升级obi

2026-01-22 22:08:21 +08:00
parent 120b8cda26
commit 20f14322bc
1067 changed files with 149894 additions and 29583 deletions
--- a/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
@@ -39,7 +39,9 @@ namespace Obi
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
        {
-            return new float4((math.mul(rotation, math.inverse(prevRotation)).value * 2.0f / dt).xyz, 0);
+            quaternion deltaq = math.mul(rotation, math.inverse(prevRotation));
+            float sign = deltaq.value.w >= 0 ? 1 : -1;
+            return new float4(sign * deltaq.value.xyz * 2.0f / dt, 0);
        }
    }
 }