DOD Refactoring

[DanielMarcos1]

Refactored the physics engine to fully embrace Data-Oriented Design (DOD). It achieves this by flattening the RigidBodyComponents directly into the World struct (Struct of Arrays layout), replacing previously undefined/dummy types (like Position, Velocity, etc.) with actual mathematical structures (Vector3d, Polygon). It also successfully updates the step logic to use these new flat arrays. Cleaned up unused variables and unused imports.

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PR created automatically by Jules for task 500156489918525411 started by @DanielMarcos1

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