Merge pull request #55923 from bluenote10/feature/consistent_transform_operations

Fix consistency of translated/scaled/rotated in Transform2D and Transform3D

core/math/transform_2d.cpp

@@ -217,16 +217,22 @@ Transform2D Transform2D::operator*(const Transform2D &p_transform) const {
 	return t;
 }
 
+Transform2D Transform2D::basis_scaled(const Size2 &p_scale) const {
+	Transform2D copy = *this;
+	copy.scale_basis(p_scale);
+	return copy;
+}
+
 Transform2D Transform2D::scaled(const Size2 &p_scale) const {
+	// Equivalent to left multiplication
 	Transform2D copy = *this;
 	copy.scale(p_scale);
 	return copy;
 }
 
-Transform2D Transform2D::basis_scaled(const Size2 &p_scale) const {
+Transform2D Transform2D::scaled_local(const Size2 &p_scale) const {
-	Transform2D copy = *this;
+	// Equivalent to right multiplication
-	copy.scale_basis(p_scale);
+	return Transform2D(columns[0] * p_scale.x, columns[1] * p_scale.y, columns[2]);
-	return copy;
 }
 
 Transform2D Transform2D::untranslated() const {
@@ -235,16 +241,24 @@ Transform2D Transform2D::untranslated() const {
 	return copy;
 }
 
+Transform2D Transform2D::translated(const Vector2 &p_offset) const {
+	// Equivalent to left multiplication
+	return Transform2D(columns[0], columns[1], columns[2] + p_offset);
+}
+
 Transform2D Transform2D::translated_local(const Vector2 &p_offset) const {
-	Transform2D copy = *this;
+	// Equivalent to right multiplication
-	copy.translate_local(p_offset);
+	return Transform2D(columns[0], columns[1], columns[2] + basis_xform(p_offset));
-	return copy;
 }
 
 Transform2D Transform2D::rotated(const real_t p_angle) const {
-	Transform2D copy = *this;
+	// Equivalent to left multiplication
-	copy.rotate(p_angle);
+	return Transform2D(p_angle, Vector2()) * (*this);
-	return copy;
+}
+
+Transform2D Transform2D::rotated_local(const real_t p_angle) const {
+	// Equivalent to right multiplication
+	return (*this) * Transform2D(p_angle, Vector2()); // Could be optimized, because origin transform can be skipped.
 }
 
 real_t Transform2D::basis_determinant() const {

core/math/transform_2d.h

@@ -85,10 +85,13 @@ struct _NO_DISCARD_ Transform2D {
 	_FORCE_INLINE_ const Vector2 &get_origin() const { return columns[2]; }
 	_FORCE_INLINE_ void set_origin(const Vector2 &p_origin) { columns[2] = p_origin; }
 
-	Transform2D scaled(const Size2 &p_scale) const;
 	Transform2D basis_scaled(const Size2 &p_scale) const;
+	Transform2D scaled(const Size2 &p_scale) const;
+	Transform2D scaled_local(const Size2 &p_scale) const;
+	Transform2D translated(const Vector2 &p_offset) const;
 	Transform2D translated_local(const Vector2 &p_offset) const;
 	Transform2D rotated(const real_t p_angle) const;
+	Transform2D rotated_local(const real_t p_angle) const;
 
 	Transform2D untranslated() const;
 

core/math/transform_3d.cpp

@@ -62,7 +62,15 @@ void Transform3D::rotate(const Vector3 &p_axis, real_t p_angle) {
 }
 
 Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_angle) const {
-	return Transform3D(Basis(p_axis, p_angle), Vector3()) * (*this);
+	// Equivalent to left multiplication
+	Basis p_basis(p_axis, p_angle);
+	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_angle) {
@@ -120,9 +128,13 @@ void Transform3D::scale(const Vector3 &p_scale) {
 }
 
 Transform3D Transform3D::scaled(const Vector3 &p_scale) const {
-	Transform3D t = *this;
+	// Equivalent to left multiplication
-	t.scale(p_scale);
+	return Transform3D(basis.scaled(p_scale), origin * p_scale);
-	return t;
+}
+
+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) {
@@ -139,10 +151,14 @@ void Transform3D::translate_local(const Vector3 &p_translation) {
 	}
 }
 
+Transform3D Transform3D::translated(const Vector3 &p_translation) const {
+	// Equivalent to left multiplication
+	return Transform3D(basis, origin + p_translation);
+}
+
 Transform3D Transform3D::translated_local(const Vector3 &p_translation) const {
-	Transform3D t = *this;
+	// Equivalent to right multiplication
-	t.translate_local(p_translation);
+	return Transform3D(basis, origin + basis.xform(p_translation));
-	return t;
 }
 
 void Transform3D::orthonormalize() {

core/math/transform_3d.h

@@ -46,6 +46,7 @@ struct _NO_DISCARD_ Transform3D {
 	Transform3D affine_inverse() const;
 
 	Transform3D rotated(const Vector3 &p_axis, real_t p_angle) const;
+	Transform3D rotated_local(const Vector3 &p_axis, real_t p_angle) const;
 
 	void rotate(const Vector3 &p_axis, real_t p_angle);
 	void rotate_basis(const Vector3 &p_axis, real_t p_angle);
@@ -55,9 +56,11 @@ struct _NO_DISCARD_ Transform3D {
 
 	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_local(real_t p_tx, real_t p_ty, real_t p_tz);
 	void translate_local(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; }

core/variant/variant_call.cpp

@@ -1882,7 +1882,10 @@ static void _register_variant_builtin_methods() {
 	bind_method(Transform2D, get_skew, sarray(), varray());
 	bind_method(Transform2D, orthonormalized, sarray(), varray());
 	bind_method(Transform2D, rotated, sarray("angle"), varray());
+	bind_method(Transform2D, rotated_local, sarray("angle"), varray());
 	bind_method(Transform2D, scaled, sarray("scale"), varray());
+	bind_method(Transform2D, scaled_local, sarray("scale"), varray());
+	bind_method(Transform2D, translated, sarray("offset"), varray());
 	bind_method(Transform2D, translated_local, sarray("offset"), varray());
 	bind_method(Transform2D, basis_xform, sarray("v"), varray());
 	bind_method(Transform2D, basis_xform_inv, sarray("v"), varray());
@@ -1947,7 +1950,10 @@ static void _register_variant_builtin_methods() {
 	bind_method(Transform3D, affine_inverse, sarray(), varray());
 	bind_method(Transform3D, orthonormalized, sarray(), varray());
 	bind_method(Transform3D, rotated, sarray("axis", "angle"), varray());
+	bind_method(Transform3D, rotated_local, sarray("axis", "angle"), varray());
 	bind_method(Transform3D, scaled, sarray("scale"), varray());
+	bind_method(Transform3D, scaled_local, sarray("scale"), varray());
+	bind_method(Transform3D, translated, sarray("offset"), varray());
 	bind_method(Transform3D, translated_local, sarray("offset"), varray());
 	bind_method(Transform3D, looking_at, sarray("target", "up"), varray(Vector3(0, 1, 0)));
 	bind_method(Transform3D, spherical_interpolate_with, sarray("xform", "weight"), varray());

doc/classes/Transform2D.xml

@@ -141,14 +141,40 @@
 			<return type="Transform2D" />
 			<argument index="0" name="angle" type="float" />
 			<description>
-				Returns a copy of the transform rotated by the given [code]angle[/code] (in radians), using matrix multiplication.
+				Returns a copy of the transform rotated by the given [code]angle[/code] (in radians).
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding rotation transform [code]R[/code] from the left, i.e., [code]R * X[/code].
+				This can be seen as transforming with respect to the global/parent frame.
+			</description>
+		</method>
+		<method name="rotated_local" qualifiers="const">
+			<return type="Transform2D" />
+			<argument index="0" name="angle" type="float" />
+			<description>
+				Returns a copy of the transform rotated by the given [code]angle[/code] (in radians).
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding rotation transform [code]R[/code] from the right, i.e., [code]X * R[/code].
+				This can be seen as transforming with respect to the local frame.
 			</description>
 		</method>
 		<method name="scaled" qualifiers="const">
 			<return type="Transform2D" />
 			<argument index="0" name="scale" type="Vector2" />
 			<description>
-				Returns a copy of the transform scaled by the given [code]scale[/code] factor, using matrix multiplication.
+				Returns a copy of the transform scaled by the given [code]scale[/code] factor.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding scaling transform [code]S[/code] from the left, i.e., [code]S * X[/code].
+				This can be seen as transforming with respect to the global/parent frame.
+			</description>
+		</method>
+		<method name="scaled_local" qualifiers="const">
+			<return type="Transform2D" />
+			<argument index="0" name="scale" type="Vector2" />
+			<description>
+				Returns a copy of the transform scaled by the given [code]scale[/code] factor.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding scaling transform [code]S[/code] from the right, i.e., [code]X * S[/code].
+				This can be seen as transforming with respect to the local frame.
 			</description>
 		</method>
 		<method name="set_rotation">
@@ -173,12 +199,24 @@
 				Sets the transform's skew (in radians).
 			</description>
 		</method>
+		<method name="translated" qualifiers="const">
+			<return type="Transform2D" />
+			<argument index="0" name="offset" type="Vector2" />
+			<description>
+				Returns a copy of the transform translated by the given [code]offset[/code].
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding translation transform [code]T[/code] from the left, i.e., [code]T * X[/code].
+				This can be seen as transforming with respect to the global/parent frame.
+			</description>
+		</method>
 		<method name="translated_local" qualifiers="const">
 			<return type="Transform2D" />
 			<argument index="0" name="offset" type="Vector2" />
 			<description>
-				Returns a copy of the transform translated by the given [code]offset[/code], relative to the transform's basis vectors.
+				Returns a copy of the transform translated by the given [code]offset[/code].
-				Unlike [method rotated] and [method scaled], this does not use matrix multiplication.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding translation transform [code]T[/code] from the right, i.e., [code]X * T[/code].
+				This can be seen as transforming with respect to the local frame.
 			</description>
 		</method>
 	</methods>

doc/classes/Transform3D.xml

@@ -102,14 +102,43 @@
 			<argument index="0" name="axis" type="Vector3" />
 			<argument index="1" name="angle" type="float" />
 			<description>
-				Returns a copy of the transform rotated around the given [code]axis[/code] by the given [code]angle[/code] (in radians), using matrix multiplication. The [code]axis[/code] must be a normalized vector.
+				Returns a copy of the transform rotated around the given [code]axis[/code] by the given [code]angle[/code] (in radians).
+				The [code]axis[/code] must be a normalized vector.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding rotation transform [code]R[/code] from the left, i.e., [code]R * X[/code].
+				This can be seen as transforming with respect to the global/parent frame.
+			</description>
+		</method>
+		<method name="rotated_local" qualifiers="const">
+			<return type="Transform3D" />
+			<argument index="0" name="axis" type="Vector3" />
+			<argument index="1" name="angle" type="float" />
+			<description>
+				Returns a copy of the transform rotated around the given [code]axis[/code] by the given [code]angle[/code] (in radians).
+				The [code]axis[/code] must be a normalized vector.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding rotation transform [code]R[/code] from the right, i.e., [code]X * R[/code].
+				This can be seen as transforming with respect to the local frame.
 			</description>
 		</method>
 		<method name="scaled" qualifiers="const">
 			<return type="Transform3D" />
 			<argument index="0" name="scale" type="Vector3" />
 			<description>
-				Returns a copy of the transform with its basis and origin scaled by the given [code]scale[/code] factor, using matrix multiplication.
+				Returns a copy of the transform scaled by the given [code]scale[/code] factor.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding scaling transform [code]S[/code] from the left, i.e., [code]S * X[/code].
+				This can be seen as transforming with respect to the global/parent frame.
+			</description>
+		</method>
+		<method name="scaled_local" qualifiers="const">
+			<return type="Transform3D" />
+			<argument index="0" name="scale" type="Vector3" />
+			<description>
+				Returns a copy of the transform scaled by the given [code]scale[/code] factor.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding scaling transform [code]S[/code] from the right, i.e., [code]X * S[/code].
+				This can be seen as transforming with respect to the local frame.
 			</description>
 		</method>
 		<method name="spherical_interpolate_with" qualifiers="const">
@@ -120,12 +149,24 @@
 				Returns a transform spherically interpolated between this transform and another by a given [code]weight[/code] (on the range of 0.0 to 1.0).
 			</description>
 		</method>
+		<method name="translated" qualifiers="const">
+			<return type="Transform3D" />
+			<argument index="0" name="offset" type="Vector3" />
+			<description>
+				Returns a copy of the transform translated by the given [code]offset[/code].
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding translation transform [code]T[/code] from the left, i.e., [code]T * X[/code].
+				This can be seen as transforming with respect to the global/parent frame.
+			</description>
+		</method>
 		<method name="translated_local" qualifiers="const">
 			<return type="Transform3D" />
 			<argument index="0" name="offset" type="Vector3" />
 			<description>
-				Returns a copy of the transform translated by the given [code]offset[/code], relative to the transform's basis vectors.
+				Returns a copy of the transform translated by the given [code]offset[/code].
-				Unlike [method rotated] and [method scaled], this does not use matrix multiplication.
+				This method is an optimized version of multiplying the given transform [code]X[/code]
+				with a corresponding translation transform [code]T[/code] from the right, i.e., [code]X * T[/code].
+				This can be seen as transforming with respect to the local frame.
 			</description>
 		</method>
 	</methods>

modules/mono/glue/GodotSharp/GodotSharp/Core/Transform2D.cs

@@ -297,7 +297,9 @@ namespace Godot
         }
 
         /// <summary>
-        /// Rotates the transform by <paramref name="angle"/> (in radians), using matrix multiplication.
+        /// Rotates the transform by <paramref name="angle"/> (in radians).
+        /// The operation is done in the parent/global frame, equivalent to
+        /// multiplying the matrix from the left.
         /// </summary>
         /// <param name="angle">The angle to rotate, in radians.</param>
         /// <returns>The rotated transformation matrix.</returns>
@@ -307,7 +309,21 @@ namespace Godot
         }
 
         /// <summary>
-        /// Scales the transform by the given scaling factor, using matrix multiplication.
+        /// Rotates the transform by <paramref name="angle"/> (in radians).
+        /// The operation is done in the local frame, equivalent to
+        /// multiplying the matrix from the right.
+        /// </summary>
+        /// <param name="angle">The angle to rotate, in radians.</param>
+        /// <returns>The rotated transformation matrix.</returns>
+        public Transform2D RotatedLocal(real_t angle)
+        {
+            return new Transform2D(angle, new Vector2()) * this;
+        }
+
+        /// <summary>
+        /// Scales the transform by the given scaling factor.
+        /// The operation is done in the parent/global frame, equivalent to
+        /// multiplying the matrix from the left.
         /// </summary>
         /// <param name="scale">The scale to introduce.</param>
         /// <returns>The scaled transformation matrix.</returns>
@@ -320,6 +336,21 @@ namespace Godot
             return copy;
         }
 
+        /// <summary>
+        /// Scales the transform by the given scaling factor.
+        /// The operation is done in the local frame, equivalent to
+        /// multiplying the matrix from the right.
+        /// </summary>
+        /// <param name="scale">The scale to introduce.</param>
+        /// <returns>The scaled transformation matrix.</returns>
+        public Transform2D ScaledLocal(Vector2 scale)
+        {
+            Transform2D copy = this;
+            copy.x *= scale;
+            copy.y *= scale;
+            return copy;
+        }
+
         private real_t Tdotx(Vector2 with)
         {
             return (this[0, 0] * with[0]) + (this[1, 0] * with[1]);
@@ -331,11 +362,23 @@ namespace Godot
         }
 
         /// <summary>
-        /// Translates the transform by the given <paramref name="offset"/>,
+        /// Translates the transform by the given <paramref name="offset"/>.
-        /// relative to the transform's basis vectors.
+        /// The operation is done in the parent/global frame, equivalent to
-        ///
+        /// multiplying the matrix from the left.
-        /// Unlike <see cref="Rotated"/> and <see cref="Scaled"/>,
+        /// </summary>
-        /// this does not use matrix multiplication.
+        /// <param name="offset">The offset to translate by.</param>
+        /// <returns>The translated matrix.</returns>
+        public Transform2D Translated(Vector2 offset)
+        {
+            Transform2D copy = this;
+            copy.origin += offset;
+            return copy;
+        }
+
+        /// <summary>
+        /// Translates the transform by the given <paramref name="offset"/>.
+        /// The operation is done in the local frame, equivalent to
+        /// multiplying the matrix from the right.
         /// </summary>
         /// <param name="offset">The offset to translate by.</param>
         /// <returns>The translated matrix.</returns>

modules/mono/glue/GodotSharp/GodotSharp/Core/Transform3D.cs

@@ -186,8 +186,10 @@ namespace Godot
         }
 
         /// <summary>
-        /// Rotates the transform around the given <paramref name="axis"/> by <paramref name="angle"/> (in radians),
+        /// Rotates the transform around the given <paramref name="axis"/> by <paramref name="angle"/> (in radians).
-        /// using matrix multiplication. The axis must be a normalized vector.
+        /// The axis must be a normalized vector.
+        /// The operation is done in the parent/global frame, equivalent to
+        /// multiplying the matrix from the left.
         /// </summary>
         /// <param name="axis">The axis to rotate around. Must be normalized.</param>
         /// <param name="angle">The angle to rotate, in radians.</param>
@@ -198,7 +200,24 @@ namespace Godot
         }
 
         /// <summary>
-        /// Scales the transform by the given 3D scaling factor, using matrix multiplication.
+        /// Rotates the transform around the given <paramref name="axis"/> by <paramref name="angle"/> (in radians).
+        /// The axis must be a normalized vector.
+        /// The operation is done in the local frame, equivalent to
+        /// multiplying the matrix from the right.
+        /// </summary>
+        /// <param name="axis">The axis to rotate around. Must be normalized.</param>
+        /// <param name="angle">The angle to rotate, in radians.</param>
+        /// <returns>The rotated transformation matrix.</returns>
+        public Transform3D RotatedLocal(Vector3 axis, real_t angle)
+        {
+            Basis tmpBasis = new Basis(axis, angle);
+            return new Transform3D(basis * tmpBasis, origin);
+        }
+
+        /// <summary>
+        /// Scales the transform by the given 3D <paramref name="scale"/> factor.
+        /// The operation is done in the parent/global frame, equivalent to
+        /// multiplying the matrix from the left.
         /// </summary>
         /// <param name="scale">The scale to introduce.</param>
         /// <returns>The scaled transformation matrix.</returns>
@@ -207,6 +226,19 @@ namespace Godot
             return new Transform3D(basis.Scaled(scale), origin * scale);
         }
 
+        /// <summary>
+        /// Scales the transform by the given 3D <paramref name="scale"/> factor.
+        /// The operation is done in the local frame, equivalent to
+        /// multiplying the matrix from the right.
+        /// </summary>
+        /// <param name="scale">The scale to introduce.</param>
+        /// <returns>The scaled transformation matrix.</returns>
+        public Transform3D ScaledLocal(Vector3 scale)
+        {
+            Basis tmpBasis = new Basis(new Vector3(scale.x, 0, 0), new Vector3(0, scale.y, 0), new Vector3(0, 0, scale.z));
+            return new Transform3D(basis * tmpBasis, origin);
+        }
+
         private void SetLookAt(Vector3 eye, Vector3 target, Vector3 up)
         {
             // Make rotation matrix
@@ -231,11 +263,21 @@ namespace Godot
         }
 
         /// <summary>
-        /// Translates the transform by the given <paramref name="offset"/>,
+        /// Translates the transform by the given <paramref name="offset"/>.
-        /// relative to the transform's basis vectors.
+        /// The operation is done in the parent/global frame, equivalent to
-        ///
+        /// multiplying the matrix from the left.
-        /// Unlike <see cref="Rotated"/> and <see cref="Scaled"/>,
+        /// </summary>
-        /// this does not use matrix multiplication.
+        /// <param name="offset">The offset to translate by.</param>
+        /// <returns>The translated matrix.</returns>
+        public Transform3D Translated(Vector3 offset)
+        {
+            return new Transform3D(basis, origin + offset);
+        }
+
+        /// <summary>
+        /// Translates the transform by the given <paramref name="offset"/>.
+        /// The operation is done in the local frame, equivalent to
+        /// multiplying the matrix from the right.
         /// </summary>
         /// <param name="offset">The offset to translate by.</param>
         /// <returns>The translated matrix.</returns>

tests/core/math/test_transform_2d.h

@@ -0,0 +1,88 @@
+/*************************************************************************/
+/*  test_transform_2d.h                                                  */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef TEST_TRANSFORM_2D_H
+#define TEST_TRANSFORM_2D_H
+
+#include "core/math/transform_2d.h"
+
+#include "tests/test_macros.h"
+
+namespace TestTransform2D {
+
+Transform2D create_dummy_transform() {
+	return Transform2D(Vector2(1, 2), Vector2(3, 4), Vector2(5, 6));
+}
+
+Transform2D identity() {
+	return Transform2D();
+}
+
+TEST_CASE("[Transform2D] translation") {
+	Vector2 offset = Vector2(1, 2);
+
+	// Both versions should give the same result applied to identity.
+	CHECK(identity().translated(offset) == identity().translated_local(offset));
+
+	// Check both versions against left and right multiplications.
+	Transform2D orig = create_dummy_transform();
+	Transform2D T = identity().translated(offset);
+	CHECK(orig.translated(offset) == T * orig);
+	CHECK(orig.translated_local(offset) == orig * T);
+}
+
+TEST_CASE("[Transform2D] scaling") {
+	Vector2 scaling = Vector2(1, 2);
+
+	// Both versions should give the same result applied to identity.
+	CHECK(identity().scaled(scaling) == identity().scaled_local(scaling));
+
+	// Check both versions against left and right multiplications.
+	Transform2D orig = create_dummy_transform();
+	Transform2D S = identity().scaled(scaling);
+	CHECK(orig.scaled(scaling) == S * orig);
+	CHECK(orig.scaled_local(scaling) == orig * S);
+}
+
+TEST_CASE("[Transform2D] rotation") {
+	real_t phi = 1.0;
+
+	// Both versions should give the same result applied to identity.
+	CHECK(identity().rotated(phi) == identity().rotated_local(phi));
+
+	// Check both versions against left and right multiplications.
+	Transform2D orig = create_dummy_transform();
+	Transform2D R = identity().rotated(phi);
+	CHECK(orig.rotated(phi) == R * orig);
+	CHECK(orig.rotated_local(phi) == orig * R);
+}
+} // namespace TestTransform2D
+
+#endif // TEST_TRANSFORM_2D_H

tests/core/math/test_transform_3d.h

@@ -0,0 +1,89 @@
+/*************************************************************************/
+/*  test_transform_3d.h                                                  */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef TEST_TRANSFORM_3D_H
+#define TEST_TRANSFORM_3D_H
+
+#include "core/math/transform_3d.h"
+
+#include "tests/test_macros.h"
+
+namespace TestTransform3D {
+
+Transform3D create_dummy_transform() {
+	return Transform3D(Basis(Vector3(1, 2, 3), Vector3(4, 5, 6), Vector3(7, 8, 9)), Vector3(10, 11, 12));
+}
+
+Transform3D identity() {
+	return Transform3D();
+}
+
+TEST_CASE("[Transform3D] translation") {
+	Vector3 offset = Vector3(1, 2, 3);
+
+	// Both versions should give the same result applied to identity.
+	CHECK(identity().translated(offset) == identity().translated_local(offset));
+
+	// Check both versions against left and right multiplications.
+	Transform3D orig = create_dummy_transform();
+	Transform3D T = identity().translated(offset);
+	CHECK(orig.translated(offset) == T * orig);
+	CHECK(orig.translated_local(offset) == orig * T);
+}
+
+TEST_CASE("[Transform3D] scaling") {
+	Vector3 scaling = Vector3(1, 2, 3);
+
+	// Both versions should give the same result applied to identity.
+	CHECK(identity().scaled(scaling) == identity().scaled_local(scaling));
+
+	// Check both versions against left and right multiplications.
+	Transform3D orig = create_dummy_transform();
+	Transform3D S = identity().scaled(scaling);
+	CHECK(orig.scaled(scaling) == S * orig);
+	CHECK(orig.scaled_local(scaling) == orig * S);
+}
+
+TEST_CASE("[Transform3D] rotation") {
+	Vector3 axis = Vector3(1, 2, 3).normalized();
+	real_t phi = 1.0;
+
+	// Both versions should give the same result applied to identity.
+	CHECK(identity().rotated(axis, phi) == identity().rotated_local(axis, phi));
+
+	// Check both versions against left and right multiplications.
+	Transform3D orig = create_dummy_transform();
+	Transform3D R = identity().rotated(axis, phi);
+	CHECK(orig.rotated(axis, phi) == R * orig);
+	CHECK(orig.rotated_local(axis, phi) == orig * R);
+}
+} // namespace TestTransform3D
+
+#endif // TEST_TRANSFORM_3D_H

tests/test_main.cpp

@@ -49,6 +49,8 @@
 #include "tests/core/math/test_random_number_generator.h"
 #include "tests/core/math/test_rect2.h"
 #include "tests/core/math/test_rect2i.h"
+#include "tests/core/math/test_transform_2d.h"
+#include "tests/core/math/test_transform_3d.h"
 #include "tests/core/math/test_vector2.h"
 #include "tests/core/math/test_vector2i.h"
 #include "tests/core/math/test_vector3.h"