# [−][src]Module nalgebra::geometry

[Reexported at the root of this crate.] Data structures for points and usual transformations (rotations, isometries, etc.)

## Structs

Isometry | A direct isometry, i.e., a rotation followed by a translation, aka. a rigid-body motion, aka. an element of a Special Euclidean (SE) group. |

Orthographic3 | A 3D orthographic projection stored as an homogeneous 4x4 matrix. |

Perspective3 | A 3D perspective projection stored as an homogeneous 4x4 matrix. |

Point | A point in a n-dimensional euclidean space. |

Quaternion | A quaternion. See the type alias |

Reflection | A reflection wrt. a plane. |

Rotation | A rotation matrix. |

Similarity | A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation. |

Transform | A transformation matrix in homogeneous coordinates. |

Translation | A translation. |

## Enums

TAffine | Tag representing an affine |

TGeneral | Tag representing the most general (not necessarily inversible) |

TProjective | Tag representing the most general inversible |

## Traits

SubTCategoryOf | Indicates that |

SuperTCategoryOf | Indicates that |

TCategory | Trait implemented by phantom types identifying the projective transformation type. |

TCategoryMul | Traits that gives the |

## Type Definitions

Affine2 | A 2D affine transformation. Stored as an homogeneous 3x3 matrix. |

Affine3 | A 3D affine transformation. Stored as an homogeneous 4x4 matrix. |

Isometry2 | A 2-dimensional direct isometry using a unit complex number for its rotational part. Also known as a rigid-body motion, or as an element of SE(2). |

Isometry3 | A 3-dimensional direct isometry using a unit quaternion for its rotational part. Also known as a rigid-body motion, or as an element of SE(3). |

IsometryMatrix2 | A 2-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(2). |

IsometryMatrix3 | A 3-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(3). |

Point1 | A statically sized 1-dimensional column point. |

Point2 | A statically sized 2-dimensional column point. |

Point3 | A statically sized 3-dimensional column point. |

Point4 | A statically sized 4-dimensional column point. |

Point5 | A statically sized 5-dimensional column point. |

Point6 | A statically sized 6-dimensional column point. |

Projective2 | An invertible 2D general transformation. Stored as an homogeneous 3x3 matrix. |

Projective3 | An invertible 3D general transformation. Stored as an homogeneous 4x4 matrix. |

Rotation2 | A 2-dimensional rotation matrix. |

Rotation3 | A 3-dimensional rotation matrix. |

Similarity2 | A 2-dimensional similarity. |

Similarity3 | A 3-dimensional similarity. |

SimilarityMatrix2 | A 2-dimensional similarity using a rotation matrix for its rotation part. |

SimilarityMatrix3 | A 3-dimensional similarity using a rotation matrix for its rotation part. |

Transform2 | A 2D general transformation that may not be invertible. Stored as an homogeneous 3x3 matrix. |

Transform3 | A 3D general transformation that may not be inversible. Stored as an homogeneous 4x4 matrix. |

Translation1 | A 1-dimensional translation. |

Translation2 | A 2-dimensional translation. |

Translation3 | A 3-dimensional translation. |

Translation4 | A 4-dimensional translation. |

Translation5 | A 5-dimensional translation. |

Translation6 | A 6-dimensional translation. |

UnitComplex | A complex number with a norm equal to 1. |

UnitQuaternion | A unit quaternions. May be used to represent a rotation. |