/// <summary>
/// <para xml:lang="en">Calculate and set the transform <paramref name="t"/> of one object using <paramref name="pose"/> and the other object's transform <paramref name="centerT"/>, to express the relation of the two objects in 3D space which is known in <paramref name="pose"/>.</para>
/// <para xml:lang="zh">已知两个物体的的相对关系，通过<paramref name="pose"/>以及一个物体的transform <paramref name="centerT"/>计算并设置另一个物体的transform <paramref name="t"/>，以便在三维空间中将这个关系表达出来。</para>
/// </summary>
public static void SetPoseOnTransform(Transform t, Transform centerT, Matrix44F pose, Matrix4x4 displayCompensation, bool isCamera, bool onCamera, bool manualHorizontalFlip = false)
{
Matrix4x4 translateMatrix = Matrix4x4.identity;
translateMatrix.m22 = -1;
var translateTransform = translateMatrix * Matrix4x4.TRS(centerT.position, centerT.rotation, Vector3.one) * translateMatrix;
var willSetPose = pose.ToUnityMatrix();
if (onCamera)
{
Matrix4x4 cameraTransform;
if (isCamera)
{
cameraTransform = willSetPose;
}
else
{
cameraTransform = willSetPose.inverse;
}
willSetPose = cameraTransform * displayCompensation.inverse;
}
else
{
Matrix4x4 targetTransform;
if (isCamera)
{
targetTransform = willSetPose.inverse;
}
else
{
targetTransform = willSetPose;
}
willSetPose = displayCompensation * targetTransform;
}
if (manualHorizontalFlip)
{
Matrix4x4 hFlipTranslateMatrix = Matrix4x4.identity;
hFlipTranslateMatrix.m00 = -1;
willSetPose = hFlipTranslateMatrix * willSetPose * hFlipTranslateMatrix;
}
willSetPose = translateTransform * willSetPose;
SetMatrixOnTransform(t, willSetPose, true);
}
