去掉obi，使用自写绳索

Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs

@@ -1,48 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-
-using Unity.Mathematics;
-using System.Runtime.CompilerServices;
-
-namespace Obi
-{
-    public static class BurstIntegration
-    {
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float4 IntegrateLinear(float4 position, float4 velocity, float dt)
-        {
-            return position + velocity * dt;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float4 DifferentiateLinear(float4 position, float4 prevPosition, float dt)
-        {
-            return (position - prevPosition) / dt;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static quaternion AngularVelocityToSpinQuaternion(quaternion rotation, float4 angularVelocity, float dt)
-        {
-            var delta = new quaternion(angularVelocity.x,
-                                       angularVelocity.y,
-                                       angularVelocity.z, 0);
-
-            return new quaternion(0.5f * math.mul(delta,rotation).value * dt); 
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static quaternion IntegrateAngular(quaternion rotation, float4 angularVelocity, float dt)
-        {
-            rotation.value += AngularVelocityToSpinQuaternion(rotation,angularVelocity, dt).value;
-            return math.normalize(rotation);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
-        {
-            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);
-        }
-    }
-}
-#endif