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.

App/editor/InspectorPanel.cpp

@@ -8,6 +8,7 @@
 #include "InspectorPanel.h"
 #include "Engine/ECS/Components.h"
 #include "Engine/Renderer/Model.h"
+#include "Engine/Physics/PhysicsWorld.h"   // Apply Impulse 调试（GetPhysics 门面）
 
 #include <imgui.h>
 
@@ -263,6 +264,16 @@ void InspectorPanel::Draw(const EditorContext& ctx, entt::entity selected)
             {
                 ImGui::Text("vel: %.2f, %.2f, %.2f m/s",
                             rb->velocity.x, rb->velocity.y, rb->velocity.z);
+
+                // 驱动调试（冲量瞬态不序列化）：直接推一把看响应
+                static glm::vec3 s_debugImpulse{0.0f, 5.0f, 0.0f};
+                ImGui::DragFloat3("impulse", &s_debugImpulse.x, 0.1f);
+                if (ImGui::Button("Apply Impulse"))
+                {
+                    ctx.app->GetPhysics().AddImpulse(
+                        static_cast<uint32_t>(entt::to_integral(selected)),
+                        s_debugImpulse);
+                }
             }
         }
     }

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;
 

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 {