Add inertia tensor and angular collision impulses#152
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Replace scalar inertia with a diagonal inertia tensor in the Mass component. Extend narrowphase collision functions to return world-space contact points. Rewrite collision response to apply angular impulses from off-center contacts using the standard rigid-body impulse formula. - Mass struct gains inverse_inertia_tensor field (Vec3, body-local diagonal) - Factory methods: Mass::from_sphere, from_aabb, from_capsule with correct principal moments of inertia - All intersect_* functions now return (normal, depth, contact_point) - CollisionEvent gains contact_point field - apply_velocity_response uses full rotational impulse formula: effective mass denominator includes I^-1 cross terms, angular velocity changes from both normal and friction impulses - Backward compatible: Mass::new produces spherically symmetric tensor, head-on sphere collisions produce zero angular change Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
Masscomponent with a diagonalinverse_inertia_tensor(Vec3) and add factory methodsfrom_sphere,from_aabb,from_capsulefor accurate per-shape inertiaapply_velocity_responsewith the standard rigid-body impulse formula: off-center contacts produce angular velocity changes viar x Jtorques, and the effective mass denominator includes rotational inertia termsCollisionEventgains acontact_pointfieldBackward compatibility
Mass::new(mass, inertia)produces a spherically symmetric tensor identical to the previous scalar behaviorr x n == 0so angular impulse is zero (regression-tested)Test plan
Mass::newproduces correct splat tensorMass::from_sphere,from_aabb,from_capsuleproduce correct valuesMass::infiniteproduces zero tensor(Vec3, f32, Vec3)return typecargo check,cargo clippy -- -D warnings,cargo fmt --checkclean🤖 Generated with Claude Code