Move box with collider but without rigidbody in Unity

DynamicBox.cs

using UnityEngine;

namespace HassakuLab.Physics2D.BoxSystem
{
    /**
     * Rigidbody for BoxSystem
     */
    [RequireComponent(typeof(Rigidbody2D))]
    [RequireComponent(typeof(BoxCollider2D))]
    public class DynamicBox : MonoBehaviour
    {
        private Rigidbody2D _rigidbody;
        private BoxCollider2D _collider;

        private const float ShrinkFactor = 0.996f;

        [SerializeField] private LayerMask hitMask;
        [SerializeField] private Vector2 velocity;

        private readonly RaycastHit2D[] hitBuffer = new RaycastHit2D[1];

        private void Awake()
        {
            _rigidbody = GetComponent<Rigidbody2D>();
            _collider = GetComponent<BoxCollider2D>();
        }

        /// <summary>
        /// velocity of object
        /// </summary>
        public Vector2 Velocity
        {
            get => velocity;
            set => velocity = value;
        }

        /// <summary>
        /// 壁摺りベクトルの計算
        /// </summary>
        /// <param name="forward">壁に衝突した後の進行方向ベクトル</param>
        /// <param name="normal">衝突面の法線ベクトル</param>
        /// <returns>壁摺りベクトル</returns>
        private static Vector2 CalculateScratchVector(Vector2 forward, Vector2 normal)
        {
            return forward - Vector2.Dot(forward, normal) * normal;
        }

        /// <summary>
        /// 壁摺りを考慮した移動ベクトルを計算する
        /// </summary>
        /// <param name="origin">BoxCast開始の中心地点</param>
        /// <param name="velocityDelta">壁摺りを考慮しない移動ベクトル</param>
        /// <returns></returns>
        private Vector2 CalculateActualTranslation(Vector2 origin, Vector2 velocityDelta)
        {
            if (Mathf.Abs(velocityDelta.x) < 0.01f) velocityDelta.x = 0;
            if (Mathf.Abs(velocityDelta.y) < 0.01f) velocityDelta.y = 0;
            
            if(velocityDelta.sqrMagnitude < 0.0001f) return Vector2.zero;
            
            int hitCount = UnityEngine.Physics2D.BoxCastNonAlloc(
                origin: origin,
                size: _collider.size,
                angle: 0f,
                direction: velocityDelta.normalized,
                results: hitBuffer,
                distance: velocityDelta.magnitude,
                layerMask: hitMask
            );

            //  Hitしない場合はそのまま結果
            if (hitCount == 0) return velocityDelta;

            //  Hitする場合は壁摺りと合成する
            RaycastHit2D hit = hitBuffer[0];

            Vector2 direct = velocityDelta.normalized * (hit.distance * ShrinkFactor);  //  avoid collision perfectly
            Vector2 scratch = CalculateScratchVector(velocityDelta - direct, hit.normal);

            return direct + CalculateActualTranslation(origin + direct, scratch);
        }

        /// <summary>
        /// 移動ベクトル分だけオブジェクトの移動を試みる
        /// </summary>
        /// <param name="velocityDelta">移動ベクトル</param>
        private void TranslateObject(Vector2 velocityDelta)
        {
            Vector2 origin = (Vector2)transform.position + _collider.offset;
            transform.Translate(CalculateActualTranslation(origin, velocityDelta));
        }
        
        private void SimulateStep(float deltaTime)
        {
            TranslateObject(Velocity * deltaTime);
        }
    }
}