去掉obi，使用自写绳索

Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs

@@ -1,95 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
-using Unity.Mathematics;
-using System.Collections;
-
-namespace Obi
-{
-    public struct BurstAffineTransform
-    {
-        public float4 translation;
-        public float4 scale;
-        public quaternion rotation;
-
-        public BurstAffineTransform(float4 translation, quaternion rotation, float4 scale)
-        {
-            // make sure there are good values in the 4th component:
-            translation[3] = 0;
-            scale[3] = 1;
-
-            this.translation = translation;
-            this.rotation = rotation;
-            this.scale = scale;
-        }
-
-        public static BurstAffineTransform operator *(BurstAffineTransform a, BurstAffineTransform b)
-        {
-            return new BurstAffineTransform(a.TransformPoint(b.translation),
-                                            math.mul(a.rotation,b.rotation),
-                                            a.scale * b.scale);
-        }
-
-        public BurstAffineTransform Inverse()
-        {
-            return new BurstAffineTransform(new float4(math.rotate(math.conjugate(rotation),(translation / -scale).xyz),0),
-                                            math.conjugate(rotation),
-                                            1 / scale);
-        }
-
-        public BurstAffineTransform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
-        {
-            return new BurstAffineTransform(BurstIntegration.IntegrateLinear(translation, linearVelocity, dt),
-                                            BurstIntegration.IntegrateAngular(rotation, angularVelocity, dt),
-                                            scale);
-        }
-
-        public BurstAffineTransform Interpolate(BurstAffineTransform other, float translationalMu, float rotationalMu, float scaleMu)
-        {
-            return new BurstAffineTransform(math.lerp(translation, other.translation, translationalMu),
-                                            math.slerp(rotation, other.rotation, rotationalMu),
-                                            math.lerp(scale, other.scale, scaleMu));
-        }
-
-        public float4 TransformPoint(float4 point)
-        {
-            return new float4(translation.xyz + math.rotate(rotation, (point * scale).xyz),0);
-        }
-
-        public float4 InverseTransformPoint(float4 point)
-        {
-            return new float4(math.rotate(math.conjugate(rotation),(point - translation).xyz) / scale.xyz , 0);
-        }
-
-        public float4 TransformPointUnscaled(float4 point)
-        {
-            return new float4(translation.xyz + math.rotate(rotation,point.xyz), 0);
-        }
-
-        public float4 InverseTransformPointUnscaled(float4 point)
-        {
-            return new float4(math.rotate(math.conjugate(rotation), (point - translation).xyz), 0);
-        }
-
-
-        public float4 TransformDirection(float4 direction)
-        {
-            return new float4(math.rotate(rotation, direction.xyz), 0);
-        }
-
-        public float4 InverseTransformDirection(float4 direction)
-        {
-            return new float4(math.rotate(math.conjugate(rotation), direction.xyz), 0);
-        }
-
-        public float4 TransformVector(float4 vector)
-        {
-            return new float4(math.rotate(rotation, (vector * scale).xyz), 0);
-        }
-
-        public float4 InverseTransformVector(float4 vector)
-        {
-            return new float4(math.rotate(math.conjugate(rotation),vector.xyz) / scale.xyz, 0);
-        }
-    }
-}
-#endif