重新导入obi

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

@@ -0,0 +1,64 @@
+#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(positions[simplices[simplexStart]],
+                          positions[simplices[simplexStart + 1]],
+                          positions[simplices[simplexStart + 2]]);
+            }
+        }
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            switch (simplexSize)
+            {
+                case 1:
+                    {
+                        float4 p1 = positions[simplices[simplexStart]];
+                        projectedPoint.bary = new float4(1, 0, 0, 0);
+                        projectedPoint.point = p1;
+                    }
+                    break;
+                case 2:
+                    {
+                        float4 p1 = positions[simplices[simplexStart]];
+                        float4 p2 = positions[simplices[simplexStart + 1]];
+                        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