Refactor Data-Oriented Design (DOD)

[DanielMarcos1]

Refactored the physics engine to utilize Data-Oriented Design (DOD) by eliminating RigidBodyComponents and transitioning to a Structure of Arrays (SoA) memory layout within the World struct. All related core engine systems have been updated to interact directly with these arrays for improved cache coherency and performance. Code review feedback was addressed to ensure cleanliness and correctness.

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PR created automatically by Jules for task 2237628546497352047 started by @DanielMarcos1

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