# Module nalgebra::geometry [−] [src]

[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. 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 `UnitQuaternion = Unit` for a quaternion that may be used as a rotation. 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 `Transform`. Its bottom-row is equal to `(0, 0 ... 0, 1)`. TGeneral Tag representing the most general (not necessarily inversible) `Transform` type. TProjective Tag representing the most general inversible `Transform` type.

## Traits

 SubTCategoryOf Indicates that `Self` is a more specific `Transform` category than `Other`. SuperTCategoryOf Indicates that `Self` is a more general `Transform` category than `Other`. TCategory Trait implemented by phantom types identifying the projective transformation type. TCategoryMul Traits that gives the `Transform` category that is compatible with the result of the multiplication of transformations with categories `Self` and `Other`.

## 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 isometry using a unit complex number for its rotational part. Isometry3 A 3-dimensional isometry using a unit quaternion for its rotational part. IsometryMatrix2 A 2-dimensional isometry using a rotation matrix for its rotational part. IsometryMatrix3 A 3-dimensional isometry using a rotation matrix for its rotational part. 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 inversible 2D general transformation. Stored as an homogeneous 3x3 matrix. Projective3 An inversible 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 inversible. Stored as an homogeneous 3x3 matrix. Transform3 A 3D general transformation that may not be inversible. Stored as an homogeneous 4x4 matrix. Translation2 A 2-dimensional translation. Translation3 A 3-dimensional translation. UnitComplex A complex number with a norm equal to 1. UnitQuaternion A unit quaternions. May be used to represent a rotation.