重新导入obi

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

@@ -0,0 +1,64 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstSphere : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+        public float dt;
+
+        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 Contacts(int colliderIndex,
+                             int rigidbodyIndex,
+                             NativeArray<BurstRigidbody> rigidbodies,
+
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> velocities,
+                             NativeArray<float4> radii,
+
+                             NativeArray<int> simplices,
+                             in BurstAabb simplexBounds,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstContact>.ParallelWriter contacts,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            var colliderPoint = BurstLocalOptimization.Optimize<BurstSphere>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                             ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            co.pointB = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.pointA = simplexBary;
+
+            contacts.Enqueue(co);
+        }
+    }
+
+}
+#endif