How to duplicate setparent behavior effect on scale from Inspector/Editor in code

I want an object to retain its scale/position/rotation when parenting in code the same way it does in the editor when dragging and dropping an object into another object in scene hierarchy, parenting it. I thought using the bool parameter in setparent would work but it still skews things and I can't figure out the combination of localscale/position/rotation adjustments to duplicate what the editor does when moving objects around the hierarchy in the scene.

example:
voidOnCollisionEnter(Collision collider)
{
transform.SetParent(collider.transform, false);
}

This does not seem to accomplish the same thing that happens for me in editor when dragging an object already in scene under another object.