去掉obi，使用自写绳索

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

@@ -1,65 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
-using Unity.Mathematics;
-using System.Collections;
-
-namespace Obi
-{
-    public struct BurstInertialFrame
-    {
-        public BurstAffineTransform frame;
-        public BurstAffineTransform prevFrame;
-
-        public float4 velocity;
-        public float4 angularVelocity;
-
-        public float4 acceleration;
-        public float4 angularAcceleration;
-
-        public BurstInertialFrame(float4 position, float4 scale, quaternion rotation)
-        {
-            this.frame = new BurstAffineTransform(position, rotation, scale);
-            this.prevFrame = frame;
-
-            velocity = float4.zero;
-            angularVelocity = float4.zero;
-            acceleration = float4.zero;
-            angularAcceleration = float4.zero;
-        }
-
-        public BurstInertialFrame(BurstAffineTransform frame)
-        {
-            this.frame = frame;
-            this.prevFrame = frame;
-
-            velocity = float4.zero;
-            angularVelocity = float4.zero;
-            acceleration = float4.zero;
-            angularAcceleration = float4.zero;
-        }
-
-        public float4 VelocityAtPoint(float4 point)
-        {
-            return velocity + new float4(math.cross(angularVelocity.xyz, (point - prevFrame.translation).xyz), 0);
-        }
-
-        public void Update(float4 position, float4 scale, quaternion rotation, float dt)
-        {
-            prevFrame = frame;
-            float4 prevVelocity = velocity;
-            float4 prevAngularVelocity = angularVelocity;
-
-            frame.translation = position;
-            frame.rotation = rotation;
-            frame.scale = scale;
-
-            velocity = BurstIntegration.DifferentiateLinear(frame.translation, prevFrame.translation, dt);
-            angularVelocity = BurstIntegration.DifferentiateAngular(frame.rotation, prevFrame.rotation, dt);
-
-            acceleration = BurstIntegration.DifferentiateLinear(velocity, prevVelocity, dt);
-            angularAcceleration = BurstIntegration.DifferentiateLinear(angularVelocity, prevAngularVelocity, dt);
-        }
-       
-    }
-}
-#endif