accuracy of PolygonPolygonClosestLine and ClosestLine functions. Big disclaimer, I heavily relied on ChatGPT for the math logic here... extra eyes greatly appreciated. I myself plan to do a deeper review on the math here before merging.

Before:

CleanShot_2024-07-12_at_19.03.52.mov

After:

CleanShot_2024-07-12_at_19.17.05.mov

I also think there's a faster way to do the PolygonPolygonClosestLine logic. Right now it iterates over each side of the polygon, draws a line, and returns the shortest result. Potentially it could use SAT to determine the closest sides, but I had unexpected results

PolygonPolygonClosestLine(polygonA: PolygonCollider, polygonB: PolygonCollider) {
    const aSat = SeparatingAxis.findPolygonPolygonSeparation(polygonA, polygonB);
    const bSat = SeparatingAxis.findPolygonPolygonSeparation(polygonB, polygonA);

    return ClosestLine2(aSat.side, bSat.side);
}

CleanShot.2024-07-12.at.20.08.14.mp4

[eonarheim]

@mattjennings Thanks again! Bravo!