physics: rigid body drive API (force/impulse/torque/velocity)

PhysicsWorld facade methods addressed by entity bits via body records:
AddForce/AddImpulse/AddTorque (dynamic bodies only, auto-wake), Set/
GetLinearVelocity/SetAngularVelocity (dynamic + kinematic). Inspector
RigidBody block gains impulse debug controls for manual response tests.
Transient by design — nothing serialized.

Engine/include/Engine/Physics/PhysicsWorld.h

@@ -75,6 +75,19 @@ namespace Engine {
         bool RayCast(const glm::vec3& origin, const glm::vec3& dir,
                      f32 maxDist, RayHit& outHit) const;
 
+        // ---- 刚体驱动（游戏逻辑/编辑器调试；按实体位模式寻址）----
+        // Jolt 力在每步模拟后清零：游戏逻辑每帧持续施加 = 正确用法；
+        // 冲量一次性改变动量（自动唤醒休眠体）；速度直写会打断自然
+        // 模拟（Unity 同语义）。body 不存在或类型不符时静默忽略：
+        // 力/扭矩/冲量仅动态体，速度直写动态+运动学体
+        void AddForce(u32 entityBits, const glm::vec3& force);
+        void AddImpulse(u32 entityBits, const glm::vec3& impulse);
+        void AddTorque(u32 entityBits, const glm::vec3& torque);
+        void SetLinearVelocity(u32 entityBits, const glm::vec3& velocity);
+        void SetAngularVelocity(u32 entityBits, const glm::vec3& angularVelocity);
+        // 无 body / 静态体返回零向量
+        glm::vec3 GetLinearVelocity(u32 entityBits) const;
+
     private:
         // 创建时缓存的参数（变更检测 → 重建 body）
         struct BodyRecord {
@@ -104,6 +117,7 @@ namespace Engine {
                                                  ECS::RigidBodyComponent& rb,
                                                  ECS::TransformComponent& tr);
         void RemoveBody(u32 entityBits);
+        const BodyRecord* FindRecord(u32 entityBits) const;   // 刚体驱动寻址
         void QueueEvent(CollisionEvent&& ev);   // 回调线程 append（多线程并发，加锁）
         bool TryBitsByBodyId(const JPH::BodyID& id, u32& outBits) const;