修复physics物理数据计算不正确的问题，同时为物理添加map索引

Engine/src/Physics/PhysicsWorld.cpp

@@ -352,6 +352,7 @@ namespace Engine {
                 !reg.all_of<ECS::RigidBodyComponent, ECS::TransformComponent>(e)) {
                 bi.RemoveBody(it->second.id);
                 bi.DestroyBody(it->second.id);
+                m_BodyToEntity.erase(it->second.id.GetIndexAndSequenceNumber());
                 invalidated.push_back(it->first);
                 it = m_Bodies.erase(it);
             } else {
@@ -370,6 +371,7 @@ namespace Engine {
                 if (found != m_Bodies.end()) {
                     bi.RemoveBody(found->second.id);
                     bi.DestroyBody(found->second.id);
+                    m_BodyToEntity.erase(found->second.id.GetIndexAndSequenceNumber());
                     m_Bodies.erase(found);
                     invalidated.push_back(bits);
                 }
@@ -381,6 +383,7 @@ namespace Engine {
                 if (found != m_Bodies.end()) {
                     bi.RemoveBody(found->second.id);
                     bi.DestroyBody(found->second.id);
+                    m_BodyToEntity.erase(found->second.id.GetIndexAndSequenceNumber());
                     m_Bodies.erase(found);
                     invalidated.push_back(bits);
                 }
@@ -402,6 +405,7 @@ namespace Engine {
                 // 类型/碰撞体/质量变更 → 重建（简单正确，重置速度可接受）
                 bi.RemoveBody(rec.id);
                 bi.DestroyBody(rec.id);
+                m_BodyToEntity.erase(found->second.id.GetIndexAndSequenceNumber());
                 m_Bodies.erase(found);
                 invalidated.push_back(bits);
                 rb.bodyValid = false;
@@ -891,6 +895,7 @@ namespace Engine {
         rec.lastPos = tr.GetWorldPosition();
         rec.lastRot = tr.GetWorldRotationQuat();
         m_Bodies[entityBits] = rec;
+        m_BodyToEntity[id.GetIndexAndSequenceNumber()] = entityBits;
 
         rb.bodyId = id.GetIndexAndSequenceNumber();
         rb.bodyValid = true;
@@ -902,6 +907,7 @@ namespace Engine {
         auto &bi = m_System->GetBodyInterface();
         bi.RemoveBody(found->second.id);
         bi.DestroyBody(found->second.id);
+        m_BodyToEntity.erase(found->second.id.GetIndexAndSequenceNumber());
         m_Bodies.erase(found);
     }
 
@@ -913,12 +919,9 @@ namespace Engine {
     }
 
     bool PhysicsWorld::TryBitsByBodyId(const JPH::BodyID &id, u32 &outBits) const {
-        for (const auto &[bits, rec]: m_Bodies) {
-            if (rec.id == id) {
-                outBits = bits;
-                return true;
-            }
-        }
+        const auto& found = m_BodyToEntity.find(id.GetIndexAndSequenceNumber());
+        if (found == m_BodyToEntity.end()) return false;
+        outBits = found->second;
         return false;
     }
 
@@ -1059,23 +1062,28 @@ namespace Engine {
             const JPH::BodyID id(rb.bodyId);
             const JPH::RVec3 pos = bi.GetPosition(id);
             const JPH::Quat rot = bi.GetRotation(id);
+            const glm::vec3 worldPos(pos.GetX(), pos.GetY(), pos.GetZ());
+            const glm::quat worldRot = ToGlm(rot);
             // body 姿态是世界系：写回经 world→local 换算（挂父层级实体
             // 不破坏相对位姿；根实体 = 直写）。标脏 → UpdateTransforms 重算
             m_Scene.SetWorldPose(
                 e,
-                glm::vec3(pos.GetX(), pos.GetY(), pos.GetZ()),
-                ToGlm(rot),
+                worldPos,
+                worldRot,
                 tr.GetWorldScale());
 
             const JPH::Vec3 vel = bi.GetLinearVelocity(id);
             rb.velocity = glm::vec3(vel.GetX(), vel.GetY(), vel.GetZ());
 
-            // lastPos/lastRot 同步到 body 姿态：否则下帧 SyncScene 把物理
-            // 位移误判为编辑器拖动 → teleport 回旧位置死循环
+            // lastPos/lastRot 同步到 body 当前姿态：否则下帧 SyncScene 会把物理
+            // 位移误判为编辑器拖动 → teleport + 清零速度死循环。
+            // 注意：必须用 bi.GetPosition/GetRotation 的 fresh 值，不能读
+            // tr.GetWorldPosition()——SetWorldPose 只改 local+标脏，world cache
+            // 要等本帧末尾 Scene::UpdateTransforms 才重算，此刻仍是旧值。
             const u32 bits = static_cast<u32>(entt::to_integral(e));
             if (auto it = m_Bodies.find(bits); it != m_Bodies.end()) {
-                it->second.lastPos = tr.GetWorldPosition();
-                it->second.lastRot = tr.GetWorldRotationQuat();
+                it->second.lastPos = worldPos;
+                it->second.lastRot = worldRot;
             }
         }
     }