Physics (#1605)

* Physics worlds

* Paul's a good boy

* Build working

* Ingame and not lagging to hell

* Why didn't you commit ahhhhh

* Hard collisions working

* Solver parity

* Decent broadphase work done

* BroadPhase outline done

* BroadPhase working

* waiting for pvs

* Fix static PVS AABB

* Stop static bodies from awakening

* Optimise a bunch of stuff

* Even more broadphase stuff

* I'm fucking stupid

* Optimise fixture updates

* Collision solver start

* Building

* A is for Argumentative

* Fix contact caching island flags

* Circle shapes actually workeded

* Damping

* DS2 consumables only

* Slightly more stable

* Even slightlier more stablier

* VV your heart out

* Initial joint support

* 90% of joints I just wanted to push as I'd scream if I lost progress

* JOINT PURGATORY

* Joints barely functional lmao

* Okay these joints slightly more functional

* Remove station FrictionJoint

* Also that

* Some Box2D ports

* Cleanup mass

* Edge shape

* Active contacts

* Fix active contacts

* Optimise active contacts even more

* Boxes be stacking

* I would die for smug oh my fucking god

* In which everything is fixed

* Distance joints working LETS GO

* Remove frequency on distancejoint

* Fix some stuff and break joints

* Crashing fixed mehbeh

* ICollideSpecial and more resilience

* auto-clear

* showbb vera

* Slap that TODO in there

* Fix restartround crash

* Random fixes

* Fix fixture networking

* Add intersection method for broadphase

* Fix contacts

* Licenses done

* Optimisations

* Fix wall clips

* Config caching for island

* allocations optimisations

* Optimise casts

* Optimise events queue for physics

* Contact manager optimisations

* Optimise controllers

* Sloth joint or something idk

* Controller graph

* Remove content cvar

* Random cleanup

* Finally remove VirtualController

* Manifold structs again

* Optimise this absolute retardation

* Optimise

* fix license

* Cleanup physics interface

* AHHHHHHHHHHHHH

* Fix collisions again

* snivybus

* Fix potential nasty manifold bug

* Tests go snivy

* Disable prediction for now

* Spans

* Fix ShapeTypes

* fixes

* ch ch changeesss

* Kinematic idea

* Prevent static bodies from waking

* Pass WorldAABB to MoveEvent

* Fix collisions

* manifold structs fucking WOOORRKKKINNGGG

* Better pushing

* Fix merge ickies

* Optimise MoveEvents

* Use event for collisions performance

* Fix content tests

* Do not research tests

* Fix most conflicts

* Paul's trying to kill me

* Maybe collisions work idk

* Make us whole again

* Smug is also trying to kill me

* nani

* shitty collisions

* Settling

* Do not research collisions

* SHIP IT

* Fix joints

* PVS moment

* Fix other assert

* Fix locker collisions

* serializable sleeptime

* Aether2D contacts

* Physics is no longer crashing (and burning)

* Add to the TODO list

Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>

Robust.UnitTesting/Shared/Map/MapManager_Tests.cs

@@ -1,8 +1,12 @@
-using NUnit.Framework;
+using Moq;
+using NUnit.Framework;
+using Robust.Server.GameObjects;
+using Robust.Server.Physics;
 using Robust.Shared.GameObjects;
 using Robust.Shared.IoC;
 using Robust.Shared.Map;
 using Robust.Shared.Maths;
+using Robust.Shared.Physics.Broadphase;
 
 namespace Robust.UnitTesting.Shared.Map
 {
@@ -11,6 +15,18 @@ namespace Robust.UnitTesting.Shared.Map
     {
         public override UnitTestProject Project => UnitTestProject.Server;
 
+        protected override void OverrideIoC()
+        {
+            base.OverrideIoC();
+            var mock = new Mock<IEntitySystemManager>();
+            var broady = new BroadPhaseSystem();
+            var physics = new PhysicsSystem();
+            mock.Setup(m => m.GetEntitySystem<SharedBroadPhaseSystem>()).Returns(broady);
+            mock.Setup(m => m.GetEntitySystem<SharedPhysicsSystem>()).Returns(physics);
+
+            IoCManager.RegisterInstance<IEntitySystemManager>(mock.Object, true);
+        }
+
         [OneTimeSetUp]
         public void OneTimeSetup()
         {