From c543a3cbe15b729e1020cee088aa81eaa3c47724 Mon Sep 17 00:00:00 2001
From: Marc Gilleron <marc.gilleron@gmail.com>
Date: Sun, 18 Sep 2022 22:35:43 +0100
Subject: [PATCH] Add Transform3D `translated_local`, `rotated_local`,
 `scaled_local`

---
 include/godot_cpp/variant/transform3d.hpp |  3 +++
 src/variant/transform3d.cpp               | 30 +++++++++++++++++------
 2 files changed, 26 insertions(+), 7 deletions(-)

diff --git a/include/godot_cpp/variant/transform3d.hpp b/include/godot_cpp/variant/transform3d.hpp
index 975adf29..26ebca96 100644
--- a/include/godot_cpp/variant/transform3d.hpp
+++ b/include/godot_cpp/variant/transform3d.hpp
@@ -55,6 +55,7 @@ public:
 	Transform3D affine_inverse() const;
 
 	Transform3D rotated(const Vector3 &p_axis, real_t p_phi) const;
+	Transform3D rotated_local(const Vector3 &p_axis, real_t p_angle) const;
 
 	void rotate(const Vector3 &p_axis, real_t p_phi);
 	void rotate_basis(const Vector3 &p_axis, real_t p_phi);
@@ -64,10 +65,12 @@ public:
 
 	void scale(const Vector3 &p_scale);
 	Transform3D scaled(const Vector3 &p_scale) const;
+	Transform3D scaled_local(const Vector3 &p_scale) const;
 	void scale_basis(const Vector3 &p_scale);
 	void translate(real_t p_tx, real_t p_ty, real_t p_tz);
 	void translate(const Vector3 &p_translation);
 	Transform3D translated(const Vector3 &p_translation) const;
+	Transform3D translated_local(const Vector3 &p_translation) const;
 
 	const Basis &get_basis() const { return basis; }
 	void set_basis(const Basis &p_basis) { basis = p_basis; }
diff --git a/src/variant/transform3d.cpp b/src/variant/transform3d.cpp
index 6b176833..b7a2e3c6 100644
--- a/src/variant/transform3d.cpp
+++ b/src/variant/transform3d.cpp
@@ -63,7 +63,15 @@ void Transform3D::rotate(const Vector3 &p_axis, real_t p_phi) {
 }
 
 Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_phi) const {
-	return Transform3D(Basis(p_axis, p_phi), Vector3()) * (*this);
+	// Equivalent to left multiplication
+	Basis p_basis(p_axis, p_phi);
+	return Transform3D(p_basis * basis, p_basis.xform(origin));
+}
+
+Transform3D Transform3D::rotated_local(const Vector3 &p_axis, real_t p_angle) const {
+	// Equivalent to right multiplication
+	Basis p_basis(p_axis, p_angle);
+	return Transform3D(basis * p_basis, origin);
 }
 
 void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_phi) {
@@ -133,9 +141,13 @@ void Transform3D::scale(const Vector3 &p_scale) {
 }
 
 Transform3D Transform3D::scaled(const Vector3 &p_scale) const {
-	Transform3D t = *this;
-	t.scale(p_scale);
-	return t;
+	// Equivalent to left multiplication
+	return Transform3D(basis.scaled(p_scale), origin * p_scale);
+}
+
+Transform3D Transform3D::scaled_local(const Vector3 &p_scale) const {
+	// Equivalent to right multiplication
+	return Transform3D(basis.scaled_local(p_scale), origin);
 }
 
 void Transform3D::scale_basis(const Vector3 &p_scale) {
@@ -153,9 +165,13 @@ void Transform3D::translate(const Vector3 &p_translation) {
 }
 
 Transform3D Transform3D::translated(const Vector3 &p_translation) const {
-	Transform3D t = *this;
-	t.translate(p_translation);
-	return t;
+	// Equivalent to left multiplication
+	return Transform3D(basis, origin + p_translation);
+}
+
+Transform3D Transform3D::translated_local(const Vector3 &p_translation) const {
+	// Equivalent to right multiplication
+	return Transform3D(basis, origin + basis.xform(p_translation));
 }
 
 void Transform3D::orthonormalize() {