tolelom
abd6f5cf6e
- 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>