@bloomengine/engine 0.4.0 → 0.4.2

package/native/third_party/bloom_jolt/src/bloom_jolt.cpp

@@ -1,1780 +0,0 @@
-/*
- * bloom_jolt.cpp — Tier 1 implementation.
- *
- * Handle encoding:
- *   bj_world       → reinterpret_cast<WorldImpl *>
- *   bj_shape       → reinterpret_cast<const Shape *> (intrusive refcounted)
- *   bj_body        → (BodyID.GetIndexAndSequenceNumber() + 1)  — shift by 1
- *                    so Jolt's valid id 0 doesn't collide with BJ_INVALID==0.
- *   bj_constraint  → reinterpret_cast<Constraint *> (intrusive refcounted)
- *
- * Thread safety: the contact listener is invoked from Jolt job threads.
- * We push events into a mutex-guarded queue; user code drains on the main
- * thread via bj_world_pop_contacts.
- */
-
-#include "bloom_jolt.h"
-
-#include <Jolt/Jolt.h>
-#include <Jolt/RegisterTypes.h>
-#include <Jolt/Core/Factory.h>
-#include <Jolt/Core/TempAllocator.h>
-#include <Jolt/Core/JobSystemThreadPool.h>
-#include <Jolt/Physics/PhysicsSettings.h>
-#include <Jolt/Physics/PhysicsSystem.h>
-#include <Jolt/Physics/Body/Body.h>
-#include <Jolt/Physics/Body/BodyCreationSettings.h>
-#include <Jolt/Physics/Body/BodyID.h>
-#include <Jolt/Physics/Body/BodyInterface.h>
-#include <Jolt/Physics/Body/BodyLock.h>
-#include <Jolt/Physics/Body/BodyLockMulti.h>
-#include <Jolt/Physics/Body/MotionType.h>
-#include <Jolt/Physics/Body/MotionQuality.h>
-#include <Jolt/Physics/Body/AllowedDOFs.h>
-#include <Jolt/Physics/EActivation.h>
-#include <Jolt/Physics/Collision/BroadPhase/BroadPhaseLayer.h>
-#include <Jolt/Physics/Collision/ObjectLayer.h>
-#include <Jolt/Physics/Collision/RayCast.h>
-#include <Jolt/Physics/Collision/ShapeCast.h>
-#include <Jolt/Physics/Collision/CastResult.h>
-#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
-#include <Jolt/Physics/Collision/CollidePointResult.h>
-#include <Jolt/Physics/Collision/CollideShape.h>
-#include <Jolt/Physics/Collision/ContactListener.h>
-#include <Jolt/Physics/Collision/NarrowPhaseQuery.h>
-#include <Jolt/Physics/Collision/ShapeFilter.h>
-#include <Jolt/Physics/Collision/Shape/BoxShape.h>
-#include <Jolt/Physics/Collision/Shape/SphereShape.h>
-#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
-#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
-#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
-#include <Jolt/Physics/Collision/Shape/MeshShape.h>
-#include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
-#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
-#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
-#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
-#include <Jolt/Physics/Constraints/Constraint.h>
-#include <Jolt/Physics/Constraints/FixedConstraint.h>
-#include <Jolt/Physics/Constraints/PointConstraint.h>
-#include <Jolt/Physics/Constraints/HingeConstraint.h>
-#include <Jolt/Physics/Constraints/SliderConstraint.h>
-#include <Jolt/Physics/Constraints/DistanceConstraint.h>
-#include <Jolt/Physics/Constraints/SixDOFConstraint.h>
-#include <Jolt/Physics/Character/CharacterVirtual.h>
-#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
-#include <Jolt/Physics/SoftBody/SoftBodySharedSettings.h>
-#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
-#include <Jolt/Physics/Vehicle/VehicleConstraint.h>
-#include <Jolt/Physics/Vehicle/WheeledVehicleController.h>
-#include <Jolt/Physics/Vehicle/VehicleCollisionTester.h>
-#include <Jolt/Physics/Vehicle/VehicleDifferential.h>
-
-#include <algorithm>
-#include <atomic>
-#include <cstring>
-#include <mutex>
-#include <thread>
-#include <vector>
-
-using namespace JPH;
-
-/* ================================================================== */
-/*  Anonymous namespace: helper types                                  */
-/* ================================================================== */
-
-namespace {
-
-std::atomic<int> g_init_refcount{0};
-
-/* ---- Broadphase layers ---- */
-enum : uint8_t {
-    BP_NON_MOVING = 0,
-    BP_MOVING     = 1,
-    BP_COUNT      = 2
-};
-
-class BPLayerInterfaceImpl final : public BroadPhaseLayerInterface {
-public:
-    JPH::uint GetNumBroadPhaseLayers() const override { return BP_COUNT; }
-    BroadPhaseLayer GetBroadPhaseLayer(ObjectLayer layer) const override {
-        return layer == (ObjectLayer)BJ_LAYER_NON_MOVING
-            ? BroadPhaseLayer(BP_NON_MOVING)
-            : BroadPhaseLayer(BP_MOVING);
-    }
-#if defined(JPH_EXTERNAL_PROFILE) || defined(JPH_PROFILE_ENABLED)
-    const char *GetBroadPhaseLayerName(BroadPhaseLayer layer) const override {
-        switch ((BroadPhaseLayer::Type)layer) {
-            case (BroadPhaseLayer::Type)BP_NON_MOVING: return "NON_MOVING";
-            case (BroadPhaseLayer::Type)BP_MOVING:     return "MOVING";
-            default:                                    return "INVALID";
-        }
-    }
-#endif
-};
-
-class ObjectVsBPFilter final : public ObjectVsBroadPhaseLayerFilter {
-public:
-    bool ShouldCollide(ObjectLayer object, BroadPhaseLayer broad) const override {
-        if (object == (ObjectLayer)BJ_LAYER_NON_MOVING) {
-            return broad == BroadPhaseLayer(BP_MOVING);
-        }
-        return true;
-    }
-};
-
-class ObjectLayerPairFilterMatrix final : public ObjectLayerPairFilter {
-public:
-    ObjectLayerPairFilterMatrix() {
-        std::memset(m_matrix, 0xFF, sizeof(m_matrix));
-        set(BJ_LAYER_NON_MOVING, BJ_LAYER_NON_MOVING, false);
-    }
-    bool ShouldCollide(ObjectLayer a, ObjectLayer b) const override {
-        if (a >= BJ_MAX_OBJECT_LAYERS || b >= BJ_MAX_OBJECT_LAYERS) return false;
-        return (m_matrix[a] & (uint16_t(1) << b)) != 0;
-    }
-    void set(uint32_t a, uint32_t b, bool collides) {
-        if (a >= BJ_MAX_OBJECT_LAYERS || b >= BJ_MAX_OBJECT_LAYERS) return;
-        if (collides) {
-            m_matrix[a] |= uint16_t(1) << b;
-            m_matrix[b] |= uint16_t(1) << a;
-        } else {
-            m_matrix[a] &= ~(uint16_t(1) << b);
-            m_matrix[b] &= ~(uint16_t(1) << a);
-        }
-    }
-    bool get(uint32_t a, uint32_t b) const {
-        if (a >= BJ_MAX_OBJECT_LAYERS || b >= BJ_MAX_OBJECT_LAYERS) return false;
-        return (m_matrix[a] & (uint16_t(1) << b)) != 0;
-    }
-private:
-    uint16_t m_matrix[BJ_MAX_OBJECT_LAYERS];
-};
-
-/* ---- Filter for queries that respect a caller-provided layer mask ---- */
-
-class LayerMaskObjectFilter final : public ObjectLayerFilter {
-public:
-    explicit LayerMaskObjectFilter(uint32_t mask) : m_mask(mask) {}
-    bool ShouldCollide(ObjectLayer layer) const override {
-        if (layer >= 32) return true;              /* layers 16-31 not yet partitioned; pass through */
-        return (m_mask & (uint32_t(1) << layer)) != 0;
-    }
-private:
-    uint32_t m_mask;
-};
-
-class LayerMaskBPFilter final : public BroadPhaseLayerFilter {
-public:
-    explicit LayerMaskBPFilter(uint32_t mask) : m_mask(mask) {}
-    bool ShouldCollide(BroadPhaseLayer layer) const override {
-        /* BP_NON_MOVING contains object layer 0; BP_MOVING contains object layers 1..15. */
-        uint8_t bp = (BroadPhaseLayer::Type)layer;
-        if (bp == BP_NON_MOVING) return (m_mask & 0x1u) != 0;
-        if (bp == BP_MOVING)     return (m_mask & 0xFFFEu) != 0;
-        return true;
-    }
-private:
-    uint32_t m_mask;
-};
-
-/* ---- Contact listener → drainable event queue ---- */
-
-struct WorldImpl; /* forward */
-
-class ContactQueue final : public ContactListener {
-public:
-    void OnContactAdded(const Body &body1, const Body &body2,
-                        const ContactManifold &manifold,
-                        ContactSettings &settings) override
-    {
-        push(BJ_CONTACT_ADDED, body1, body2, &manifold, &settings);
-    }
-    void OnContactPersisted(const Body &body1, const Body &body2,
-                            const ContactManifold &manifold,
-                            ContactSettings &settings) override
-    {
-        push(BJ_CONTACT_PERSISTED, body1, body2, &manifold, &settings);
-    }
-    void OnContactRemoved(const SubShapeIDPair &pair) override
-    {
-        bj_contact c{};
-        c.event  = BJ_CONTACT_REMOVED;
-        c.body_a = encode_body_id(pair.GetBody1ID());
-        c.body_b = encode_body_id(pair.GetBody2ID());
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_events.push_back(c);
-    }
-
-    uint32_t count() {
-        std::lock_guard<std::mutex> lock(m_mutex);
-        return (uint32_t)m_events.size();
-    }
-
-    uint32_t drain(bj_contact *out, uint32_t max_out) {
-        if (!out || max_out == 0) return 0;
-        std::lock_guard<std::mutex> lock(m_mutex);
-        uint32_t n = std::min<uint32_t>(max_out, (uint32_t)m_events.size());
-        for (uint32_t i = 0; i < n; ++i) out[i] = m_events[i];
-        m_events.erase(m_events.begin(), m_events.begin() + n);
-        return n;
-    }
-
-    void clear() {
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_events.clear();
-    }
-
-private:
-    static bj_vec3 from_vec3(Vec3 v) { return { v.GetX(), v.GetY(), v.GetZ() }; }
-    static bj_body encode_body_id(BodyID id) {
-        uint32_t raw = id.GetIndexAndSequenceNumber();
-        return raw == BodyID::cInvalidBodyID ? BJ_INVALID : (bj_body)(uint64_t(raw) + 1u);
-    }
-    void push(bj_contact_event ev, const Body &b1, const Body &b2,
-              const ContactManifold *m, const ContactSettings *s)
-    {
-        bj_contact c{};
-        c.event  = ev;
-        c.body_a = encode_body_id(b1.GetID());
-        c.body_b = encode_body_id(b2.GetID());
-        if (m) {
-            Vec3 base(m->mBaseOffset.GetX(), m->mBaseOffset.GetY(), m->mBaseOffset.GetZ());
-            Vec3 p1 = m->mRelativeContactPointsOn1.empty()
-                ? base
-                : base + m->mRelativeContactPointsOn1[0];
-            Vec3 p2 = m->mRelativeContactPointsOn2.empty()
-                ? base
-                : base + m->mRelativeContactPointsOn2[0];
-            c.point_a           = from_vec3(p1);
-            c.point_b           = from_vec3(p2);
-            c.normal            = from_vec3(m->mWorldSpaceNormal);
-            c.penetration_depth = m->mPenetrationDepth;
-        }
-        if (s) {
-            c.combined_friction    = s->mCombinedFriction;
-            c.combined_restitution = s->mCombinedRestitution;
-        }
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_events.push_back(c);
-    }
-
-    std::mutex              m_mutex;
-    std::vector<bj_contact> m_events;
-};
-
-/* ---- World ---- */
-
-struct WorldImpl {
-    TempAllocatorImpl           *temp_alloc = nullptr;
-    JobSystemThreadPool         *jobs       = nullptr;
-    BPLayerInterfaceImpl         bp_layer_interface;
-    ObjectVsBPFilter             object_vs_bp_filter;
-    ObjectLayerPairFilterMatrix  layer_pair_filter;
-    PhysicsSystem                system;
-    ContactQueue                 contacts;
-};
-
-/* ---- Encode / decode ---- */
-
-inline WorldImpl *as_world(bj_world w)  { return reinterpret_cast<WorldImpl *>(w); }
-inline bj_world   as_handle(WorldImpl *w) { return reinterpret_cast<bj_world>(w); }
-
-inline bj_body encode_body_id(BodyID id) {
-    uint32_t raw = id.GetIndexAndSequenceNumber();
-    return raw == BodyID::cInvalidBodyID ? BJ_INVALID : (bj_body)(uint64_t(raw) + 1u);
-}
-inline BodyID decode_body_id(bj_body b) {
-    if (b == BJ_INVALID) return BodyID();
-    return BodyID((uint32_t)(b - 1u));
-}
-
-inline bj_shape encode_shape(const Shape *s) {
-    if (!s) return BJ_INVALID;
-    s->AddRef();  /* handle owns one ref */
-    return reinterpret_cast<bj_shape>(s);
-}
-inline const Shape *decode_shape(bj_shape h) {
-    return reinterpret_cast<const Shape *>(h);
-}
-
-inline bj_constraint encode_constraint(Constraint *c) {
-    if (!c) return BJ_INVALID;
-    c->AddRef();
-    return reinterpret_cast<bj_constraint>(c);
-}
-inline Constraint *decode_constraint(bj_constraint h) {
-    return reinterpret_cast<Constraint *>(h);
-}
-
-/* ---- Vec3/Quat conversion ---- */
-
-inline Vec3    to_jph(bj_vec3 v) { return Vec3(v.x, v.y, v.z); }
-inline Quat    to_jph(bj_quat q) { return Quat(q.x, q.y, q.z, q.w); }
-inline bj_vec3 from_jph(Vec3 v) { return { v.GetX(), v.GetY(), v.GetZ() }; }
-inline bj_quat from_jph(Quat q) { return { q.GetX(), q.GetY(), q.GetZ(), q.GetW() }; }
-/* In single-precision builds RVec3 == Vec3, so to_jph/from_jph cover both. */
-
-inline EMotionType to_motion(bj_motion_type t) {
-    switch (t) {
-        case BJ_MOTION_STATIC:    return EMotionType::Static;
-        case BJ_MOTION_KINEMATIC: return EMotionType::Kinematic;
-        case BJ_MOTION_DYNAMIC:   return EMotionType::Dynamic;
-    }
-    return EMotionType::Dynamic;
-}
-inline bj_motion_type from_motion(EMotionType t) {
-    switch (t) {
-        case EMotionType::Static:    return BJ_MOTION_STATIC;
-        case EMotionType::Kinematic: return BJ_MOTION_KINEMATIC;
-        case EMotionType::Dynamic:   return BJ_MOTION_DYNAMIC;
-    }
-    return BJ_MOTION_DYNAMIC;
-}
-inline EActivation to_activation(bj_activation a) {
-    return a == BJ_ACTIVATE ? EActivation::Activate : EActivation::DontActivate;
-}
-
-/* Run `build` under a multi-body write lock and add the resulting constraint
- * to the world. If body_b is BJ_INVALID, the world-fixed body is used. */
-template <typename Build>
-bj_constraint make_constraint(WorldImpl *w, const bj_constraint_anchors *a, Build &&build) {
-    BodyID id1 = decode_body_id(a->body_a);
-    BodyID id2 = (a->body_b != BJ_INVALID) ? decode_body_id(a->body_b) : BodyID();
-    BodyID ids[2] = { id1, id2 };
-    const int count = (a->body_b != BJ_INVALID) ? 2 : 1;
-    BodyLockMultiWrite lock(w->system.GetBodyLockInterface(), ids, count);
-    Body *b1 = lock.GetBody(0);
-    Body *b2 = (count == 2) ? lock.GetBody(1) : &Body::sFixedToWorld;
-    if (!b1 || !b2) return BJ_INVALID;
-    TwoBodyConstraint *c = build(*b1, *b2);
-    if (!c) return BJ_INVALID;
-    w->system.AddConstraint(c);
-    return encode_constraint(c);
-}
-
-} /* anonymous namespace */
-
-/* ================================================================== */
-/*                           IMPLEMENTATIONS                           */
-/* ================================================================== */
-
-extern "C" {
-
-/* ---- Global ---- */
-
-bj_result bj_global_init(void) {
-    if (g_init_refcount.fetch_add(1) == 0) {
-        RegisterDefaultAllocator();
-        Factory::sInstance = new Factory();
-        RegisterTypes();
-    }
-    return BJ_OK;
-}
-
-void bj_global_shutdown(void) {
-    int prev = g_init_refcount.fetch_sub(1);
-    if (prev == 1) {
-        UnregisterTypes();
-        delete Factory::sInstance;
-        Factory::sInstance = nullptr;
-    }
-}
-
-const char *bj_version_string(void) {
-    return "Jolt 5.5.0 / bloom_jolt 0.1";
-}
-
-/* ---- World ---- */
-
-bj_world bj_world_create(const bj_world_desc *desc) {
-    if (!desc) return BJ_INVALID;
-    if (g_init_refcount.load() == 0) return BJ_INVALID;
-
-    const uint32_t max_bodies =
-        desc->max_bodies ? desc->max_bodies : 65536u;
-    const uint32_t max_body_pairs =
-        desc->max_body_pairs ? desc->max_body_pairs : 65536u;
-    const uint32_t max_contact_constraints =
-        desc->max_contact_constraints ? desc->max_contact_constraints : 10240u;
-    const int num_threads = desc->num_threads
-        ? (int)desc->num_threads
-        : std::max(1, (int)std::thread::hardware_concurrency() - 1);
-    const uint32_t temp_alloc_bytes =
-        desc->temp_allocator_bytes ? desc->temp_allocator_bytes : (10u * 1024u * 1024u);
-
-    auto *w = new WorldImpl();
-    w->temp_alloc = new TempAllocatorImpl(temp_alloc_bytes);
-    w->jobs       = new JobSystemThreadPool(cMaxPhysicsJobs, cMaxPhysicsBarriers, num_threads);
-
-    w->system.Init(
-        max_bodies, /*numBodyMutexes=*/0,
-        max_body_pairs, max_contact_constraints,
-        w->bp_layer_interface, w->object_vs_bp_filter, w->layer_pair_filter
-    );
-    w->system.SetGravity(to_jph(desc->gravity));
-    w->system.SetContactListener(&w->contacts);
-    return as_handle(w);
-}
-
-void bj_world_destroy(bj_world world) {
-    WorldImpl *w = as_world(world);
-    if (!w) return;
-    delete w->jobs;
-    delete w->temp_alloc;
-    delete w;
-}
-
-void bj_world_set_gravity(bj_world world, bj_vec3 gravity) {
-    if (auto *w = as_world(world)) w->system.SetGravity(to_jph(gravity));
-}
-
-void bj_world_get_gravity(bj_world world, bj_vec3 *out) {
-    if (!out) return;
-    if (auto *w = as_world(world)) *out = from_jph(w->system.GetGravity());
-    else *out = { 0.0f, 0.0f, 0.0f };
-}
-
-void bj_world_optimize_broadphase(bj_world world) {
-    if (auto *w = as_world(world)) w->system.OptimizeBroadPhase();
-}
-
-bj_result bj_world_step(bj_world world, float delta_time, uint32_t collision_steps) {
-    WorldImpl *w = as_world(world);
-    if (!w) return BJ_ERR_INVALID_HANDLE;
-    const int steps = collision_steps ? (int)collision_steps : 1;
-    EPhysicsUpdateError err = w->system.Update(delta_time, steps, w->temp_alloc, w->jobs);
-    return err == EPhysicsUpdateError::None ? BJ_OK : BJ_ERR_OUT_OF_MEMORY;
-}
-
-void bj_world_set_layer_collides(bj_world world, uint32_t a, uint32_t b, uint8_t collides) {
-    if (auto *w = as_world(world)) w->layer_pair_filter.set(a, b, collides != 0);
-}
-
-uint8_t bj_world_get_layer_collides(bj_world world, uint32_t a, uint32_t b) {
-    if (auto *w = as_world(world)) return w->layer_pair_filter.get(a, b) ? 1 : 0;
-    return 0;
-}
-
-uint32_t bj_world_body_count(bj_world world) {
-    if (auto *w = as_world(world)) return w->system.GetNumBodies();
-    return 0;
-}
-
-uint32_t bj_world_active_body_count(bj_world world) {
-    if (auto *w = as_world(world)) return w->system.GetNumActiveBodies(EBodyType::RigidBody);
-    return 0;
-}
-
-/* ================================================================== */
-/*  Shapes                                                             */
-/* ================================================================== */
-
-bj_shape bj_shape_box(bj_vec3 half_extents, float convex_radius) {
-    BoxShapeSettings settings(to_jph(half_extents), convex_radius);
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_sphere(float radius) {
-    SphereShapeSettings settings(radius);
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_capsule(float half_height, float radius) {
-    CapsuleShapeSettings settings(half_height, radius);
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_cylinder(float half_height, float radius, float convex_radius) {
-    CylinderShapeSettings settings(half_height, radius, convex_radius);
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_convex_hull(const bj_vec3 *points, uint32_t count, float convex_radius) {
-    if (!points || count < 3) return BJ_INVALID;
-    Array<Vec3> pts;
-    pts.reserve(count);
-    for (uint32_t i = 0; i < count; ++i) pts.push_back(to_jph(points[i]));
-    ConvexHullShapeSettings settings(pts, convex_radius);
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_mesh(const bj_vec3 *vertices, uint32_t vertex_count,
-                       const uint32_t *indices, uint32_t triangle_count)
-{
-    if (!vertices || !indices || vertex_count == 0 || triangle_count == 0) return BJ_INVALID;
-    VertexList v_list;
-    v_list.reserve(vertex_count);
-    for (uint32_t i = 0; i < vertex_count; ++i) {
-        v_list.push_back(Float3(vertices[i].x, vertices[i].y, vertices[i].z));
-    }
-    IndexedTriangleList t_list;
-    t_list.reserve(triangle_count);
-    for (uint32_t i = 0; i < triangle_count; ++i) {
-        t_list.push_back(IndexedTriangle(indices[i*3+0], indices[i*3+1], indices[i*3+2], 0));
-    }
-    MeshShapeSettings settings(std::move(v_list), std::move(t_list));
-    settings.Sanitize();
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_heightfield(const float *samples, uint32_t sample_count,
-                              bj_vec3 offset, bj_vec3 scale, uint32_t block_size)
-{
-    if (!samples || sample_count < 2) return BJ_INVALID;
-    HeightFieldShapeSettings settings(
-        samples,
-        to_jph(offset),
-        to_jph(scale),
-        sample_count
-    );
-    settings.mBlockSize = block_size ? block_size : 4u;
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_compound_static(const bj_shape *shapes,
-                                   const bj_transform *local_transforms,
-                                   uint32_t count)
-{
-    if (!shapes || !local_transforms || count == 0) return BJ_INVALID;
-    StaticCompoundShapeSettings settings;
-    for (uint32_t i = 0; i < count; ++i) {
-        const Shape *child = decode_shape(shapes[i]);
-        if (!child) return BJ_INVALID;
-        settings.AddShape(
-            to_jph(local_transforms[i].position),
-            to_jph(local_transforms[i].rotation),
-            child
-        );
-    }
-    /* StaticCompoundShape::Create needs a temp allocator + job system for parallel BVH build.
-     * For simplicity we use the default (nullptr = single-threaded build). */
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_scaled(bj_shape base, bj_vec3 scale) {
-    const Shape *inner = decode_shape(base);
-    if (!inner) return BJ_INVALID;
-    ScaledShapeSettings settings(inner, to_jph(scale));
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-bj_shape bj_shape_offset_com(bj_shape base, bj_vec3 offset) {
-    const Shape *inner = decode_shape(base);
-    if (!inner) return BJ_INVALID;
-    OffsetCenterOfMassShapeSettings settings(to_jph(offset), inner);
-    auto result = settings.Create();
-    return result.IsValid() ? encode_shape(result.Get().GetPtr()) : BJ_INVALID;
-}
-
-void bj_shape_add_ref(bj_shape h) { if (auto *s = decode_shape(h)) s->AddRef(); }
-void bj_shape_release(bj_shape h) { if (auto *s = decode_shape(h)) s->Release(); }
-
-void bj_shape_get_local_bounds(bj_shape h, bj_vec3 *out_min, bj_vec3 *out_max) {
-    if (auto *s = decode_shape(h)) {
-        AABox b = s->GetLocalBounds();
-        if (out_min) *out_min = from_jph(b.mMin);
-        if (out_max) *out_max = from_jph(b.mMax);
-    } else {
-        if (out_min) *out_min = { 0, 0, 0 };
-        if (out_max) *out_max = { 0, 0, 0 };
-    }
-}
-
-float bj_shape_get_volume(bj_shape h) {
-    if (auto *s = decode_shape(h)) return s->GetVolume();
-    return 0.0f;
-}
-
-/* ================================================================== */
-/*  Bodies                                                             */
-/* ================================================================== */
-
-bj_body bj_body_create(bj_world world, bj_shape shape, const bj_body_desc *desc) {
-    WorldImpl *w = as_world(world);
-    if (!w || !desc) return BJ_INVALID;
-    const Shape *s = decode_shape(shape);
-    if (!s) return BJ_INVALID;
-
-    BodyCreationSettings settings(
-        s,
-        to_jph(desc->position),
-        to_jph(desc->rotation),
-        to_motion(desc->motion_type),
-        (ObjectLayer)desc->object_layer
-    );
-    settings.mLinearVelocity  = to_jph(desc->linear_velocity);
-    settings.mAngularVelocity = to_jph(desc->angular_velocity);
-    settings.mGravityFactor   = desc->gravity_factor;
-    settings.mLinearDamping   = desc->linear_damping;
-    settings.mAngularDamping  = desc->angular_damping;
-    settings.mFriction        = desc->friction;
-    settings.mRestitution     = desc->restitution;
-    settings.mIsSensor        = desc->is_sensor != 0;
-    settings.mAllowSleeping   = desc->allow_sleeping != 0;
-    settings.mMotionQuality   =
-        desc->use_ccd ? EMotionQuality::LinearCast : EMotionQuality::Discrete;
-    settings.mUserData        = desc->user_data;
-
-    if (desc->mass_override > 0.0f) {
-        settings.mOverrideMassProperties = EOverrideMassProperties::MassAndInertiaProvided;
-        settings.mMassPropertiesOverride.mMass = desc->mass_override;
-        Vec3 inertia_diag = to_jph(desc->inertia_diag_override);
-        if (inertia_diag.LengthSq() > 0.0f) {
-            settings.mMassPropertiesOverride.mInertia =
-                Mat44::sScale(inertia_diag);
-        } else {
-            /* Auto-compute inertia from shape but scale by the mass ratio. */
-            settings.mOverrideMassProperties =
-                EOverrideMassProperties::CalculateInertia;
-            settings.mMassPropertiesOverride.mMass = desc->mass_override;
-        }
-    }
-
-    BodyInterface &bi = w->system.GetBodyInterface();
-    EActivation act = desc->start_awake ? EActivation::Activate : EActivation::DontActivate;
-    BodyID id = bi.CreateAndAddBody(settings, act);
-    return encode_body_id(id);
-}
-
-void bj_body_destroy(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    BodyInterface &bi = w->system.GetBodyInterface();
-    BodyID id = decode_body_id(body);
-    if (bi.IsAdded(id)) bi.RemoveBody(id);
-    bi.DestroyBody(id);
-}
-
-void bj_body_activate(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().ActivateBody(decode_body_id(body));
-}
-
-void bj_body_deactivate(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().DeactivateBody(decode_body_id(body));
-}
-
-uint8_t bj_body_is_active(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0;
-    return w->system.GetBodyInterface().IsActive(decode_body_id(body)) ? 1 : 0;
-}
-
-uint8_t bj_body_is_valid(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0;
-    return w->system.GetBodyInterface().IsAdded(decode_body_id(body)) ? 1 : 0;
-}
-
-void bj_body_get_transform(bj_world world, bj_body body, bj_transform *out) {
-    if (!out) return;
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) {
-        *out = { { 0, 0, 0 }, { 0, 0, 0, 1 } };
-        return;
-    }
-    RVec3 p;
-    Quat q;
-    w->system.GetBodyInterface().GetPositionAndRotation(decode_body_id(body), p, q);
-    out->position = from_jph(p);
-    out->rotation = from_jph(q);
-}
-
-void bj_body_set_transform(bj_world world, bj_body body, const bj_transform *xform, bj_activation act) {
-    WorldImpl *w = as_world(world);
-    if (!w || !xform || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetPositionAndRotation(
-        decode_body_id(body),
-        to_jph(xform->position),
-        to_jph(xform->rotation),
-        to_activation(act)
-    );
-}
-
-void bj_body_get_position(bj_world world, bj_body body, bj_vec3 *out) {
-    if (!out) return;
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(w->system.GetBodyInterface().GetPosition(decode_body_id(body)));
-}
-
-void bj_body_get_rotation(bj_world world, bj_body body, bj_quat *out) {
-    if (!out) return;
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) { *out = { 0, 0, 0, 1 }; return; }
-    *out = from_jph(w->system.GetBodyInterface().GetRotation(decode_body_id(body)));
-}
-
-void bj_body_set_position(bj_world world, bj_body body, bj_vec3 pos, bj_activation act) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetPosition(decode_body_id(body), to_jph(pos), to_activation(act));
-}
-
-void bj_body_set_rotation(bj_world world, bj_body body, bj_quat rot, bj_activation act) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetRotation(decode_body_id(body), to_jph(rot), to_activation(act));
-}
-
-void bj_body_move_kinematic(bj_world world, bj_body body, const bj_transform *target, float dt) {
-    WorldImpl *w = as_world(world);
-    if (!w || !target || body == BJ_INVALID || dt <= 0.0f) return;
-    w->system.GetBodyInterface().MoveKinematic(
-        decode_body_id(body), to_jph(target->position), to_jph(target->rotation), dt
-    );
-}
-
-void bj_body_get_linear_velocity(bj_world world, bj_body body, bj_vec3 *out) {
-    if (!out) return;
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(w->system.GetBodyInterface().GetLinearVelocity(decode_body_id(body)));
-}
-
-void bj_body_get_angular_velocity(bj_world world, bj_body body, bj_vec3 *out) {
-    if (!out) return;
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(w->system.GetBodyInterface().GetAngularVelocity(decode_body_id(body)));
-}
-
-void bj_body_set_linear_velocity(bj_world world, bj_body body, bj_vec3 v) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetLinearVelocity(decode_body_id(body), to_jph(v));
-}
-
-void bj_body_set_angular_velocity(bj_world world, bj_body body, bj_vec3 v) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetAngularVelocity(decode_body_id(body), to_jph(v));
-}
-
-void bj_body_get_point_velocity(bj_world world, bj_body body, bj_vec3 world_point, bj_vec3 *out) {
-    if (!out) return;
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(w->system.GetBodyInterface().GetPointVelocity(decode_body_id(body), to_jph(world_point)));
-}
-
-void bj_body_add_force(bj_world world, bj_body body, bj_vec3 f) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().AddForce(decode_body_id(body), to_jph(f));
-}
-
-void bj_body_add_impulse(bj_world world, bj_body body, bj_vec3 i) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().AddImpulse(decode_body_id(body), to_jph(i));
-}
-
-void bj_body_add_torque(bj_world world, bj_body body, bj_vec3 t) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().AddTorque(decode_body_id(body), to_jph(t));
-}
-
-void bj_body_add_angular_impulse(bj_world world, bj_body body, bj_vec3 i) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().AddAngularImpulse(decode_body_id(body), to_jph(i));
-}
-
-void bj_body_add_force_at(bj_world world, bj_body body, bj_vec3 f, bj_vec3 p) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().AddForce(decode_body_id(body), to_jph(f), to_jph(p));
-}
-
-void bj_body_add_impulse_at(bj_world world, bj_body body, bj_vec3 i, bj_vec3 p) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().AddImpulse(decode_body_id(body), to_jph(i), to_jph(p));
-}
-
-void bj_body_set_friction(bj_world world, bj_body body, float f) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetFriction(decode_body_id(body), f);
-}
-
-void bj_body_set_restitution(bj_world world, bj_body body, float r) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetRestitution(decode_body_id(body), r);
-}
-
-void bj_body_set_linear_damping(bj_world world, bj_body body, float d) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (lock.Succeeded()) {
-        if (MotionProperties *mp = lock.GetBody().GetMotionPropertiesUnchecked()) {
-            mp->SetLinearDamping(d);
-        }
-    }
-}
-
-void bj_body_set_angular_damping(bj_world world, bj_body body, float d) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (lock.Succeeded()) {
-        if (MotionProperties *mp = lock.GetBody().GetMotionPropertiesUnchecked()) {
-            mp->SetAngularDamping(d);
-        }
-    }
-}
-
-void bj_body_set_gravity_factor(bj_world world, bj_body body, float factor) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetGravityFactor(decode_body_id(body), factor);
-}
-
-void bj_body_set_ccd(bj_world world, bj_body body, uint8_t enabled) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetMotionQuality(
-        decode_body_id(body),
-        enabled ? EMotionQuality::LinearCast : EMotionQuality::Discrete
-    );
-}
-
-void bj_body_set_motion_type(bj_world world, bj_body body, bj_motion_type t, bj_activation act) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetMotionType(decode_body_id(body), to_motion(t), to_activation(act));
-}
-
-void bj_body_set_object_layer(bj_world world, bj_body body, uint32_t layer) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetObjectLayer(decode_body_id(body), (ObjectLayer)layer);
-}
-
-void bj_body_set_is_sensor(bj_world world, bj_body body, uint8_t enabled) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (lock.Succeeded()) lock.GetBody().SetIsSensor(enabled != 0);
-}
-
-void bj_body_set_allow_sleeping(bj_world world, bj_body body, uint8_t enabled) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (lock.Succeeded()) lock.GetBody().SetAllowSleeping(enabled != 0);
-}
-
-void bj_body_set_shape(bj_world world, bj_body body, bj_shape shape, uint8_t update_mass, bj_activation act) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    const Shape *s = decode_shape(shape);
-    if (!s) return;
-    w->system.GetBodyInterface().SetShape(decode_body_id(body), s, update_mass != 0, to_activation(act));
-}
-
-void bj_body_lock_rotation_axes(bj_world world, bj_body body, uint8_t lx, uint8_t ly, uint8_t lz) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    /* AllowedDOFs: bit 0-2 = translation X/Y/Z, bit 3-5 = rotation X/Y/Z. */
-    uint8_t dofs = (uint8_t)EAllowedDOFs::All;
-    if (lx) dofs &= ~(uint8_t)EAllowedDOFs::RotationX;
-    if (ly) dofs &= ~(uint8_t)EAllowedDOFs::RotationY;
-    if (lz) dofs &= ~(uint8_t)EAllowedDOFs::RotationZ;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (lock.Succeeded()) {
-        if (MotionProperties *mp = lock.GetBody().GetMotionPropertiesUnchecked()) {
-            /* Note: we preserve translation DOFs — lock_translation_axes is separate. */
-            EAllowedDOFs existing = mp->GetAllowedDOFs();
-            uint8_t trans_bits = (uint8_t)existing & 0x07u;
-            mp->SetInverseInertia(
-                mp->GetInverseInertiaDiagonal(),
-                mp->GetInertiaRotation()
-            );  /* keep inertia; Jolt has no direct AllowedDOFs setter post-create */
-            /* Fall-back: zero the inverse inertia on locked axes. */
-            Vec3 inv = mp->GetInverseInertiaDiagonal();
-            if (lx) inv.SetX(0.0f);
-            if (ly) inv.SetY(0.0f);
-            if (lz) inv.SetZ(0.0f);
-            mp->SetInverseInertia(inv, mp->GetInertiaRotation());
-            (void)trans_bits;
-            (void)dofs;
-        }
-    }
-}
-
-void bj_body_lock_translation_axes(bj_world world, bj_body body, uint8_t lx, uint8_t ly, uint8_t lz) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (lock.Succeeded()) {
-        if (MotionProperties *mp = lock.GetBody().GetMotionPropertiesUnchecked()) {
-            /* Zero the inverse mass on locked translation axes via a motion-type-like hack:
-             * we cannot change AllowedDOFs post-create in 5.5, so we clamp velocity each step.
-             * For now we simply zero the current linear velocity component; full fidelity
-             * requires re-creating the body. Tier 2 will add a proper API. */
-            Vec3 v = lock.GetBody().GetLinearVelocity();
-            if (lx) v.SetX(0.0f);
-            if (ly) v.SetY(0.0f);
-            if (lz) v.SetZ(0.0f);
-            lock.GetBody().SetLinearVelocity(v);
-        }
-    }
-}
-
-float bj_body_get_mass(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0.0f;
-    BodyLockRead lock(w->system.GetBodyLockInterface(), decode_body_id(body));
-    if (!lock.Succeeded()) return 0.0f;
-    const MotionProperties *mp = lock.GetBody().GetMotionPropertiesUnchecked();
-    if (!mp) return 0.0f;
-    float inv = mp->GetInverseMass();
-    return inv > 0.0f ? 1.0f / inv : 0.0f;
-}
-
-float bj_body_get_friction(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0.0f;
-    return w->system.GetBodyInterface().GetFriction(decode_body_id(body));
-}
-
-float bj_body_get_restitution(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0.0f;
-    return w->system.GetBodyInterface().GetRestitution(decode_body_id(body));
-}
-
-uint32_t bj_body_get_object_layer(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0;
-    return (uint32_t)w->system.GetBodyInterface().GetObjectLayer(decode_body_id(body));
-}
-
-void bj_body_set_user_data(bj_world world, bj_body body, uint64_t user_data) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return;
-    w->system.GetBodyInterface().SetUserData(decode_body_id(body), user_data);
-}
-
-uint64_t bj_body_get_user_data(bj_world world, bj_body body) {
-    WorldImpl *w = as_world(world);
-    if (!w || body == BJ_INVALID) return 0;
-    return w->system.GetBodyInterface().GetUserData(decode_body_id(body));
-}
-
-uint32_t bj_world_sync_transforms(bj_world world, const bj_body *bodies, uint32_t count, bj_transform *out) {
-    WorldImpl *w = as_world(world);
-    if (!w || !bodies || !out || count == 0) return 0;
-    const BodyLockInterface &lock_if = w->system.GetBodyLockInterface();
-    uint32_t valid = 0;
-    for (uint32_t i = 0; i < count; ++i) {
-        out[i] = { { 0, 0, 0 }, { 0, 0, 0, 1 } };
-        if (bodies[i] == BJ_INVALID) continue;
-        BodyLockRead lock(lock_if, decode_body_id(bodies[i]));
-        if (!lock.Succeeded()) continue;
-        RVec3 p = lock.GetBody().GetPosition();
-        Quat  q = lock.GetBody().GetRotation();
-        out[i].position = from_jph(p);
-        out[i].rotation = from_jph(q);
-        ++valid;
-    }
-    return valid;
-}
-
-/* ================================================================== */
-/*  Queries                                                            */
-/* ================================================================== */
-
-uint8_t bj_query_raycast_closest(bj_world world,
-                                 bj_vec3 origin, bj_vec3 direction, float max_distance,
-                                 uint32_t layer_mask, bj_ray_hit *out_hit)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !out_hit) return 0;
-
-    Vec3 dir = to_jph(direction);
-    if (dir.LengthSq() == 0.0f) return 0;
-    dir = dir.Normalized() * max_distance;
-
-    RRayCast ray(to_jph(origin), dir);
-    RayCastResult hit;
-    LayerMaskBPFilter bp_filter(layer_mask);
-    LayerMaskObjectFilter obj_filter(layer_mask);
-
-    bool any = w->system.GetNarrowPhaseQuery().CastRay(ray, hit, bp_filter, obj_filter);
-    if (!any) return 0;
-
-    Vec3 point = Vec3(ray.mOrigin) + ray.mDirection * hit.mFraction;
-    out_hit->body         = encode_body_id(hit.mBodyID);
-    out_hit->point        = from_jph(point);
-    /* Compute normal via body lock */
-    {
-        BodyLockRead lock(w->system.GetBodyLockInterface(), hit.mBodyID);
-        if (lock.Succeeded()) {
-            Vec3 n = lock.GetBody().GetWorldSpaceSurfaceNormal(hit.mSubShapeID2, RVec3(point));
-            out_hit->normal = from_jph(n);
-        } else {
-            out_hit->normal = { 0.0f, 1.0f, 0.0f };
-        }
-    }
-    out_hit->fraction     = hit.mFraction;
-    out_hit->sub_shape_id = hit.mSubShapeID2.GetValue();
-    return 1;
-}
-
-uint32_t bj_query_raycast_all(bj_world world,
-                              bj_vec3 origin, bj_vec3 direction, float max_distance,
-                              uint32_t layer_mask,
-                              bj_ray_hit *out_hits, uint32_t max_hits)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !out_hits || max_hits == 0) return 0;
-
-    Vec3 dir = to_jph(direction);
-    if (dir.LengthSq() == 0.0f) return 0;
-    dir = dir.Normalized() * max_distance;
-
-    RRayCast ray(to_jph(origin), dir);
-    RayCastSettings settings;
-    settings.mBackFaceModeTriangles = EBackFaceMode::CollideWithBackFaces;
-    AllHitCollisionCollector<CastRayCollector> collector;
-    LayerMaskBPFilter bp_filter(layer_mask);
-    LayerMaskObjectFilter obj_filter(layer_mask);
-
-    w->system.GetNarrowPhaseQuery().CastRay(ray, settings, collector, bp_filter, obj_filter);
-    collector.Sort();
-
-    uint32_t n = std::min<uint32_t>(max_hits, (uint32_t)collector.mHits.size());
-    for (uint32_t i = 0; i < n; ++i) {
-        const RayCastResult &h = collector.mHits[i];
-        Vec3 point = Vec3(ray.mOrigin) + ray.mDirection * h.mFraction;
-        out_hits[i].body         = encode_body_id(h.mBodyID);
-        out_hits[i].point        = from_jph(point);
-        BodyLockRead lock(w->system.GetBodyLockInterface(), h.mBodyID);
-        if (lock.Succeeded()) {
-            Vec3 nrm = lock.GetBody().GetWorldSpaceSurfaceNormal(h.mSubShapeID2, RVec3(point));
-            out_hits[i].normal = from_jph(nrm);
-        } else {
-            out_hits[i].normal = { 0, 1, 0 };
-        }
-        out_hits[i].fraction     = h.mFraction;
-        out_hits[i].sub_shape_id = h.mSubShapeID2.GetValue();
-    }
-    return n;
-}
-
-uint8_t bj_query_shape_cast_closest(bj_world world, bj_shape shape,
-                                    const bj_transform *start, bj_vec3 direction,
-                                    uint32_t layer_mask, bj_ray_hit *out_hit)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !start || !out_hit) return 0;
-    const Shape *s = decode_shape(shape);
-    if (!s) return 0;
-
-    RShapeCast cast = RShapeCast::sFromWorldTransform(
-        s, Vec3::sOne(),
-        RMat44::sRotationTranslation(to_jph(start->rotation), to_jph(start->position)),
-        to_jph(direction)
-    );
-    ClosestHitCollisionCollector<CastShapeCollector> collector;
-    ShapeCastSettings settings;
-    LayerMaskBPFilter bp_filter(layer_mask);
-    LayerMaskObjectFilter obj_filter(layer_mask);
-
-    w->system.GetNarrowPhaseQuery().CastShape(cast, settings, cast.mCenterOfMassStart.GetTranslation(), collector, bp_filter, obj_filter);
-    if (!collector.HadHit()) return 0;
-
-    const ShapeCastResult &h = collector.mHit;
-    out_hit->body         = encode_body_id(h.mBodyID2);
-    out_hit->point        = from_jph(h.mContactPointOn2);
-    out_hit->normal       = from_jph(-h.mPenetrationAxis.Normalized());
-    out_hit->fraction     = h.mFraction;
-    out_hit->sub_shape_id = h.mSubShapeID2.GetValue();
-    return 1;
-}
-
-namespace {
-class BodyCollector final : public CollideShapeBodyCollector {
-public:
-    BodyCollector(bj_body *out, uint32_t max_out) : m_out(out), m_max(max_out) {}
-    void AddHit(const BodyID &id) override {
-        if (m_count < m_max) {
-            m_out[m_count++] = encode_body_id(id);
-        }
-    }
-    uint32_t count() const { return m_count; }
-private:
-    bj_body *m_out;
-    uint32_t m_max;
-    uint32_t m_count = 0;
-};
-} /* namespace */
-
-uint32_t bj_query_overlap_sphere(bj_world world, bj_vec3 center, float radius,
-                                 uint32_t layer_mask, bj_body *out_bodies, uint32_t max_results)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !out_bodies || max_results == 0) return 0;
-    BodyCollector collector(out_bodies, max_results);
-    LayerMaskBPFilter bp_filter(layer_mask);
-    LayerMaskObjectFilter obj_filter(layer_mask);
-    w->system.GetBroadPhaseQuery().CollideSphere(to_jph(center), radius, collector, bp_filter, obj_filter);
-    return collector.count();
-}
-
-uint32_t bj_query_overlap_box(bj_world world, const bj_transform *xform, bj_vec3 half_extents,
-                              uint32_t layer_mask, bj_body *out_bodies, uint32_t max_results)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !xform || !out_bodies || max_results == 0) return 0;
-    /* Approximate by AABB around the rotated box. */
-    Vec3 he = to_jph(half_extents);
-    Mat44 rot = Mat44::sRotation(to_jph(xform->rotation));
-    Vec3 r0 = rot * Vec3(he.GetX(), 0, 0);
-    Vec3 r1 = rot * Vec3(0, he.GetY(), 0);
-    Vec3 r2 = rot * Vec3(0, 0, he.GetZ());
-    Vec3 extent = r0.Abs() + r1.Abs() + r2.Abs();
-    AABox box(to_jph(xform->position) - extent, to_jph(xform->position) + extent);
-    BodyCollector collector(out_bodies, max_results);
-    LayerMaskBPFilter bp_filter(layer_mask);
-    LayerMaskObjectFilter obj_filter(layer_mask);
-    w->system.GetBroadPhaseQuery().CollideAABox(box, collector, bp_filter, obj_filter);
-    return collector.count();
-}
-
-uint32_t bj_query_overlap_point(bj_world world, bj_vec3 point,
-                                uint32_t layer_mask, bj_body *out_bodies, uint32_t max_results)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !out_bodies || max_results == 0) return 0;
-    BodyCollector collector(out_bodies, max_results);
-    LayerMaskBPFilter bp_filter(layer_mask);
-    LayerMaskObjectFilter obj_filter(layer_mask);
-    w->system.GetBroadPhaseQuery().CollidePoint(to_jph(point), collector, bp_filter, obj_filter);
-    return collector.count();
-}
-
-/* ================================================================== */
-/*  Constraints                                                        */
-/* ================================================================== */
-
-bj_constraint bj_constraint_fixed(bj_world world, const bj_constraint_anchors *a) {
-    WorldImpl *w = as_world(world);
-    if (!w || !a) return BJ_INVALID;
-    return make_constraint(w, a, [&](Body &b1, Body &b2) -> TwoBodyConstraint * {
-        FixedConstraintSettings s;
-        s.mSpace = a->use_world_space ? EConstraintSpace::WorldSpace : EConstraintSpace::LocalToBodyCOM;
-        s.mPoint1 = to_jph(a->anchor_a);
-        s.mPoint2 = to_jph(a->anchor_b);
-        s.mAutoDetectPoint = false;
-        return s.Create(b1, b2);
-    });
-}
-
-bj_constraint bj_constraint_point(bj_world world, const bj_constraint_anchors *a) {
-    WorldImpl *w = as_world(world);
-    if (!w || !a) return BJ_INVALID;
-    return make_constraint(w, a, [&](Body &b1, Body &b2) -> TwoBodyConstraint * {
-        PointConstraintSettings s;
-        s.mSpace = a->use_world_space ? EConstraintSpace::WorldSpace : EConstraintSpace::LocalToBodyCOM;
-        s.mPoint1 = to_jph(a->anchor_a);
-        s.mPoint2 = to_jph(a->anchor_b);
-        return s.Create(b1, b2);
-    });
-}
-
-bj_constraint bj_constraint_hinge(bj_world world, const bj_constraint_anchors *a,
-                                   bj_vec3 axis, float limit_min, float limit_max)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !a) return BJ_INVALID;
-    return make_constraint(w, a, [&](Body &b1, Body &b2) -> TwoBodyConstraint * {
-        HingeConstraintSettings s;
-        s.mSpace = a->use_world_space ? EConstraintSpace::WorldSpace : EConstraintSpace::LocalToBodyCOM;
-        s.mPoint1 = to_jph(a->anchor_a);
-        s.mPoint2 = to_jph(a->anchor_b);
-        Vec3 ax = to_jph(axis);
-        s.mHingeAxis1 = ax;
-        s.mHingeAxis2 = ax;
-        Vec3 perp = ax.GetNormalizedPerpendicular();
-        s.mNormalAxis1 = perp;
-        s.mNormalAxis2 = perp;
-        if (limit_min < limit_max) {
-            s.mLimitsMin = limit_min;
-            s.mLimitsMax = limit_max;
-        }
-        return s.Create(b1, b2);
-    });
-}
-
-bj_constraint bj_constraint_slider(bj_world world, const bj_constraint_anchors *a,
-                                    bj_vec3 axis, float limit_min, float limit_max)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !a) return BJ_INVALID;
-    return make_constraint(w, a, [&](Body &b1, Body &b2) -> TwoBodyConstraint * {
-        SliderConstraintSettings s;
-        s.mSpace = a->use_world_space ? EConstraintSpace::WorldSpace : EConstraintSpace::LocalToBodyCOM;
-        s.mPoint1 = to_jph(a->anchor_a);
-        s.mPoint2 = to_jph(a->anchor_b);
-        Vec3 ax = to_jph(axis).Normalized();
-        s.mSliderAxis1 = ax;
-        s.mSliderAxis2 = ax;
-        Vec3 perp = ax.GetNormalizedPerpendicular();
-        s.mNormalAxis1 = perp;
-        s.mNormalAxis2 = perp;
-        if (limit_min < limit_max) {
-            s.mLimitsMin = limit_min;
-            s.mLimitsMax = limit_max;
-        }
-        return s.Create(b1, b2);
-    });
-}
-
-bj_constraint bj_constraint_distance(bj_world world, const bj_constraint_anchors *a,
-                                      float min_distance, float max_distance)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !a) return BJ_INVALID;
-    return make_constraint(w, a, [&](Body &b1, Body &b2) -> TwoBodyConstraint * {
-        DistanceConstraintSettings s;
-        s.mSpace = a->use_world_space ? EConstraintSpace::WorldSpace : EConstraintSpace::LocalToBodyCOM;
-        s.mPoint1 = to_jph(a->anchor_a);
-        s.mPoint2 = to_jph(a->anchor_b);
-        s.mMinDistance = min_distance;
-        s.mMaxDistance = max_distance;
-        return s.Create(b1, b2);
-    });
-}
-
-bj_constraint bj_constraint_six_dof(bj_world world, const bj_constraint_anchors *a,
-                                     const float *trans_limits, const float *rot_limits)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !a) return BJ_INVALID;
-    return make_constraint(w, a, [&](Body &b1, Body &b2) -> TwoBodyConstraint * {
-        SixDOFConstraintSettings s;
-        s.mSpace = a->use_world_space ? EConstraintSpace::WorldSpace : EConstraintSpace::LocalToBodyCOM;
-        s.mPosition1 = to_jph(a->anchor_a);
-        s.mPosition2 = to_jph(a->anchor_b);
-        s.mAxisX1 = s.mAxisX2 = Vec3(1, 0, 0);
-        s.mAxisY1 = s.mAxisY2 = Vec3(0, 1, 0);
-        if (trans_limits) {
-            using EAxis = SixDOFConstraintSettings::EAxis;
-            EAxis axes[3] = { EAxis::TranslationX, EAxis::TranslationY, EAxis::TranslationZ };
-            for (int i = 0; i < 3; ++i) {
-                float lo = trans_limits[i*2 + 0], hi = trans_limits[i*2 + 1];
-                if (lo >= hi) { s.MakeFixedAxis(axes[i]); }
-                else          { s.SetLimitedAxis(axes[i], lo, hi); }
-            }
-        }
-        if (rot_limits) {
-            using EAxis = SixDOFConstraintSettings::EAxis;
-            EAxis axes[3] = { EAxis::RotationX, EAxis::RotationY, EAxis::RotationZ };
-            for (int i = 0; i < 3; ++i) {
-                float lo = rot_limits[i*2 + 0], hi = rot_limits[i*2 + 1];
-                if (lo >= hi) { s.MakeFixedAxis(axes[i]); }
-                else          { s.SetLimitedAxis(axes[i], lo, hi); }
-            }
-        }
-        return s.Create(b1, b2);
-    });
-}
-
-void bj_constraint_destroy(bj_world world, bj_constraint c) {
-    WorldImpl *w = as_world(world);
-    if (!w || c == BJ_INVALID) return;
-    Constraint *cp = decode_constraint(c);
-    w->system.RemoveConstraint(cp);
-    cp->Release();   /* release our handle's ref */
-}
-
-void bj_constraint_set_enabled(bj_world world, bj_constraint c, uint8_t enabled) {
-    (void)world;
-    if (c == BJ_INVALID) return;
-    decode_constraint(c)->SetEnabled(enabled != 0);
-}
-
-/* ================================================================== */
-/*  Contact events                                                     */
-/* ================================================================== */
-
-uint32_t bj_world_contact_count(bj_world world) {
-    WorldImpl *w = as_world(world);
-    return w ? w->contacts.count() : 0;
-}
-
-uint32_t bj_world_pop_contacts(bj_world world, bj_contact *out, uint32_t max_out) {
-    WorldImpl *w = as_world(world);
-    return w ? w->contacts.drain(out, max_out) : 0;
-}
-
-void bj_world_clear_contacts(bj_world world) {
-    if (auto *w = as_world(world)) w->contacts.clear();
-}
-
-/* ================================================================== */
-/*  Character controller (CharacterVirtual)                            */
-/* ================================================================== */
-/* CharacterVirtual doesn't store its own layer so we wrap it in a     */
-/* CharacterEntry that retains both the object + its configured layer. */
-
-namespace {
-struct CharacterEntry {
-    Ref<CharacterVirtual> character;
-    ObjectLayer           layer;
-};
-} /* namespace */
-
-static inline CharacterEntry *decode_character(bj_character h) {
-    return reinterpret_cast<CharacterEntry *>(h);
-}
-
-bj_character bj_character_create(bj_world world, bj_shape shape, const bj_character_desc *desc,
-                                 bj_vec3 position, bj_quat rotation)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !desc) return BJ_INVALID;
-    const Shape *s = decode_shape(shape);
-    if (!s) return BJ_INVALID;
-
-    Ref<CharacterVirtualSettings> settings = new CharacterVirtualSettings();
-    settings->mShape                      = s;
-    settings->mMaxSlopeAngle              = desc->max_slope_angle;
-    settings->mCharacterPadding           = desc->character_padding;
-    settings->mPenetrationRecoverySpeed   = desc->penetration_recovery_speed;
-    settings->mPredictiveContactDistance  = desc->predictive_contact_distance;
-    settings->mMaxStrength                = desc->max_strength;
-    settings->mMass                       = desc->mass;
-    settings->mUp                         = to_jph(desc->up);
-    /* Supporting-volume plane points up through feet; matches Jolt samples. */
-    settings->mSupportingVolume           = Plane(to_jph(desc->up), -0.3f);
-
-    CharacterVirtual *c = new CharacterVirtual(
-        settings,
-        to_jph(position), to_jph(rotation),
-        /*user_data=*/0,
-        &w->system
-    );
-    auto *entry = new CharacterEntry();
-    entry->character = c;                     /* Ref<> AddRefs internally */
-    entry->layer     = (ObjectLayer)desc->object_layer;
-    return reinterpret_cast<bj_character>(entry);
-}
-
-void bj_character_destroy(bj_world /*world*/, bj_character h) {
-    if (h == BJ_INVALID) return;
-    delete decode_character(h);               /* Ref<> drops + deletes character */
-}
-
-void bj_character_update(bj_world world, bj_character h, float delta_time, bj_vec3 gravity) {
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    CharacterEntry *e = decode_character(h);
-
-    /* Jolt's ExtendedUpdate uses `gravity` only for slope/direction decisions —
-     * it does NOT integrate gravity into velocity. We do that here so the FFI
-     * matches player intuition ("set move direction, update handles falling"). */
-    Vec3 v = e->character->GetLinearVelocity();
-    v += to_jph(gravity) * delta_time;
-    e->character->SetLinearVelocity(v);
-
-    CharacterVirtual::ExtendedUpdateSettings settings;   /* Jolt defaults */
-    BodyFilter  body_filter;
-    ShapeFilter shape_filter;
-    e->character->ExtendedUpdate(
-        delta_time, to_jph(gravity),
-        settings,
-        w->system.GetDefaultBroadPhaseLayerFilter(e->layer),
-        w->system.GetDefaultLayerFilter(e->layer),
-        body_filter, shape_filter,
-        *w->temp_alloc
-    );
-}
-
-void bj_character_get_position(bj_world /*world*/, bj_character h, bj_vec3 *out) {
-    if (!out) return;
-    if (h == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(decode_character(h)->character->GetPosition());
-}
-void bj_character_get_rotation(bj_world /*world*/, bj_character h, bj_quat *out) {
-    if (!out) return;
-    if (h == BJ_INVALID) { *out = { 0, 0, 0, 1 }; return; }
-    *out = from_jph(decode_character(h)->character->GetRotation());
-}
-void bj_character_set_position(bj_world /*world*/, bj_character h, bj_vec3 p) {
-    if (h == BJ_INVALID) return;
-    decode_character(h)->character->SetPosition(to_jph(p));
-}
-void bj_character_set_rotation(bj_world /*world*/, bj_character h, bj_quat q) {
-    if (h == BJ_INVALID) return;
-    decode_character(h)->character->SetRotation(to_jph(q));
-}
-
-void bj_character_get_linear_velocity(bj_world /*world*/, bj_character h, bj_vec3 *out) {
-    if (!out) return;
-    if (h == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(decode_character(h)->character->GetLinearVelocity());
-}
-void bj_character_set_linear_velocity(bj_world /*world*/, bj_character h, bj_vec3 v) {
-    if (h == BJ_INVALID) return;
-    decode_character(h)->character->SetLinearVelocity(to_jph(v));
-}
-
-bj_ground_state bj_character_get_ground_state(bj_world /*world*/, bj_character h) {
-    if (h == BJ_INVALID) return BJ_GROUND_IN_AIR;
-    switch (decode_character(h)->character->GetGroundState()) {
-        case CharacterBase::EGroundState::OnGround:      return BJ_GROUND_ON_GROUND;
-        case CharacterBase::EGroundState::OnSteepGround: return BJ_GROUND_ON_STEEP;
-        case CharacterBase::EGroundState::NotSupported:  return BJ_GROUND_NOT_SUPPORTED;
-        case CharacterBase::EGroundState::InAir:         return BJ_GROUND_IN_AIR;
-    }
-    return BJ_GROUND_IN_AIR;
-}
-void bj_character_get_ground_normal(bj_world /*world*/, bj_character h, bj_vec3 *out) {
-    if (!out) return;
-    if (h == BJ_INVALID) { *out = { 0, 1, 0 }; return; }
-    *out = from_jph(decode_character(h)->character->GetGroundNormal());
-}
-void bj_character_get_ground_position(bj_world /*world*/, bj_character h, bj_vec3 *out) {
-    if (!out) return;
-    if (h == BJ_INVALID) { *out = { 0, 0, 0 }; return; }
-    *out = from_jph(decode_character(h)->character->GetGroundPosition());
-}
-bj_body bj_character_get_ground_body(bj_world /*world*/, bj_character h) {
-    if (h == BJ_INVALID) return BJ_INVALID;
-    return encode_body_id(decode_character(h)->character->GetGroundBodyID());
-}
-
-/* ================================================================== */
-/*  Wheeled vehicles                                                   */
-/* ================================================================== */
-/* A VehicleEntry owns the chassis body + the VehicleConstraint + its  */
-/* collision tester. Jolt's constraint stores a bare pointer to the    */
-/* tester; it must outlive the constraint — that's why we wrap both.   */
-
-namespace {
-struct VehicleEntry {
-    BodyID                         chassis_id;
-    Ref<VehicleConstraint>         constraint;
-    Ref<VehicleCollisionTesterRay> tester;
-};
-} /* namespace */
-
-static inline VehicleEntry *decode_vehicle(bj_vehicle h) {
-    return reinterpret_cast<VehicleEntry *>(h);
-}
-
-bj_vehicle bj_vehicle_create(bj_world world, bj_shape chassis_shape,
-                             const bj_vehicle_desc *desc,
-                             bj_vec3 position, bj_quat rotation)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !desc) return BJ_INVALID;
-    const Shape *shape = decode_shape(chassis_shape);
-    if (!shape) return BJ_INVALID;
-
-    BodyInterface &bi = w->system.GetBodyInterface();
-
-    /* Create the chassis body — a regular dynamic body the vehicle constraint
-     * drives via wheel forces. */
-    BodyCreationSettings chassis_settings(
-        shape,
-        to_jph(position), to_jph(rotation),
-        EMotionType::Dynamic, (ObjectLayer)desc->object_layer
-    );
-    chassis_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
-    chassis_settings.mMassPropertiesOverride.mMass = 1500.0f;   /* typical car mass */
-    BodyID chassis_id = bi.CreateAndAddBody(chassis_settings, EActivation::Activate);
-
-    /* Vehicle constraint settings. */
-    VehicleConstraintSettings vcs;
-    vcs.mUp                  = to_jph(desc->up);
-    vcs.mForward             = to_jph(desc->forward);
-    vcs.mMaxPitchRollAngle   = desc->max_pitch_roll_angle;
-
-    /* Four wheels — indices 0..3 matching bj_vehicle_desc::wheel_positions.
-     * Front wheels steer; rear wheels drive. */
-    for (int i = 0; i < 4; ++i) {
-        auto *wheel = new WheelSettingsWV();
-        wheel->mPosition             = to_jph(desc->wheel_positions[i]);
-        wheel->mRadius               = desc->wheel_radius;
-        wheel->mWidth                = desc->wheel_width;
-        wheel->mSuspensionMinLength  = desc->suspension_min_length;
-        wheel->mSuspensionMaxLength  = desc->suspension_max_length;
-        wheel->mMaxSteerAngle        = (i < 2) ? desc->max_steer_angle : 0.0f;
-        wheel->mMaxBrakeTorque       = desc->max_brake_torque;
-        wheel->mMaxHandBrakeTorque   = (i >= 2) ? desc->max_handbrake_torque : 0.0f;
-        vcs.mWheels.push_back(wheel);
-    }
-
-    /* Wheeled controller: one engine, automatic transmission defaults,
-     * one differential driving the rear axle. */
-    auto *controller = new WheeledVehicleControllerSettings();
-    controller->mEngine.mMaxTorque = desc->engine_max_torque;
-    VehicleDifferentialSettings diff;
-    diff.mLeftWheel  = 2;   /* rear-left */
-    diff.mRightWheel = 3;   /* rear-right */
-    controller->mDifferentials.push_back(diff);
-    vcs.mController = controller;
-
-    /* Ray collision tester — one ray per wheel. Use non-moving layer for the
-     * ground it collides against; for multi-layer setups, expose it later. */
-    Ref<VehicleCollisionTesterRay> tester = new VehicleCollisionTesterRay(
-        (ObjectLayer)BJ_LAYER_NON_MOVING,
-        to_jph(desc->up)
-    );
-
-    /* Create the constraint against the (locked) chassis body. */
-    VehicleConstraint *constraint = nullptr;
-    {
-        BodyLockWrite lock(w->system.GetBodyLockInterface(), chassis_id);
-        if (!lock.Succeeded()) {
-            bi.RemoveBody(chassis_id);
-            bi.DestroyBody(chassis_id);
-            return BJ_INVALID;
-        }
-        constraint = new VehicleConstraint(lock.GetBody(), vcs);
-    }
-    constraint->SetVehicleCollisionTester(tester);
-
-    w->system.AddConstraint(constraint);
-    /* Crucial: register as step-listener so the vehicle updates each physics step. */
-    w->system.AddStepListener(constraint);
-
-    auto *entry = new VehicleEntry();
-    entry->chassis_id = chassis_id;
-    entry->constraint = constraint;
-    entry->tester     = tester;
-    return reinterpret_cast<bj_vehicle>(entry);
-}
-
-void bj_vehicle_destroy(bj_world world, bj_vehicle h) {
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    VehicleEntry *e = decode_vehicle(h);
-    w->system.RemoveStepListener(e->constraint);
-    w->system.RemoveConstraint(e->constraint);
-    BodyInterface &bi = w->system.GetBodyInterface();
-    if (bi.IsAdded(e->chassis_id)) bi.RemoveBody(e->chassis_id);
-    bi.DestroyBody(e->chassis_id);
-    delete e;                   /* Ref<> drops constraint + tester */
-}
-
-bj_body bj_vehicle_get_chassis(bj_world /*world*/, bj_vehicle h) {
-    if (h == BJ_INVALID) return BJ_INVALID;
-    return encode_body_id(decode_vehicle(h)->chassis_id);
-}
-
-void bj_vehicle_set_input(bj_world world, bj_vehicle h,
-                          float forward, float right, float brake, float handbrake)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    VehicleEntry *e = decode_vehicle(h);
-    auto *ctrl = static_cast<WheeledVehicleController *>(e->constraint->GetController());
-    ctrl->SetDriverInput(forward, right, brake, handbrake);
-    /* Wake the chassis body so throttle/brake take effect even after it's slept
-     * on the suspension. Without this a car that came to rest ignores input. */
-    if (forward != 0.0f || brake != 0.0f || handbrake != 0.0f || right != 0.0f) {
-        w->system.GetBodyInterface().ActivateBody(e->chassis_id);
-    }
-}
-
-float bj_vehicle_get_wheel_transform(bj_world world, bj_vehicle h,
-                                     uint32_t wheel_index, uint32_t axis)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID || wheel_index >= 4) return 0.0f;
-    VehicleEntry *e = decode_vehicle(h);
-    /* GetWheelWorldTransform needs wheel-local up + right axes. Jolt uses
-     * the wheel's mWheelUp (default = chassis up) and mWheelForward for
-     * orientation. Right-handed: we pick X as the wheel rotation axis. */
-    Mat44 xform = e->constraint->GetWheelWorldTransform(
-        wheel_index, Vec3::sAxisY(), Vec3::sAxisX()
-    );
-    if (axis < 3) {
-        Vec3 pos = xform.GetTranslation();
-        switch (axis) {
-            case 0: return pos.GetX();
-            case 1: return pos.GetY();
-            default: return pos.GetZ();
-        }
-    } else if (axis < 7) {
-        Quat rot = xform.GetQuaternion();
-        switch (axis - 3) {
-            case 0: return rot.GetX();
-            case 1: return rot.GetY();
-            case 2: return rot.GetZ();
-            default: return rot.GetW();
-        }
-    }
-    return 0.0f;
-}
-
-float bj_vehicle_get_engine_rpm(bj_world /*world*/, bj_vehicle h) {
-    if (h == BJ_INVALID) return 0.0f;
-    VehicleEntry *e = decode_vehicle(h);
-    auto *ctrl = static_cast<WheeledVehicleController *>(e->constraint->GetController());
-    return ctrl->GetEngine().GetCurrentRPM();
-}
-
-float bj_vehicle_get_wheel_angular_velocity(bj_world /*world*/, bj_vehicle h, uint32_t idx) {
-    if (h == BJ_INVALID || idx >= 4) return 0.0f;
-    VehicleEntry *e = decode_vehicle(h);
-    const WheelWV *wheel = static_cast<const WheelWV *>(e->constraint->GetWheel(idx));
-    return wheel ? wheel->GetAngularVelocity() : 0.0f;
-}
-
-/* ================================================================== */
-/*  Soft bodies                                                        */
-/* ================================================================== */
-
-bj_body bj_soft_body_create(
-    bj_world world,
-    const float *vertex_data, uint32_t vertex_count,
-    const uint32_t *indices,  uint32_t triangle_count,
-    bj_vec3 position, bj_quat rotation,
-    uint32_t object_layer,
-    float edge_compliance, float gravity_factor, float linear_damping, float pressure)
-{
-    WorldImpl *w = as_world(world);
-    if (!w || !vertex_data || !indices || vertex_count < 3 || triangle_count == 0) return BJ_INVALID;
-
-    Ref<SoftBodySharedSettings> shared = new SoftBodySharedSettings();
-
-    for (uint32_t i = 0; i < vertex_count; ++i) {
-        SoftBodySharedSettings::Vertex v;
-        v.mPosition = Float3(
-            vertex_data[i * 4 + 0],
-            vertex_data[i * 4 + 1],
-            vertex_data[i * 4 + 2]
-        );
-        v.mVelocity = Float3(0.0f, 0.0f, 0.0f);
-        v.mInvMass  = vertex_data[i * 4 + 3];
-        shared->mVertices.push_back(v);
-    }
-    for (uint32_t i = 0; i < triangle_count; ++i) {
-        SoftBodySharedSettings::Face f(indices[i * 3 + 0], indices[i * 3 + 1], indices[i * 3 + 2], 0);
-        shared->AddFace(f);
-    }
-    /* Auto-generate edge + shear + bend constraints from the triangle topology. */
-    SoftBodySharedSettings::VertexAttributes attrs;
-    attrs.mCompliance         = edge_compliance;
-    attrs.mShearCompliance    = edge_compliance;
-    attrs.mBendCompliance     = edge_compliance;
-    attrs.mLRAType            = SoftBodySharedSettings::ELRAType::None;
-    shared->CreateConstraints(&attrs, 1, SoftBodySharedSettings::EBendType::Distance);
-    shared->Optimize();
-
-    SoftBodyCreationSettings bcs(
-        shared.GetPtr(),
-        to_jph(position), to_jph(rotation),
-        (ObjectLayer)object_layer
-    );
-    bcs.mGravityFactor  = gravity_factor;
-    bcs.mLinearDamping  = linear_damping;
-    bcs.mPressure       = pressure;
-    bcs.mUpdatePosition = true;
-
-    BodyID id = w->system.GetBodyInterface().CreateAndAddSoftBody(bcs, EActivation::Activate);
-    return encode_body_id(id);
-}
-
-static const SoftBodyMotionProperties *get_soft_mp(WorldImpl *w, bj_body h) {
-    if (!w || h == BJ_INVALID) return nullptr;
-    BodyLockRead lock(w->system.GetBodyLockInterface(), decode_body_id(h));
-    if (!lock.Succeeded()) return nullptr;
-    const Body &body = lock.GetBody();
-    if (!body.IsSoftBody()) return nullptr;
-    return static_cast<const SoftBodyMotionProperties *>(body.GetMotionPropertiesUnchecked());
-}
-
-uint32_t bj_soft_body_vertex_count(bj_world world, bj_body h) {
-    WorldImpl *w = as_world(world);
-    const SoftBodyMotionProperties *mp = get_soft_mp(w, h);
-    return mp ? (uint32_t)mp->GetVertices().size() : 0;
-}
-
-void bj_soft_body_get_vertex(bj_world world, bj_body h, uint32_t idx, bj_vec3 *out) {
-    if (!out) return;
-    *out = { 0.0f, 0.0f, 0.0f };
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    BodyLockRead lock(w->system.GetBodyLockInterface(), decode_body_id(h));
-    if (!lock.Succeeded()) return;
-    const Body &body = lock.GetBody();
-    if (!body.IsSoftBody()) return;
-    const auto *mp = static_cast<const SoftBodyMotionProperties *>(body.GetMotionPropertiesUnchecked());
-    if (!mp || idx >= mp->GetVertices().size()) return;
-    /* SoftBody vertex positions are stored in body-local space; transform to world. */
-    Vec3 local = mp->GetVertex(idx).mPosition;
-    RMat44 xform = body.GetWorldTransform();
-    Vec3 world_pos = Vec3(xform * RVec3(local));
-    *out = from_jph(world_pos);
-}
-
-void bj_soft_body_set_vertex(bj_world world, bj_body h, uint32_t idx, bj_vec3 position) {
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(h));
-    if (!lock.Succeeded()) return;
-    Body &body = lock.GetBody();
-    if (!body.IsSoftBody()) return;
-    auto *mp = static_cast<SoftBodyMotionProperties *>(body.GetMotionPropertiesUnchecked());
-    if (!mp || idx >= mp->GetVertices().size()) return;
-    RMat44 xform = body.GetWorldTransform();
-    RMat44 inv = xform.Inversed();
-    Vec3 local = Vec3(inv * RVec3(to_jph(position)));
-    mp->GetVertex(idx).mPosition = local;
-}
-
-void bj_soft_body_set_vertex_inv_mass(bj_world world, bj_body h, uint32_t idx, float inv_mass) {
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    BodyLockWrite lock(w->system.GetBodyLockInterface(), decode_body_id(h));
-    if (!lock.Succeeded()) return;
-    Body &body = lock.GetBody();
-    if (!body.IsSoftBody()) return;
-    auto *mp = static_cast<SoftBodyMotionProperties *>(body.GetMotionPropertiesUnchecked());
-    if (!mp || idx >= mp->GetVertices().size()) return;
-    mp->GetVertex(idx).mInvMass = inv_mass;
-}
-
-void bj_character_set_shape(bj_world world, bj_character h, bj_shape shape) {
-    WorldImpl *w = as_world(world);
-    if (!w || h == BJ_INVALID) return;
-    const Shape *s = decode_shape(shape);
-    if (!s) return;
-    CharacterEntry *e = decode_character(h);
-    BodyFilter body_filter;
-    ShapeFilter shape_filter;
-    e->character->SetShape(
-        s,
-        /*max_penetration_depth=*/FLT_MAX,
-        w->system.GetDefaultBroadPhaseLayerFilter(e->layer),
-        w->system.GetDefaultLayerFilter(e->layer),
-        body_filter, shape_filter,
-        *w->temp_alloc
-    );
-}
-
-} /* extern "C" */