# [−][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. |