- Replace per-body collision with single AABB collider for rigid entities
- Entity has half_w/half_h defining the collider box
- Separate axis resolution: X first (min-penetration push), then Y
(velocity-direction push to handle floor/ceiling correctly)
- Sliding: when hitting a wall, only X velocity is zeroed, Y continues
- check_on_ground uses AABB bottom edge, not individual bodies
- Fix: X resolution uses minimum penetration (was velocity-based,
which pushed player through walls when velocity was zero)
- Default scene: added water pool, lava pool, wood structure, sand dune,
acid pool, stone wall obstacle
- 28/28 tests passing
- Entity: 10 sub-bodies (was 16), radius 0.45 (was 0.7)
- Shape: 3x3 body rectangle + 1 hand cell on right side
- Much more compact, world appears larger relative to character
- 13 constraints (grid pattern + hand attachment)
- Spawn height adjusted for smaller body
- Fix: rewrite resolve_grid_collision to push body out of solid cells
when center is inside (was only pushing to small radius from center)
- Fix: max velocity clamp (0.8) + 4x substepping prevents tunneling
- Fix: player/goblin spawn at terrain surface instead of mid-air
- Fix: gravity reduced from 0.3 to 0.08 for substepping
- Add: headless mode (--headless-ticks N) dumps grid state to file
- Add: velocity zeroing on collision for stable resting