physics: capsule/cylinder/compound collider shapes

- ColliderType + Capsule/Cylinder/Compound; CompoundChild list (Box/
  Sphere/Capsule, local pos/quat, non-recursive)
- CreateBody: CapsuleShape/CylinderShape (ctor param orders differ) +
  StaticCompoundShape; empty/failed compound falls back to Box
- BodyRecord caches radius/halfHeight/compound; SyncScene rebuilds on
  change (per-collider param extraction)
- Inspector: combo entries + shape params + compound child list editor
- Serialization: new fields with as<T> fallback, compound seq round-trip

Engine/include/Engine/ECS/Components.h

@@ -19,6 +19,7 @@
 #include <cmath>
 #include <algorithm>
 #include <string>
+#include <vector>
 
 namespace Engine {
     class Model;
@@ -187,15 +188,38 @@ namespace Engine::ECS {
         // 语义）——Static → Jolt MeshShape（精确三角网格，不可移动）；
         // Dynamic/Kinematic → ConvexHullShape（凸包近似，MeshShape 太贵
         // 不能动）。数据源 Mesh 的 CPU 位置副本，无 MeshRenderer 回退 Box
-        enum class ColliderType : u8 { Box = 0, Sphere = 1, Mesh = 2 };
+        enum class ColliderType : u8 {
+            Box = 0, Sphere = 1, Mesh = 2,
+            Capsule = 3, Cylinder = 4, Compound = 5
+        };
+
+        // Compound 子形状：局部 pos/rot 相对刚体原点，不递归嵌套
+        //（child 不能再是 Compound）。尺寸语义同顶层（× Transform 缩放烘焙）
+        struct CompoundChild {
+            enum class Shape : u8 { Box = 0, Sphere = 1, Capsule = 2 };
+            Shape shape = Shape::Box;
+            glm::vec3 boxHalfExtents{0.25f, 0.25f, 0.25f};
+            f32 radius = 0.25f;             // Sphere 半径 / Capsule 半径
+            f32 capsuleHalfHeight = 0.25f;  // 仅 Capsule：圆柱段半高
+            glm::vec3 position{0.0f};
+            glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
+            bool operator==(const CompoundChild&) const = default;
+        };
 
         BodyType type = BodyType::Dynamic;   // Unity 语义：加 Rigidbody 即受物理驱动
         ColliderType collider = ColliderType::Box;
 
         // 碰撞体尺寸（× Transform 缩放，Unity BoxCollider.size 语义）——
-        // 程序化模型顶点烘焙尺寸，不能从 scale 反推
+        // 程序化模型顶点烘焙尺寸，不能从 scale 反推。
+        // Capsule/Cylinder 的"半高"指圆柱段半高（不含半球端盖），总高 =
+        // 2*(halfHeight + radius)；Jolt 两 ctor 参数序相反见 PhysicsWorld
         glm::vec3 boxHalfExtents{0.5f, 0.5f, 0.5f};
         f32 sphereRadius = 0.5f;
+        f32 capsuleRadius = 0.5f;        // Unity CapsuleCollider 默认值同构
+        f32 capsuleHalfHeight = 0.5f;
+        f32 cylinderRadius = 0.5f;
+        f32 cylinderHalfHeight = 0.5f;
+        std::vector<CompoundChild> compound;   // 仅 ColliderType::Compound
 
         // 动态体参数
         f32 mass = 1.0f;

Engine/include/Engine/Physics/PhysicsWorld.h

@@ -25,6 +25,7 @@
 #include <Engine/Physics/PhysicsDebugDraw.h>
 #include <Engine/Physics/PhysicsEvents.h>
 #include <Engine/Physics/PhysicsRay.h>
+#include <Engine/ECS/Components.h>   // BodyRecord 快照存 CompoundChild（完整类型）
 
 #include <Jolt/Jolt.h>
 #include <Jolt/Physics/PhysicsSystem.h>
@@ -95,7 +96,9 @@ namespace Engine {
             u8 type = 0;                 // RigidBodyComponent::BodyType
             u8 collider = 0;             // RigidBodyComponent::ColliderType
             glm::vec3 colliderSize{0.0f}; // 碰撞体尺寸缓存（box 半尺寸）
-            f32 radius = 0.0f;            // 球半径缓存
+            f32 radius = 0.0f;            // 球/Capsule/Cylinder 半径（collider 决定语义）
+            f32 halfHeight = 0.0f;        // Capsule/Cylinder 圆柱段半高
+            std::vector<ECS::RigidBodyComponent::CompoundChild> compound; // 子形状快照
             f32 mass = 0.0f;
             bool isSensor = false;       // 传感器标记（变更 → 重建 body）
             glm::vec3 lastPos{0.0f};     // 静态/运动体编辑器拖动检测
@@ -116,6 +119,10 @@ namespace Engine {
         JPH::RefConst<JPH::Shape> BuildMeshShape(u32 entityBits,
                                                  ECS::RigidBodyComponent& rb,
                                                  ECS::TransformComponent& tr);
+        // Compound 碰撞体：子形状列表 → Jolt StaticCompoundShape。
+        // 空 children 或构建失败返回 null（回退 Box）
+        JPH::RefConst<JPH::Shape> BuildCompoundShape(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）