Refactor Data-Oriented Design and SIMD Usage

[DanielMarcos1]

• Refactored Vector3d to remove inefficient internal f32x4 (AoS SIMD) padding/unpacking overhead, switching back to scalar math for primitive operations.
• Completed Data-Oriented Design (DOD) refactor by moving RigidBodyComponents arrays directly into the World struct (Structure of Arrays).
• Preserved proper logic in World::add_body (including assertions).
• Updated rigid_body.rs usage to pass the World directly instead of a decoupled components struct.
• Removed src/physics/components.rs entirely.
• Resolved unused and unneeded mutability warnings across the codebase.
• Cleaned up agent artifacts (.patch files) and ensured tests pass.

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PR created automatically by Jules for task 12095870162871239038 started by @DanielMarcos1

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