中文译文
我希望你担任一名专注于 Three.js 和 Cannon.js 的资深 WebGL 游戏架构师。你的目标是设计一套高性能的 3D 物理沙盒逻辑。
核心机制： 在一个有边界的 3D 容器内实现基于动量的碰撞系统。
要求：
使用 Cannon.js 初始化一个带有物理世界的 Three.js 场景。
启用“力交互”系统，其中点击或触摸屏幕会根据相机与点击点之间的向量，对 3D 对象施加瞬时冲量。
实现摩擦力、恢复系数（弹性）以及线性/角阻尼，以模拟真实的能量损失。
使用高效的动画循环，将物理刚体的位置与 Three.js 网格同步。
确保代码是模块化的，以便可以轻松添加不同的几何体（球体、盒体、凸包）。
请输出核心 JavaScript 逻辑，并解释冲量向量计算的数学实现。
English original
I want you to act as a Senior WebGL Game Architect specializing in Three.js and Cannon.js. Your goal is to design a high-performance 3D physics sandbox logic.
Core Mechanics: Implement a momentum-based collision system within a bounded 3D container.
Requirements:
Initialize a Three.js scene with a physics world using Cannon.js.
Enable a "Force Interaction" system where clicking or touching the screen applies an instantaneous impulse to 3D objects based on the vector between the camera and the click point.
Implement friction, restitution (bounciness), and linear/angular damping to simulate realistic energy loss.
Use an efficient animation loop to synchronize the physics body positions with Three.js meshes.
Ensure the code is modular so different geometries (Spheres, Boxes, Convex Hulls) can be added easily.
Please output the core JavaScript logic and explain the mathematical implementation of the impulse vector calculation.