去掉obi，使用自写绳索

Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs

@@ -1,65 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using System;
-using System.Collections.Generic;
-using UnityEngine;
-using Unity.Collections;
-using Unity.Jobs;
-using Unity.Mathematics;
-using Unity.Burst;
-
-namespace Obi
-{
-    public struct BurstSimplex : BurstLocalOptimization.IDistanceFunction
-    {
-        public NativeArray<float4> positions;
-        public NativeArray<float4> radii;
-        public NativeArray<int> simplices;
-
-        public int simplexStart;
-        public int simplexSize;
-
-        private BurstMath.CachedTri tri;
-
-        public void CacheData()
-        {
-            if (simplexSize == 3)
-            {
-                tri.Cache(new float4(positions[simplices[simplexStart]].xyz,0),
-                          new float4(positions[simplices[simplexStart + 1]].xyz,0),
-                          new float4(positions[simplices[simplexStart + 2]].xyz,0));
-            }
-        }
-
-        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
-        {
-            switch (simplexSize)
-            {
-                case 1:
-                default:
-                    {
-                        float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
-                        projectedPoint.bary = new float4(1, 0, 0, 0);
-                        projectedPoint.point = p1;
-                    }
-                    break;
-                case 2:
-                    {
-                        float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
-                        float4 p2 = positions[simplices[simplexStart + 1]]; p2.w = 0;
-                        BurstMath.NearestPointOnEdge(p1, p2, point, out float mu);
-                        projectedPoint.bary = new float4(1 - mu, mu, 0, 0);
-                        projectedPoint.point = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
-            
-                    }break;
-                case 3:
-                        projectedPoint.point = BurstMath.NearestPointOnTri(tri, point, out projectedPoint.bary);
-                    break;
-            }
-
-            projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
-        }
-
-    }
-
-}
-#endif