private CameraExtrinsics GetExtrinsics(SpatialCoordinateSystem frameCoordinateSystem)
{
if (frameCoordinateSystem == null)
{
return(null);
}
CameraExtrinsics extrinsics = null;
if (rootCoordinateSystem == null)
{
return(null);
}
System.Numerics.Matrix4x4?worldMatrix = frameCoordinateSystem.TryGetTransformTo(rootCoordinateSystem);
if (worldMatrix.HasValue)
{
WindowsVector3 position;
WindowsVector3 scale;
WindowsQuaternion rotation;
WindowsMatrix4x4.Decompose(worldMatrix.Value, out scale, out rotation, out position);
WindowsVector3 forward = WindowsVector3.Transform(-WindowsVector3.UnitZ, rotation);
WindowsVector3 up = WindowsVector3.Transform(WindowsVector3.UnitY, rotation);
Matrix4x4 unityWorldMatrix = Matrix4x4.TRS(WindowsVectorToUnityVector(position), Quaternion.LookRotation(WindowsVectorToUnityVector(forward), WindowsVectorToUnityVector(up)), Vector3.one);
extrinsics = new CameraExtrinsics()
{
ViewFromWorld = unityWorldMatrix
};
}
return(extrinsics);
}
