diff --git a/core/math/matrix3.cpp b/core/math/basis.cpp
similarity index 99%
rename from core/math/matrix3.cpp
rename to core/math/basis.cpp
index 0aa67078fb5..8e4eacd9a6a 100644
--- a/core/math/matrix3.cpp
+++ b/core/math/basis.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  matrix3.cpp                                                          */
+/*  basis.cpp                                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,7 +28,7 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "matrix3.h"
+#include "basis.h"
 
 #include "core/math/math_funcs.h"
 #include "core/os/copymem.h"
diff --git a/core/math/matrix3.h b/core/math/basis.h
similarity index 99%
rename from core/math/matrix3.h
rename to core/math/basis.h
index e7d6ab4522a..128e56b494f 100644
--- a/core/math/matrix3.h
+++ b/core/math/basis.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  matrix3.h                                                            */
+/*  basis.h                                                              */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -31,8 +31,8 @@
 // Circular dependency between Vector3 and Basis :/
 #include "core/math/vector3.h"
 
-#ifndef MATRIX3_H
-#define MATRIX3_H
+#ifndef BASIS_H
+#define BASIS_H
 
 #include "core/math/quat.h"
 
@@ -341,4 +341,4 @@ real_t Basis::determinant() const {
 		   elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
 		   elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
 }
-#endif
+#endif // BASIS_H
diff --git a/core/math/quat.cpp b/core/math/quat.cpp
index c1e45f36f0c..6833d5de558 100644
--- a/core/math/quat.cpp
+++ b/core/math/quat.cpp
@@ -30,7 +30,7 @@
 
 #include "quat.h"
 
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
 #include "core/print_string.h"
 
 // set_euler_xyz expects a vector containing the Euler angles in the format
diff --git a/core/math/transform.h b/core/math/transform.h
index 9b323a6f0f1..2f43f6b0354 100644
--- a/core/math/transform.h
+++ b/core/math/transform.h
@@ -32,7 +32,7 @@
 #define TRANSFORM_H
 
 #include "core/math/aabb.h"
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
 #include "core/math/plane.h"
 
 /**
diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp
index b2e89ac7b85..1c289344229 100644
--- a/core/math/vector3.cpp
+++ b/core/math/vector3.cpp
@@ -30,7 +30,7 @@
 
 #include "vector3.h"
 
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
 
 void Vector3::rotate(const Vector3 &p_axis, real_t p_phi) {
 
diff --git a/core/math/vector3.h b/core/math/vector3.h
index b0eef35635b..8d6e093c4ce 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -151,7 +151,7 @@ struct Vector3 {
 };
 
 // Should be included after class definition, otherwise we get circular refs
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
 
 Vector3 Vector3::cross(const Vector3 &p_b) const {
 
diff --git a/core/variant.h b/core/variant.h
index 0377c78ea81..6ddaf174061 100644
--- a/core/variant.h
+++ b/core/variant.h
@@ -41,8 +41,8 @@
 #include "core/dvector.h"
 #include "core/io/ip_address.h"
 #include "core/math/aabb.h"
+#include "core/math/basis.h"
 #include "core/math/face3.h"
-#include "core/math/matrix3.h"
 #include "core/math/plane.h"
 #include "core/math/quat.h"
 #include "core/math/transform.h"
diff --git a/main/tests/test_math.cpp b/main/tests/test_math.cpp
index a082abcaba4..f3411590791 100644
--- a/main/tests/test_math.cpp
+++ b/main/tests/test_math.cpp
@@ -30,9 +30,9 @@
 
 #include "test_math.h"
 
+#include "core/math/basis.h"
 #include "core/math/camera_matrix.h"
 #include "core/math/math_funcs.h"
-#include "core/math/matrix3.h"
 #include "core/math/transform.h"
 #include "core/os/file_access.h"
 #include "core/os/keyboard.h"
diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h
index 57c3300b3d5..ba36331d078 100644
--- a/modules/bullet/bullet_types_converter.h
+++ b/modules/bullet/bullet_types_converter.h
@@ -31,7 +31,7 @@
 #ifndef BULLET_TYPES_CONVERTER_H
 #define BULLET_TYPES_CONVERTER_H
 
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
 #include "core/math/transform.h"
 #include "core/math/vector3.h"
 #include "core/typedefs.h"
diff --git a/modules/gdnative/gdnative/basis.cpp b/modules/gdnative/gdnative/basis.cpp
index 4441a03ca15..d77c7d91ac6 100644
--- a/modules/gdnative/gdnative/basis.cpp
+++ b/modules/gdnative/gdnative/basis.cpp
@@ -30,7 +30,7 @@
 
 #include "gdnative/basis.h"
 
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
 #include "core/variant.h"
 
 #ifdef __cplusplus
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index 23f16c246ea..f0fbbafe1c9 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -652,7 +652,7 @@ void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
 	linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
 
 	//compute a FAKE angular velocity, not so easy
-	Matrix3 rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
+	Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
 	Vector3 axis;
 	real_t angle;