public static void ApplyImpulse(int rigidbodyIndex,
float4 impulse,
float4 point,
NativeArray <BurstRigidbody> rigidbodies,
NativeArray <float4> linearDeltas,
NativeArray <float4> angularDeltas,
BurstAffineTransform transform)
{
float4 impulseWS = transform.TransformVector(impulse);
float4 r = transform.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
linearDeltas[rigidbodyIndex] += rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
angularDeltas[rigidbodyIndex] += math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(r.xyz, impulseWS.xyz), 0));
}