去掉obi，使用自写绳索

Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs

@@ -1,69 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using Unity.Collections;
-using Unity.Mathematics;
-
-namespace Obi
-{
-    public struct BurstSphereQuery : BurstLocalOptimization.IDistanceFunction
-    {
-        public BurstQueryShape shape;
-        public BurstAffineTransform colliderToSolver;
-
-        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
-        {
-            float4 center = shape.center * colliderToSolver.scale;
-            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
-
-            /*if (shape.is2D != 0)
-                point[2] = 0;*/
-
-            float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
-            float distanceToCenter = math.length(point);
-
-            float4 normal = point / (distanceToCenter + BurstMath.epsilon);
-
-            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + normal * (radius + shape.contactOffset));
-            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
-        }
-
-        public void Query(int shapeIndex,
-                             NativeArray<float4> positions,
-                             NativeArray<quaternion> orientations,
-                             NativeArray<float4> radii,
-                             NativeArray<int> simplices,
-                             int simplexIndex,
-                             int simplexStart,
-                             int simplexSize,
-
-                             NativeQueue<BurstQueryResult>.ParallelWriter results,
-                             int optimizationIterations,
-                             float optimizationTolerance)
-        {
-            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
-            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
-
-            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
-
-            float4 simplexPrevPosition = float4.zero;
-            float simplexRadius = 0;
-
-            for (int j = 0; j < simplexSize; ++j)
-            {
-                int particleIndex = simplices[simplexStart + j];
-                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
-                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
-            }
-
-            co.queryPoint = colliderPoint.point;
-            co.normal = colliderPoint.normal;
-            co.simplexBary = simplexBary;
-            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
-
-            if (co.distance <= shape.maxDistance)
-                results.Enqueue(co);
-        }
-    }
-
-}
-#endif