diff --git a/core/object/object.h b/core/object/object.h
index c6446a2a0209..d8909ec6e320 100644
--- a/core/object/object.h
+++ b/core/object/object.h
@@ -585,6 +585,7 @@ class Object {
 	// Store on each object a bitfield to quickly test whether it is derived from some "key" classes
 	// that are commonly tested in performance sensitive code.
 	// Ensure unsigned to bitpack.
+	// If you want to add more classes, please make sure to edit the Object::_ancestry field.
 	enum class AncestralClass : unsigned int {
 		REF_COUNTED = 1 << 0,
 		NODE = 1 << 1,
@@ -603,6 +604,8 @@ class Object {
 		COLLISION_OBJECT_3D = 1 << 12,
 		PHYSICS_BODY_3D = 1 << 13,
 		MESH_INSTANCE_3D = 1 << 14,
+		// Used a lot in AnimationMixer, SkeletonModifier3D and BoneAttachment3D.
+		SKELETON_3D = 1 << 15,
 	};
 
 	static constexpr AncestralClass static_ancestral_class = (AncestralClass)0;
@@ -653,7 +656,7 @@ class Object {
 	void _initialize();
 	void _postinitialize();
 
-	uint32_t _ancestry : 15;
+	uint32_t _ancestry : 16;
 
 	bool _block_signals : 1;
 	bool _can_translate : 1;
diff --git a/scene/3d/skeleton_3d.cpp b/scene/3d/skeleton_3d.cpp
index a66655ebd3a5..ac186ca57483 100644
--- a/scene/3d/skeleton_3d.cpp
+++ b/scene/3d/skeleton_3d.cpp
@@ -321,7 +321,6 @@ void Skeleton3D::_notification(int p_what) {
 
 			// Process modifiers.
 
-			LocalVector<BonePoseBackup> bones_backup;
 			_find_modifiers();
 			if (!modifiers.is_empty()) {
 				bones_backup.resize(bones.size());
@@ -840,12 +839,16 @@ void Skeleton3D::clear_bones() {
 // Posing api
 
 void Skeleton3D::set_bone_pose(int p_bone, const Transform3D &p_pose) {
+	set_bone_pose_components(p_bone, p_pose.origin, p_pose.basis.get_rotation_quaternion(), p_pose.basis.get_scale());
+}
+
+void Skeleton3D::set_bone_pose_components(int p_bone, const Vector3 &p_position, const Quaternion &p_rotation, const Vector3 &p_scale) {
 	const int bone_size = bones.size();
 	ERR_FAIL_INDEX(p_bone, bone_size);
 
-	bones[p_bone].pose_position = p_pose.origin;
-	bones[p_bone].pose_rotation = p_pose.basis.get_rotation_quaternion();
-	bones[p_bone].pose_scale = p_pose.basis.get_scale();
+	bones[p_bone].pose_position = p_position;
+	bones[p_bone].pose_rotation = p_rotation;
+	bones[p_bone].pose_scale = p_scale;
 	bones[p_bone].pose_cache_dirty = true;
 	if (is_inside_tree()) {
 		_make_dirty();
@@ -1416,6 +1419,7 @@ void Skeleton3D::physical_bones_remove_collision_exception(RID p_exception) {
 #endif // _DISABLE_DEPRECATED
 
 Skeleton3D::Skeleton3D() {
+	_define_ancestry(AncestralClass::SKELETON_3D);
 }
 
 Skeleton3D::~Skeleton3D() {
diff --git a/scene/3d/skeleton_3d.h b/scene/3d/skeleton_3d.h
index 66ae8bd7c6fb..1ae318bc1e8e 100644
--- a/scene/3d/skeleton_3d.h
+++ b/scene/3d/skeleton_3d.h
@@ -76,6 +76,8 @@ class Skeleton3D : public Node3D {
 #endif // _DISABLE_DEPRECATED && PHYSICS_3D_DISABLED
 
 public:
+	static constexpr AncestralClass static_ancestral_class = AncestralClass::SKELETON_3D;
+
 	enum ModifierCallbackModeProcess {
 		MODIFIER_CALLBACK_MODE_PROCESS_PHYSICS,
 		MODIFIER_CALLBACK_MODE_PROCESS_IDLE,
@@ -160,6 +162,7 @@ class Skeleton3D : public Node3D {
 	HashSet<SkinReference *> skin_bindings;
 	void _skin_changed();
 
+	LocalVector<BonePoseBackup> bones_backup;
 	mutable LocalVector<Bone> bones;
 	mutable bool process_order_dirty = false;
 
@@ -267,6 +270,7 @@ class Skeleton3D : public Node3D {
 	Quaternion get_bone_pose_rotation(int p_bone) const;
 	Vector3 get_bone_pose_scale(int p_bone) const;
 	void set_bone_pose(int p_bone, const Transform3D &p_pose);
+	void set_bone_pose_components(int p_bone, const Vector3 &p_position, const Quaternion &p_rotation, const Vector3 &p_scale);
 	void set_bone_pose_position(int p_bone, const Vector3 &p_position);
 	void set_bone_pose_rotation(int p_bone, const Quaternion &p_rotation);
 	void set_bone_pose_scale(int p_bone, const Vector3 &p_scale);
diff --git a/scene/animation/animation_mixer.cpp b/scene/animation/animation_mixer.cpp
index 5890baa2ef07..6be6b499704a 100644
--- a/scene/animation/animation_mixer.cpp
+++ b/scene/animation/animation_mixer.cpp
@@ -1878,29 +1878,39 @@ void AnimationMixer::_blend_apply() {
 					if (!t_skeleton) {
 						return;
 					}
-					if (t->loc_used) {
-						t_skeleton->set_bone_pose_position(t->bone_idx, t->loc);
-					}
-					if (t->rot_used) {
-						t_skeleton->set_bone_pose_rotation(t->bone_idx, t->rot);
-					}
-					if (t->scale_used) {
-						t_skeleton->set_bone_pose_scale(t->bone_idx, t->scale);
-					}
 
+					if (t->loc_used && t->rot_used && t->scale_used) {
+						t_skeleton->set_bone_pose_components(t->bone_idx, t->loc, t->rot, t->scale);
+					} else {
+						if (t->loc_used) {
+							t_skeleton->set_bone_pose_position(t->bone_idx, t->loc);
+						}
+						if (t->rot_used) {
+							t_skeleton->set_bone_pose_rotation(t->bone_idx, t->rot);
+						}
+						if (t->scale_used) {
+							t_skeleton->set_bone_pose_scale(t->bone_idx, t->scale);
+						}
+					}
 				} else if (!t->skeleton_id.is_valid()) {
 					Node3D *t_node_3d = ObjectDB::get_instance<Node3D>(t->object_id);
 					if (!t_node_3d) {
 						return;
 					}
-					if (t->loc_used) {
-						t_node_3d->set_position(t->loc);
-					}
-					if (t->rot_used) {
-						t_node_3d->set_rotation(t->rot.get_euler());
-					}
-					if (t->scale_used) {
-						t_node_3d->set_scale(t->scale);
+
+					if (t->loc_used && t->rot_used && t->scale_used) {
+						Transform3D transform = Transform3D(Basis(t->rot).scaled(t->scale), t->loc);
+						t_node_3d->set_transform(transform);
+					} else {
+						if (t->loc_used) {
+							t_node_3d->set_position(t->loc);
+						}
+						if (t->rot_used) {
+							t_node_3d->set_rotation(t->rot.get_euler());
+						}
+						if (t->scale_used) {
+							t_node_3d->set_scale(t->scale);
+						}
 					}
 				}
 #endif // _3D_DISABLED