feat(physics): add angular dynamics, sequential impulse solver, sleep system, BVH improvements, CCD, and ray extensions

- Angular velocity integration with diagonal inertia tensor (sphere/box/capsule)
- Angular impulse in collision solver (torque from off-center contacts)
- Sequential impulse solver with configurable iterations (default 4)
- Sleep/island system: bodies sleep after velocity threshold timeout, wake on collision
- Ray vs triangle intersection (Moller-Trumbore algorithm)
- raycast_all returning all hits sorted by distance
- BVH query_pairs replaced N^2 brute force with recursive tree traversal
- BVH query_ray for accelerated raycasting
- BVH refit for incremental AABB updates
- Swept sphere vs AABB continuous collision detection (CCD)
- Updated lib.rs exports for all new public APIs

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

crates/voltex_physics/src/lib.rs

@@ -9,12 +9,15 @@ pub mod rigid_body;
 pub mod integrator;
 pub mod solver;
 pub mod raycast;
+pub mod ccd;
 
 pub use bvh::BvhTree;
 pub use collider::Collider;
 pub use contact::ContactPoint;
 pub use collision::detect_collisions;
 pub use rigid_body::{RigidBody, PhysicsConfig};
-pub use integrator::integrate;
+pub use integrator::{integrate, inertia_tensor, inv_inertia};
 pub use solver::{resolve_collisions, physics_step};
-pub use raycast::{RayHit, raycast};
+pub use raycast::{RayHit, raycast, raycast_all};
+pub use ray::ray_vs_triangle;
+pub use ccd::swept_sphere_vs_aabb;