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/src/Physics/PhysicsWorld.cpp

@@ -578,6 +578,63 @@ namespace Engine {
         return true;
     }
 
+    // ---- 刚体驱动（游戏逻辑/编辑器调试；见头文件语义注释）----
+
+    const PhysicsWorld::BodyRecord *PhysicsWorld::FindRecord(const u32 entityBits) const {
+        const auto found = m_Bodies.find(entityBits);
+        return found != m_Bodies.end() ? &found->second : nullptr;
+    }
+
+    // 力/扭矩/冲量：仅动态体（Jolt 对静态/运动学体施加力无意义）
+    void PhysicsWorld::AddForce(const u32 entityBits, const glm::vec3 &force) {
+        const auto *rec = FindRecord(entityBits);
+        if (!rec || rec->type != static_cast<u8>(ECS::RigidBodyComponent::BodyType::Dynamic))
+            return;
+        m_System->GetBodyInterface().AddForce(
+            rec->id, JPH::Vec3(force.x, force.y, force.z));
+    }
+
+    void PhysicsWorld::AddImpulse(const u32 entityBits, const glm::vec3 &impulse) {
+        const auto *rec = FindRecord(entityBits);
+        if (!rec || rec->type != static_cast<u8>(ECS::RigidBodyComponent::BodyType::Dynamic))
+            return;
+        m_System->GetBodyInterface().AddImpulse(
+            rec->id, JPH::Vec3(impulse.x, impulse.y, impulse.z));
+    }
+
+    void PhysicsWorld::AddTorque(const u32 entityBits, const glm::vec3 &torque) {
+        const auto *rec = FindRecord(entityBits);
+        if (!rec || rec->type != static_cast<u8>(ECS::RigidBodyComponent::BodyType::Dynamic))
+            return;
+        m_System->GetBodyInterface().AddTorque(
+            rec->id, JPH::Vec3(torque.x, torque.y, torque.z));
+    }
+
+    // 速度直写：动态+运动学体都有效（运动学体速度即其运动方式）
+    void PhysicsWorld::SetLinearVelocity(const u32 entityBits, const glm::vec3 &velocity) {
+        const auto *rec = FindRecord(entityBits);
+        if (!rec || rec->type == static_cast<u8>(ECS::RigidBodyComponent::BodyType::Static))
+            return;
+        m_System->GetBodyInterface().SetLinearVelocity(
+            rec->id, JPH::Vec3(velocity.x, velocity.y, velocity.z));
+    }
+
+    void PhysicsWorld::SetAngularVelocity(const u32 entityBits, const glm::vec3 &angularVelocity) {
+        const auto *rec = FindRecord(entityBits);
+        if (!rec || rec->type == static_cast<u8>(ECS::RigidBodyComponent::BodyType::Static))
+            return;
+        m_System->GetBodyInterface().SetAngularVelocity(
+            rec->id, JPH::Vec3(angularVelocity.x, angularVelocity.y, angularVelocity.z));
+    }
+
+    glm::vec3 PhysicsWorld::GetLinearVelocity(const u32 entityBits) const {
+        const auto *rec = FindRecord(entityBits);
+        if (!rec || rec->type == static_cast<u8>(ECS::RigidBodyComponent::BodyType::Static))
+            return {0.0f, 0.0f, 0.0f};
+        const JPH::Vec3 v = m_System->GetBodyInterface().GetLinearVelocity(rec->id);
+        return {v.GetX(), v.GetY(), v.GetZ()};
+    }
+
     // ---- 写回：动态体姿态 → Transform（标脏，帧循环统一 Compose）----
 
     void PhysicsWorld::Writeback() const {