How do i make local velocity?,How do i make velocity move the player the way the object is facing?

Hi I'm trying to make a player movement script using rigidbodies.I'm also pretty new to this so sorry if I have some mistakes or weird things with my code.I've decided to use velocity to move my player and I've set it up as well as camera rotation based on the mouse axis. (This also rotates the player)

But I noticed that even though my player rotates the way that I want him he doesn't really move the way he is facing. So bottom line is I was wondering how do I make him move locally based on the direction he is facing?

Here is my code:

 // Sets the rigidbody for the player

 public Rigidbody rb;

 // Sets a modifiable player speed

 public float speed = 0.0f;

 // Makes a empty vector for movement for forward,back,left,and right

 public Vector3 movement;

 // Checks if player is grounded

 public bool isGrounded;

 // calls the camera

 public GameObject icu;

 // Mouse sensitivity

 public float sensitivity = 0f;

 // Start is called before the first frame update
 void Start()
 {
     
 }

 // Update is called once per frame
 void Update()
 {
     // sets the movement and direction based on the axis of the keys

     movement = new Vector3(Input.GetAxis("Horizontal"), 0f, Input.GetAxis("Vertical"));

     if (Input.GetAxis("Mouse X") < 0)
     {

         transform.Rotate(Vector3.up * -sensitivity * Time.deltaTime);

     }

     if (Input.GetAxis("Mouse X") > 0)
     {

         transform.Rotate(Vector3.up * sensitivity * Time.deltaTime);

     }

     if (Input.GetAxis("Mouse Y") < 0)
     {

         icu.transform.Rotate(Vector3.left * -sensitivity * Time.deltaTime);

     }

     if (Input.GetAxis("Mouse Y") > 0)
     {

         icu.transform.Rotate(Vector3.left * sensitivity * Time.deltaTime);

     }

 }

 // Used for physics updates
 void FixedUpdate()
 {

     // Calls the module for player movement and sends our movement variable to said module

     playerMovement(movement);


 }

 // Makes a separate module for player movement and takes our module and sets it to help move the player in that direction

 void playerMovement(Vector3 direction)
 {

     rb.velocity = direction * speed;
 }

I was also curious if perhaps there was a good way to add a jump to the way I'm doing this?

,Hi, I'm new to most of this stuff but I'm using a rigidbody for my player and I've got it set up where the camera and object move based on the mouse axis. I also have it set up to where my player moves with velocity but it looks like it only moves globally. How can I change this to work local to the player's direction?

Here is my code:

 // Sets the rigidbody for the player

 public Rigidbody rb;

 // Sets a modifiable player speed

 public float speed = 0.0f;

 // Makes a empty vector for movement for forward,back,left,and right

 public Vector3 movement;

 // Checks if player is grounded

 public bool isGrounded;

 // calls the camera

 public GameObject icu;

 // Mouse sensitivity

 public float sensitivity = 0f;

 // Start is called before the first frame update
 void Start()
 {
     
 }

 // Update is called once per frame
 void Update()
 {
     // sets the movement and direction based on the axis of the keys

     movement = new Vector3(Input.GetAxis("Horizontal"), 0f, Input.GetAxis("Vertical"));

     if (Input.GetAxis("Mouse X") < 0)
     {

         transform.Rotate(Vector3.up * -sensitivity * Time.deltaTime);

     }

     if (Input.GetAxis("Mouse X") > 0)
     {

         transform.Rotate(Vector3.up * sensitivity * Time.deltaTime);

     }

     if (Input.GetAxis("Mouse Y") < 0)
     {

         icu.transform.Rotate(Vector3.left * -sensitivity * Time.deltaTime);

     }

     if (Input.GetAxis("Mouse Y") > 0)
     {

         icu.transform.Rotate(Vector3.left * sensitivity * Time.deltaTime);

     }

 }

 // Used for physics updates
 void FixedUpdate()
 {

     // Calls the module for player movement and sends our movement variable to said module

     playerMovement(movement);


 }

 // Makes a seprate module for player movement and takes our module and sets it to help move the player in that direction

 void playerMovement(Vector3 direction)
 {

     rb.velocity = direction * speed;
 }