I'm trying to get physics working in RealityKit. In Reality Composer I've created 3 spheres sitting on a thin ground cube which is surrounded by four walls. The spheres have physics set to dynamic and the ground and walls have physics set to static. If I set sphereEntity.physicsBody.mode to .kinematic and set sphereEntity.physicsMotion.linearVelocity I can get the spheres to move but they go through the walls. I tried setting sphereEntity.physicsBody.mode to .dynamic and running sphereEntity.addForce([0.1, 0, 0]) but they don't move. I want to set the spheres moving but also bounce off the walls.

I was deploying my apps to my device fine until I upgraded to iOS 15 public beta 3 and XCode 13 beta 3. Now it shows the message "Untrusted Developer: Your device management settings do not allow using apps from developer ...". I don't find anything in Settings > General > VPN & Device Management where I can press trust for the app. I've deleted the provisioning profiles in XCode but that didn't help. Can you deploy apps to a device with beta software on an unpaid developer account?

I have an ModelEntity with its physics body mode set to .dynamic. I'm trying to make it move with: applyLinearImpulse(someVector, relativeTo: nil) but it doesn't do anything. If I set the mode to .kinematic and set the linearVelocity it moves but then I lose things like bouncing off walls. So how do I move entities in dynamic mode?