diff --git a/README.md b/README.md
index 652144a..11125f9 100644
--- a/README.md
+++ b/README.md
@@ -10,13 +10,13 @@ The library provides:
 - square matrices: `Mat2`, `Mat3`, `Mat4`
 - a quaternion type: `Quat`
 - rotation matrices: `Rot2`, `Rot3`
-- rotations: `Euler`, `AxisAngle`
 - angle units: `Rad`, `Deg`
 - points: `Point2`, `Point3`
 - rays: `Ray2`, `Ray3`
-- plane: `Plane`
+- a plane: `Plane`
 - perspective projections: `Perspective`, `PerspectiveFov`, `Ortho`
 - a view frustum: `Frustrum`
+- spatial transformations: `AffineMatrix3`, `Transform3D`
 - axis-aligned bounding boxes: `Aabb2`, `Aabb3`
 - oriented bounding boxes: `Obb2`, `Obb3`
 - collision primitives: `Sphere`, `Cylinder`
diff --git a/src/cgmath/angle.rs b/src/cgmath/angle.rs
index 9e23bfe..6fee689 100644
--- a/src/cgmath/angle.rs
+++ b/src/cgmath/angle.rs
@@ -21,6 +21,8 @@ pub use std::num::{asinh, acosh, atanh};
 use std::fmt;
 use std::num::{Zero, zero, cast};
 
+use approx::ApproxEq;
+
 #[deriving(Clone, Eq, Ord, Zero)] pub struct Rad<S> { s: S }
 #[deriving(Clone, Eq, Ord, Zero)] pub struct Deg<S> { s: S }
 
@@ -126,7 +128,8 @@ pub trait Angle
 
 #[inline] pub fn bisect<S: Float, A: Angle<S>>(a: A, b: A) -> A { a.bisect(b) }
 
-impl<S: Float> Rad<S> {
+impl<S: Float + ApproxEq<S>>
+Rad<S> {
     #[inline] pub fn zero() -> Rad<S> { zero() }
     #[inline] pub fn full_turn() -> Rad<S> { Angle::full_turn() }
     #[inline] pub fn turn_div_2() -> Rad<S> { Angle::turn_div_2() }
@@ -135,7 +138,8 @@ impl<S: Float> Rad<S> {
     #[inline] pub fn turn_div_6() -> Rad<S> { Angle::turn_div_6() }
 }
 
-impl<S: Float> Deg<S> {
+impl<S: Float + ApproxEq<S>>
+Deg<S> {
     #[inline] pub fn zero() -> Deg<S> { zero() }
     #[inline] pub fn full_turn() -> Deg<S> { Angle::full_turn() }
     #[inline] pub fn turn_div_2() -> Deg<S> { Angle::turn_div_2() }
@@ -144,24 +148,28 @@ impl<S: Float> Deg<S> {
     #[inline] pub fn turn_div_6() -> Deg<S> { Angle::turn_div_6() }
 }
 
-impl<S: Float> Equiv<Rad<S>> for Rad<S> {
+impl<S: Float + ApproxEq<S>>
+Equiv<Rad<S>> for Rad<S> {
     fn equiv(&self, other: &Rad<S>) -> bool {
         self.normalize() == other.normalize()
     }
 }
 
-impl<S: Float> Equiv<Deg<S>> for Deg<S> {
+impl<S: Float + ApproxEq<S>>
+Equiv<Deg<S>> for Deg<S> {
     fn equiv(&self, other: &Deg<S>) -> bool {
         self.normalize() == other.normalize()
     }
 }
 
-impl<S: Float> Angle<S> for Rad<S> {
+impl<S: Float + ApproxEq<S>>
+Angle<S> for Rad<S> {
     #[inline] fn from<A: Angle<S>>(theta: A) -> Rad<S> { theta.to_rad() }
     #[inline] fn full_turn() -> Rad<S> { rad(Real::two_pi()) }
 }
 
-impl<S: Float> Angle<S> for Deg<S> {
+impl<S: Float + ApproxEq<S>>
+Angle<S> for Deg<S> {
     #[inline] fn from<A: Angle<S>>(theta: A) -> Deg<S> { theta.to_deg() }
     #[inline] fn full_turn() -> Deg<S> { deg(cast(360).unwrap()) }
 }
@@ -183,38 +191,18 @@ impl<S: Float> Angle<S> for Deg<S> {
 impl<S: Float + fmt::Default> ToStr for Rad<S> { fn to_str(&self) -> ~str { format!("{} rad", self.s) } }
 impl<S: Float + fmt::Default> ToStr for Deg<S> { fn to_str(&self) -> ~str { format!("{}°", self.s) } }
 
-impl<S: Float> ApproxEq<S> for Rad<S> {
+impl<S: Float + ApproxEq<S>>
+ApproxEq<S> for Rad<S> {
     #[inline]
-    fn approx_epsilon() -> S {
-        // TODO: fix this after static methods are fixed in rustc
-        fail!(~"Doesn't work!");
-    }
-
-    #[inline]
-    fn approx_eq(&self, other: &Rad<S>) -> bool {
-        self.s.approx_eq(&other.s)
-    }
-
-    #[inline]
-    fn approx_eq_eps(&self, other: &Rad<S>, approx_epsilon: &S) -> bool {
-        self.s.approx_eq_eps(&other.s, approx_epsilon)
+    fn approx_eq_eps(&self, other: &Rad<S>, epsilon: &S) -> bool {
+        self.s.approx_eq_eps(&other.s, epsilon)
     }
 }
 
-impl<S: Float> ApproxEq<S> for Deg<S> {
+impl<S: Float + ApproxEq<S>>
+ApproxEq<S> for Deg<S> {
     #[inline]
-    fn approx_epsilon() -> S {
-        // TODO: fix this after static methods are fixed in rustc
-        fail!(~"Doesn't work!");
-    }
-
-    #[inline]
-    fn approx_eq(&self, other: &Deg<S>) -> bool {
-        self.s.approx_eq(&other.s)
-    }
-
-    #[inline]
-    fn approx_eq_eps(&self, other: &Deg<S>, approx_epsilon: &S) -> bool {
-        self.s.approx_eq_eps(&other.s, approx_epsilon)
+    fn approx_eq_eps(&self, other: &Deg<S>, epsilon: &S) -> bool {
+        self.s.approx_eq_eps(&other.s, epsilon)
     }
 }
diff --git a/src/cgmath/approx.rs b/src/cgmath/approx.rs
new file mode 100644
index 0000000..fa62e4f
--- /dev/null
+++ b/src/cgmath/approx.rs
@@ -0,0 +1,77 @@
+// Copyright 2013 The CGMath Developers. For a full listing of the authors,
+// refer to the AUTHORS file at the top-level directory of this distribution.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+use std::num;
+
+use array::Array;
+use matrix::{Mat2, Mat3, Mat4};
+use point::{Point2, Point3};
+use quaternion::Quat;
+use vector::{Vec2, Vec3, Vec4};
+
+pub trait ApproxEq<T: Float> {
+    fn approx_epsilon(_hack: Option<Self>) -> T {
+        num::cast(1.0e-5).unwrap()
+    }
+
+    fn approx_eq(&self, other: &Self) -> bool {
+        let eps: T = ApproxEq::approx_epsilon(None::<Self>);
+        self.approx_eq_eps(other, &eps)
+    }
+
+    fn approx_eq_eps(&self, other: &Self, epsilon: &T) -> bool;
+}
+
+
+macro_rules! approx_simple(
+    ($S:ident) => (
+        impl ApproxEq<$S> for $S {
+             #[inline]
+            fn approx_eq_eps(&self, other: &$S, epsilon: &$S) -> bool {
+                 num::abs(*self - *other) < *epsilon
+            }
+        }
+    )
+)
+
+approx_simple!(f32)
+approx_simple!(f64)
+
+
+macro_rules! approx_array(
+    (impl<$S:ident> $Self:ty) => (
+        impl<$S: Float + Clone + ApproxEq<$S>> ApproxEq<$S> for $Self {
+            #[inline]
+            fn approx_eq_eps(&self, other: &$Self, epsilon: &$S) -> bool {
+                self.iter().zip(other.iter())
+                           .all(|(a, b)| a.approx_eq_eps(b, epsilon))
+            }
+        }
+    )
+)
+
+approx_array!(impl<S> Mat2<S>)
+approx_array!(impl<S> Mat3<S>)
+approx_array!(impl<S> Mat4<S>)
+
+approx_array!(impl<S> Quat<S>)
+
+approx_array!(impl<S> Vec2<S>)
+approx_array!(impl<S> Vec3<S>)
+approx_array!(impl<S> Vec4<S>)
+
+approx_array!(impl<S> Point2<S>)
+approx_array!(impl<S> Point3<S>)
+
diff --git a/src/cgmath/array.rs b/src/cgmath/array.rs
index 0bae131..4460240 100644
--- a/src/cgmath/array.rs
+++ b/src/cgmath/array.rs
@@ -123,26 +123,3 @@ macro_rules! gen_each_mut(
     (_4) => ({ f(0, self.mut_i(0)); f(1, self.mut_i(1)); f(2, self.mut_i(2)); f(3, self.mut_i(3)); });
 )
 
-macro_rules! approx_eq(
-    (impl<$S:ident> $Self:ty) => (
-        impl<$S: Clone + ApproxEq<$S>> ApproxEq<$S> for $Self {
-            #[inline]
-            fn approx_epsilon() -> $S {
-                // TODO: fix this after static methods are fixed in rustc
-                fail!(~"Doesn't work!");
-            }
-
-            #[inline]
-            fn approx_eq(&self, other: &$Self) -> bool {
-                self.iter().zip(other.iter())
-                           .all(|(a, b)| a.approx_eq(b))
-            }
-
-            #[inline]
-            fn approx_eq_eps(&self, other: &$Self, approx_epsilon: &$S) -> bool {
-                self.iter().zip(other.iter())
-                           .all(|(a, b)| a.approx_eq_eps(b, approx_epsilon))
-            }
-        }
-    )
-)
diff --git a/src/cgmath/frustum.rs b/src/cgmath/frustum.rs
index 4593f56..6de6a99 100644
--- a/src/cgmath/frustum.rs
+++ b/src/cgmath/frustum.rs
@@ -15,6 +15,7 @@
 
 //! View frustum for visibility determination
 
+use approx::ApproxEq;
 use matrix::{Matrix, Mat4};
 use plane::Plane;
 use point::Point3;
@@ -30,7 +31,8 @@ pub struct Frustum<S> {
     far:    Plane<S>,
 }
 
-impl<S: Float> Frustum<S> {
+impl<S: Float + ApproxEq<S>>
+Frustum<S> {
     /// Constructs a frustum
     pub fn new(left:   Plane<S>, right:  Plane<S>,
                bottom: Plane<S>, top:    Plane<S>,
diff --git a/src/cgmath/lib.rs b/src/cgmath/lib.rs
index 500e83e..726a805 100644
--- a/src/cgmath/lib.rs
+++ b/src/cgmath/lib.rs
@@ -13,10 +13,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#[pkgid="cgmath#0.1"];
+#[crate_id="cgmath#0.1"];
+#[crate_type = "lib"];
 #[comment = "A mathematics library for computer graphics."];
 #[license = "ASL2"];
-#[crate_type = "lib"];
 
 #[feature(globs)];
 #[feature(macro_rules)];
@@ -42,4 +42,5 @@ pub mod intersect;
 pub mod obb;
 pub mod sphere;
 
+pub mod approx;
 pub mod ptr;
diff --git a/src/cgmath/matrix.rs b/src/cgmath/matrix.rs
index fd2be4f..421a561 100644
--- a/src/cgmath/matrix.rs
+++ b/src/cgmath/matrix.rs
@@ -18,6 +18,7 @@
 use std::num::{Zero, zero, One, one, cast, sqrt};
 
 use angle::{Rad, sin, cos, sin_cos};
+use approx::ApproxEq;
 use array::{Array, build};
 use point::{Point, Point3};
 use quaternion::{Quat, ToQuat};
@@ -36,9 +37,6 @@ pub struct Mat3<S> { x: Vec3<S>, y: Vec3<S>, z: Vec3<S> }
 #[deriving(Clone, Eq, Zero)]
 pub struct Mat4<S> { x: Vec4<S>, y: Vec4<S>, z: Vec4<S>, w: Vec4<S> }
 
-approx_eq!(impl<S> Mat2<S>)
-approx_eq!(impl<S> Mat3<S>)
-approx_eq!(impl<S> Mat4<S>)
 
 impl<S: Primitive> Mat2<S> {
     #[inline]
@@ -114,7 +112,8 @@ impl<S: Primitive> Mat3<S> {
     }
 }
 
-impl<S: Float> Mat3<S> {
+impl<S: Float + ApproxEq<S>>
+Mat3<S> {
     pub fn look_at(dir: &Vec3<S>, up: &Vec3<S>) -> Mat3<S> {
         let dir  = dir.normalize();
         let side = dir.cross(&up.normalize());
@@ -223,7 +222,8 @@ impl<S: Primitive> Mat4<S> {
     }
 }
 
-impl<S: Float> Mat4<S> {
+impl<S: Float + ApproxEq<S>>
+Mat4<S> {
     pub fn look_at(eye: &Point3<S>, center: &Point3<S>, up: &Vec3<S>) -> Mat4<S> {
         let f = center.sub_p(eye).normalize();
         let s = f.cross(up).normalize();
@@ -246,7 +246,7 @@ array!(impl<S> Mat4<S> -> [Vec4<S>, ..4] _4)
 
 pub trait Matrix
 <
-    S: Float, Slice,
+    S: Float + ApproxEq<S>, Slice,
     V: Clone + Vector<S, VSlice> + Array<S, VSlice>, VSlice
 >
 :   Array<V, Slice>
@@ -362,7 +362,7 @@ impl<S: Float> Neg<Mat2<S>> for Mat2<S> { #[inline] fn neg(&self) -> Mat2<S> { b
 impl<S: Float> Neg<Mat3<S>> for Mat3<S> { #[inline] fn neg(&self) -> Mat3<S> { build(|i| self.i(i).neg()) } }
 impl<S: Float> Neg<Mat4<S>> for Mat4<S> { #[inline] fn neg(&self) -> Mat4<S> { build(|i| self.i(i).neg()) } }
 
-impl<S: Float>
+impl<S: Float + ApproxEq<S>>
 Matrix<S, [Vec2<S>, ..2], Vec2<S>, [S, ..2]>
 for Mat2<S>
 {
@@ -411,7 +411,7 @@ for Mat2<S>
     }
 }
 
-impl<S: Float>
+impl<S: Float + ApproxEq<S>>
 Matrix<S, [Vec3<S>, ..3], Vec3<S>, [S, ..3]>
 for Mat3<S>
 {
@@ -484,7 +484,7 @@ macro_rules! dot_mat4(
         (*$A.cr(3, $I)) * (*$B.cr($J, 3))
 ))
 
-impl<S: Float>
+impl<S: Float + ApproxEq<S>>
 Matrix<S, [Vec4<S>, ..4], Vec4<S>, [S, ..4]>
 for Mat4<S>
 {
@@ -617,7 +617,8 @@ pub trait ToMat2<S: Primitive> { fn to_mat2(&self) -> Mat2<S>; }
 pub trait ToMat3<S: Primitive> { fn to_mat3(&self) -> Mat3<S>; }
 pub trait ToMat4<S: Primitive> { fn to_mat4(&self) -> Mat4<S>; }
 
-impl<S: Float> ToMat3<S> for Mat2<S> {
+impl<S: Float + ApproxEq<S>>
+ToMat3<S> for Mat2<S> {
     /// Clone the elements of a 2-dimensional matrix into the top corner of a
     /// 3-dimensional identity matrix.
     fn to_mat3(&self) -> Mat3<S> {
@@ -627,7 +628,8 @@ impl<S: Float> ToMat3<S> for Mat2<S> {
     }
 }
 
-impl<S: Float> ToMat4<S> for Mat2<S> {
+impl<S: Float + ApproxEq<S>>
+ToMat4<S> for Mat2<S> {
     /// Clone the elements of a 2-dimensional matrix into the top corner of a
     /// 4-dimensional identity matrix.
     fn to_mat4(&self) -> Mat4<S> {
@@ -638,7 +640,8 @@ impl<S: Float> ToMat4<S> for Mat2<S> {
     }
 }
 
-impl<S: Float> ToMat4<S> for Mat3<S> {
+impl<S: Float + ApproxEq<S>>
+ToMat4<S> for Mat3<S> {
     /// Clone the elements of a 3-dimensional matrix into the top corner of a
     /// 4-dimensional identity matrix.
     fn to_mat4(&self) -> Mat4<S> {
@@ -649,7 +652,8 @@ impl<S: Float> ToMat4<S> for Mat3<S> {
     }
 }
 
-impl<S:Float> ToQuat<S> for Mat3<S> {
+impl<S: Float + ApproxEq<S>>
+ToQuat<S> for Mat3<S> {
     /// Convert the matrix to a quaternion
     fn to_quat(&self) -> Quat<S> {
         // http://www.cs.ucr.edu/~vbz/resources/Quatut.pdf
diff --git a/src/cgmath/plane.rs b/src/cgmath/plane.rs
index 25d31c5..5b3f392 100644
--- a/src/cgmath/plane.rs
+++ b/src/cgmath/plane.rs
@@ -17,6 +17,7 @@ use std::cast::transmute;
 use std::fmt;
 use std::num::Zero;
 
+use approx::ApproxEq;
 use intersect::Intersect;
 use point::{Point, Point3};
 use ray::Ray3;
@@ -45,7 +46,8 @@ pub struct Plane<S> {
     d: S,
 }
 
-impl<S: Float> Plane<S> {
+impl<S: Float + ApproxEq<S>>
+Plane<S> {
     /// Construct a plane from a normal vector and a scalar distance
     pub fn new(n: Vec3<S>, d: S) -> Plane<S> {
         Plane { n: n, d: d }
@@ -110,23 +112,12 @@ impl<S: Float> Intersect<Option<Point3<S>>> for (Plane<S>, Plane<S>, Plane<S>) {
     }
 }
 
-impl<S: Float> ApproxEq<S> for Plane<S> {
+impl<S: Float + ApproxEq<S>>
+ApproxEq<S> for Plane<S> {
     #[inline]
-    fn approx_epsilon() -> S {
-        // TODO: fix this after static methods are fixed in rustc
-        fail!(~"Doesn't work!");
-    }
-
-    #[inline]
-    fn approx_eq(&self, other: &Plane<S>) -> bool {
-        self.n.approx_eq(&other.n) &&
-        self.d.approx_eq(&other.d)
-    }
-
-    #[inline]
-    fn approx_eq_eps(&self, other: &Plane<S>, approx_epsilon: &S) -> bool {
-        self.n.approx_eq_eps(&other.n, approx_epsilon) &&
-        self.d.approx_eq_eps(&other.d, approx_epsilon)
+    fn approx_eq_eps(&self, other: &Plane<S>, epsilon: &S) -> bool {
+        self.n.approx_eq_eps(&other.n, epsilon) &&
+        self.d.approx_eq_eps(&other.d, epsilon)
     }
 }
 
diff --git a/src/cgmath/point.rs b/src/cgmath/point.rs
index 65b2adf..7f481d3 100644
--- a/src/cgmath/point.rs
+++ b/src/cgmath/point.rs
@@ -31,8 +31,6 @@ pub struct Point2<S> { x: S, y: S }
 #[deriving(Eq, Zero, Clone)]
 pub struct Point3<S> { x: S, y: S, z: S }
 
-approx_eq!(impl<S> Point2<S>)
-approx_eq!(impl<S> Point3<S>)
 
 impl<S: Num> Point2<S> {
     #[inline]
diff --git a/src/cgmath/projection.rs b/src/cgmath/projection.rs
index 3eb305f..3a541cc 100644
--- a/src/cgmath/projection.rs
+++ b/src/cgmath/projection.rs
@@ -16,6 +16,7 @@
 use std::num::{zero, one, cast};
 
 use angle::{Angle, tan, cot};
+use approx::ApproxEq;
 use frustum::Frustum;
 use matrix::{Mat4, ToMat4};
 use plane::Plane;
@@ -93,7 +94,8 @@ impl<S: Float, A: Angle<S>> PerspectiveFov<S, A> {
     }
 }
 
-impl<S: Float, A: Angle<S>> Projection<S> for PerspectiveFov<S, A> {
+impl<S: Float + ApproxEq<S>, A: Angle<S>>
+Projection<S> for PerspectiveFov<S, A> {
     fn to_frustum(&self) -> Frustum<S> {
         // TODO: Could this be faster?
         Frustum::from_mat4(self.to_mat4())
@@ -149,7 +151,8 @@ pub struct Perspective<S> {
     near:   S,  far:    S,
 }
 
-impl<S: Float> Projection<S> for Perspective<S> {
+impl<S: Float + ApproxEq<S>>
+Projection<S> for Perspective<S> {
     fn to_frustum(&self) -> Frustum<S> {
         // TODO: Could this be faster?
         Frustum::from_mat4(self.to_mat4())
@@ -199,7 +202,8 @@ pub struct Ortho<S> {
     near:   S,  far:    S,
 }
 
-impl<S: Float> Projection<S> for Ortho<S> {
+impl<S: Float + ApproxEq<S>>
+Projection<S> for Ortho<S> {
     fn to_frustum(&self) -> Frustum<S> {
         Frustum {
             left:   Plane::from_abcd( one::<S>(), zero::<S>(), zero::<S>(), self.left.clone()),
diff --git a/src/cgmath/quaternion.rs b/src/cgmath/quaternion.rs
index 0e94329..8be7640 100644
--- a/src/cgmath/quaternion.rs
+++ b/src/cgmath/quaternion.rs
@@ -17,6 +17,7 @@ use std::fmt;
 use std::num::{zero, one, cast, sqrt};
 
 use angle::{Angle, Rad, acos, cos, sin, sin_cos};
+use approx::ApproxEq;
 use array::{Array, build};
 use matrix::{Mat3, ToMat3};
 use vector::{Vec3, Vector, EuclideanVector};
@@ -26,13 +27,13 @@ use vector::{Vec3, Vector, EuclideanVector};
 pub struct Quat<S> { s: S, v: Vec3<S> }
 
 array!(impl<S> Quat<S> -> [S, ..4] _4)
-approx_eq!(impl<S> Quat<S>)
 
 pub trait ToQuat<S: Float> {
     fn to_quat(&self) -> Quat<S>;
 }
 
-impl<S: Float> Quat<S> {
+impl<S: Float + ApproxEq<S>>
+Quat<S> {
     /// Construct a new quaternion from one scalar component and three
     /// imaginary components
     #[inline]
@@ -220,7 +221,8 @@ impl<S: Float> Quat<S> {
     }
 }
 
-impl<S: Float> Quat<S> {
+impl<S: Float + ApproxEq<S>>
+Quat<S> {
     /// Spherical Linear Intoperlation
     ///
     /// Perform a spherical linear interpolation between the quaternion and
@@ -265,7 +267,8 @@ impl<S: Float> Quat<S> {
     }
 }
 
-impl<S: Float> ToMat3<S> for Quat<S> {
+impl<S: Float + ApproxEq<S>>
+ToMat3<S> for Quat<S> {
     /// Convert the quaternion to a 3 x 3 rotation matrix
     fn to_mat3(&self) -> Mat3<S> {
         let x2 = self.v.x + self.v.x;
@@ -290,7 +293,8 @@ impl<S: Float> ToMat3<S> for Quat<S> {
     }
 }
 
-impl<S: Float> Neg<Quat<S>> for Quat<S> {
+impl<S: Float + ApproxEq<S>>
+Neg<Quat<S>> for Quat<S> {
     #[inline]
     fn neg(&self) -> Quat<S> {
         Quat::from_sv(-self.s, -self.v)
diff --git a/src/cgmath/rotation.rs b/src/cgmath/rotation.rs
index 7baed0c..9ad86d3 100644
--- a/src/cgmath/rotation.rs
+++ b/src/cgmath/rotation.rs
@@ -14,6 +14,7 @@
 // limitations under the License.
 
 use angle::Rad;
+use approx::ApproxEq;
 use array::Array;
 use matrix::Matrix;
 use matrix::{Mat2, ToMat2};
@@ -115,7 +116,8 @@ impl<S: Float> ToMat2<S> for Basis2<S> {
     fn to_mat2(&self) -> Mat2<S> { self.mat.clone() }
 }
 
-impl<S: Float> Rotation<S, [S, ..2], Vec2<S>, Point2<S>> for Basis2<S> {
+impl<S: Float + ApproxEq<S>>
+Rotation<S, [S, ..2], Vec2<S>, Point2<S>> for Basis2<S> {
     #[inline]
     fn identity() -> Basis2<S> { Basis2{ mat: Mat2::identity() } }
     
@@ -139,25 +141,16 @@ impl<S: Float> Rotation<S, [S, ..2], Vec2<S>, Point2<S>> for Basis2<S> {
     fn invert_self(&mut self) { self.mat.invert_self(); }
 }
 
-impl<S: Float> ApproxEq<S> for Basis2<S> {
+impl<S: Float + ApproxEq<S>>
+ApproxEq<S> for Basis2<S> {
     #[inline]
-    fn approx_epsilon() -> S {
-        // TODO: fix this after static methods are fixed in rustc
-        fail!(~"Doesn't work!");
-    }
-
-    #[inline]
-    fn approx_eq(&self, other: &Basis2<S>) -> bool {
-        self.mat.approx_eq(&other.mat)
-    }
-
-    #[inline]
-    fn approx_eq_eps(&self, other: &Basis2<S>, approx_epsilon: &S) -> bool {
-        self.mat.approx_eq_eps(&other.mat, approx_epsilon)
+    fn approx_eq_eps(&self, other: &Basis2<S>, epsilon: &S) -> bool {
+        self.mat.approx_eq_eps(&other.mat, epsilon)
     }
 }
 
-impl<S: Float> Rotation2<S> for Basis2<S> {}
+impl<S: Float + ApproxEq<S>>
+Rotation2<S> for Basis2<S> {}
 
 /// A three-dimensional rotation matrix.
 ///
@@ -170,7 +163,8 @@ pub struct Basis3<S> {
     priv mat: Mat3<S>
 }
 
-impl<S: Float> Basis3<S> {
+impl<S: Float + ApproxEq<S>>
+Basis3<S> {
     #[inline]
     pub fn look_at(dir: &Vec3<S>, up: &Vec3<S>) -> Basis3<S> {
         Basis3 { mat: Mat3::look_at(dir, up) }
@@ -225,12 +219,14 @@ impl<S: Float> ToMat3<S> for Basis3<S> {
     fn to_mat3(&self) -> Mat3<S> { self.mat.clone() }
 }
 
-impl<S: Float> ToQuat<S> for Basis3<S> {
+impl<S: Float + ApproxEq<S>>
+ToQuat<S> for Basis3<S> {
     #[inline]
     fn to_quat(&self) -> Quat<S> { self.mat.to_quat() }
 }
 
-impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Basis3<S> {
+impl<S: Float + ApproxEq<S>>
+Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Basis3<S> {
     #[inline]
     fn identity() -> Basis3<S> { Basis3{ mat: Mat3::identity() } }
     
@@ -254,29 +250,21 @@ impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Basis3<S> {
     fn invert_self(&mut self) { self.mat.invert_self(); }
 }
 
-impl<S: Float> ApproxEq<S> for Basis3<S> {
+impl<S: Float + ApproxEq<S>>
+ApproxEq<S> for Basis3<S> {
     #[inline]
-    fn approx_epsilon() -> S {
-        // TODO: fix this after static methods are fixed in rustc
-        fail!(~"Doesn't work!");
-    }
-
-    #[inline]
-    fn approx_eq(&self, other: &Basis3<S>) -> bool {
-        self.mat.approx_eq(&other.mat)
-    }
-
-    #[inline]
-    fn approx_eq_eps(&self, other: &Basis3<S>, approx_epsilon: &S) -> bool {
-        self.mat.approx_eq_eps(&other.mat, approx_epsilon)
+    fn approx_eq_eps(&self, other: &Basis3<S>, epsilon: &S) -> bool {
+        self.mat.approx_eq_eps(&other.mat, epsilon)
     }
 }
 
-impl<S: Float> Rotation3<S> for Basis3<S> {}
+impl<S: Float + ApproxEq<S>>
+Rotation3<S> for Basis3<S> {}
 
 // Quaternion Rotation impls
 
-impl<S: Float> ToBasis3<S> for Quat<S> {
+impl<S: Float + ApproxEq<S>>
+ToBasis3<S> for Quat<S> {
     #[inline]
     fn to_rot3(&self) -> Basis3<S> { Basis3 { mat: self.to_mat3() } }
 }
@@ -286,7 +274,8 @@ impl<S: Float> ToQuat<S> for Quat<S> {
     fn to_quat(&self) -> Quat<S> { self.clone() }
 }
 
-impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Quat<S> {
+impl<S: Float + ApproxEq<S>>
+Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Quat<S> {
     #[inline]
     fn identity() -> Quat<S> { Quat::identity() }  
     
@@ -306,4 +295,5 @@ impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Quat<S> {
     fn invert_self(&mut self) { *self = self.invert() }
 }
 
-impl<S: Float> Rotation3<S> for Quat<S> {}
+impl<S: Float + ApproxEq<S>>
+Rotation3<S> for Quat<S> {}
diff --git a/src/cgmath/transform.rs b/src/cgmath/transform.rs
index 8e6fcef..eacfaf0 100644
--- a/src/cgmath/transform.rs
+++ b/src/cgmath/transform.rs
@@ -15,6 +15,7 @@
 
 use std::{fmt,num};
 
+use approx::ApproxEq;
 use matrix::{Matrix, Mat4, ToMat4};
 use point::{Point, Point3};
 use ray::Ray;
@@ -73,7 +74,7 @@ pub struct Decomposed<S,V,R> {
 
 impl
 <
-    S: Float,
+    S: Float + ApproxEq<S>,
     Slice,
     V: Vector<S, Slice>,
     P: Point<S, V, Slice>,
@@ -129,7 +130,7 @@ pub trait Transform3<S>
 + ToMat4<S>
 {}
 
-impl<S: Float + Clone, R: Rotation3<S>>
+impl<S: Float + Clone + ApproxEq<S>, R: Rotation3<S>>
 ToMat4<S> for Decomposed<S, Vec3<S>, R> {
     fn to_mat4(&self) -> Mat4<S> {
         let mut m = self.rot.to_mat3().mul_s( self.scale.clone() ).to_mat4();
@@ -138,7 +139,7 @@ ToMat4<S> for Decomposed<S, Vec3<S>, R> {
     }
 }
 
-impl<S: Float, R: Rotation3<S>>
+impl<S: Float + ApproxEq<S>, R: Rotation3<S>>
 Transform3<S> for Decomposed<S,Vec3<S>,R> {}
 
 impl<S: fmt::Default + Float, R: ToStr + Rotation3<S>>
@@ -155,7 +156,7 @@ pub struct AffineMatrix3<S> {
     mat: Mat4<S>,
 }
 
-impl<S : Clone + Float>
+impl<S : Clone + Float + ApproxEq<S>>
 Transform<S, [S, ..3], Vec3<S>, Point3<S>> for AffineMatrix3<S> {
     #[inline]
     fn identity() -> AffineMatrix3<S> {
@@ -188,7 +189,7 @@ ToMat4<S> for AffineMatrix3<S> {
     #[inline] fn to_mat4(&self) -> Mat4<S> { self.mat.clone() }
 }
 
-impl<S: Float>
+impl<S: Float + ApproxEq<S>>
 Transform3<S> for AffineMatrix3<S> {}
 
 
@@ -201,4 +202,9 @@ impl<S: Float> Transform3D<S> {
     pub fn new(scale: S, rot: Quat<S>, disp: Vec3<S>) -> Transform3D<S> {
        Transform3D( Decomposed { scale: scale, rot: rot, disp: disp })
     }
+    #[inline]
+    pub fn get<'a>(&'a self) -> &'a Decomposed<S,Vec3<S>,Quat<S>> {
+        let &Transform3D(ref d) = self;
+        d
+    }
 }
diff --git a/src/cgmath/vector.rs b/src/cgmath/vector.rs
index 13aeeda..0860d0d 100644
--- a/src/cgmath/vector.rs
+++ b/src/cgmath/vector.rs
@@ -17,6 +17,7 @@ use std::fmt;
 use std::num::{Zero, zero, One, one, sqrt};
 
 use angle::{Rad, atan2, acos};
+use approx::ApproxEq;
 use array::{Array, build};
 
 /// A 2-dimensional vector.
@@ -112,10 +113,6 @@ array!(impl<S> Vec2<S> -> [S, ..2] _2)
 array!(impl<S> Vec3<S> -> [S, ..3] _3)
 array!(impl<S> Vec4<S> -> [S, ..4] _4)
 
-approx_eq!(impl<S> Vec2<S>)
-approx_eq!(impl<S> Vec3<S>)
-approx_eq!(impl<S> Vec4<S>)
-
 /// A trait that specifies a range of numeric operations for vectors. Not all
 /// of these make sense from a linear algebra point of view, but are included
 /// for pragmatic reasons.
@@ -215,7 +212,7 @@ impl<S: Primitive> Vec3<S> {
 /// 2-dimensional and 3-dimensional vectors.
 pub trait EuclideanVector
 <
-    S: Float,
+    S: Float + ApproxEq<S>,
     Slice
 >
 :   Vector<S, Slice>
@@ -286,21 +283,24 @@ pub trait EuclideanVector
     }
 }
 
-impl<S: Float> EuclideanVector<S, [S, ..2]> for Vec2<S> {
+impl<S: Float + ApproxEq<S>>
+EuclideanVector<S, [S, ..2]> for Vec2<S> {
     #[inline]
     fn angle(&self, other: &Vec2<S>) -> Rad<S> {
         atan2(self.perp_dot(other), self.dot(other))
     }
 }
 
-impl<S: Float> EuclideanVector<S, [S, ..3]> for Vec3<S> {
+impl<S: Float + ApproxEq<S>>
+EuclideanVector<S, [S, ..3]> for Vec3<S> {
     #[inline]
     fn angle(&self, other: &Vec3<S>) -> Rad<S> {
         atan2(self.cross(other).length(), self.dot(other))
     }
 }
 
-impl<S: Float> EuclideanVector<S, [S, ..4]> for Vec4<S> {
+impl<S: Float + ApproxEq<S>>
+EuclideanVector<S, [S, ..4]> for Vec4<S> {
     #[inline]
     fn angle(&self, other: &Vec4<S>) -> Rad<S> {
         acos(self.dot(other) / (self.length() * other.length()))
diff --git a/src/tests/angle.rs b/src/tests/angle.rs
index 19f7f60..f50e012 100644
--- a/src/tests/angle.rs
+++ b/src/tests/angle.rs
@@ -14,14 +14,15 @@
 // limitations under the License.
 
 use cgmath::angle::*;
+use cgmath::approx::ApproxEq;
 
 #[test]
 fn conv() {
-    assert_approx_eq!(deg(-5.0).to_rad().to_deg(), deg(-5.0));
-    assert_approx_eq!(deg(30.0).to_rad().to_deg(), deg(30.0));
+    assert!(deg(-5.0).to_rad().to_deg().approx_eq( &deg(-5.0) ));
+    assert!(deg(30.0).to_rad().to_deg().approx_eq( &deg(30.0) ));
 
-    assert_approx_eq!(rad(-5.0).to_deg().to_rad(), rad(-5.0));
-    assert_approx_eq!(rad(30.0).to_deg().to_rad(), rad(30.0));
+    assert!(rad(-5.0).to_deg().to_rad().approx_eq( &rad(-5.0) ));
+    assert!(rad(30.0).to_deg().to_rad().approx_eq( &rad(30.0) ));
 }
 
 #[test]
diff --git a/src/tests/matrix.rs b/src/tests/matrix.rs
index 82cfc71..8ba26cb 100644
--- a/src/tests/matrix.rs
+++ b/src/tests/matrix.rs
@@ -15,6 +15,7 @@
 
 use cgmath::matrix::*;
 use cgmath::vector::*;
+use cgmath::approx::ApproxEq;
 type float = f64;
 
 pub mod mat2 {
@@ -287,11 +288,11 @@ fn test_invert() {
     // Mat4
     assert!(Mat4::<f64>::identity().invert().unwrap().is_identity());
 
-    assert_approx_eq!(mat4::C.invert().unwrap(),
-                      Mat4::new( 5.0, -4.0,  1.0,  0.0,
-                                -4.0,  8.0, -4.0,  0.0,
-                                 4.0, -8.0,  4.0,  8.0,
-                                -3.0,  4.0,  1.0, -8.0).mul_s(0.125));
+    assert!(mat4::C.invert().unwrap().approx_eq(&
+            Mat4::new( 5.0, -4.0,  1.0,  0.0,
+                      -4.0,  8.0, -4.0,  0.0,
+                       4.0, -8.0,  4.0,  8.0,
+                      -3.0,  4.0,  1.0, -8.0).mul_s(0.125)));
     let mut mut_c = mat4::C;
     mut_c.invert_self();
     assert_eq!(mut_c, mat4::C.invert().unwrap());
diff --git a/src/tests/point.rs b/src/tests/point.rs
index b61954e..4b5f206 100644
--- a/src/tests/point.rs
+++ b/src/tests/point.rs
@@ -14,9 +14,10 @@
 // limitations under the License.
 
 use cgmath::point::*;
+use cgmath::approx::ApproxEq;
 
 #[test]
 fn test_homogeneous() {
 	let p = Point3::new(1.0, 2.0, 3.0);
-    assert_approx_eq!(p, Point3::from_homogeneous( &p.to_homogeneous() ));
+    assert!(p.approx_eq( &Point3::from_homogeneous( &p.to_homogeneous() ) ));
 }
diff --git a/src/tests/sphere.rs b/src/tests/sphere.rs
index 2b76be2..a5a203e 100644
--- a/src/tests/sphere.rs
+++ b/src/tests/sphere.rs
@@ -2,6 +2,7 @@ use cgmath::sphere::*;
 use cgmath::point::*;
 use cgmath::vector::*;
 use cgmath::ray::*;
+use cgmath::approx::ApproxEq;
 use cgmath::intersect::Intersect;
 use std::num;
 
@@ -13,7 +14,7 @@ fn test_intersection() {
     let r2 = Ray::new(Point3::new(1f64, 0f64, 5f64), Vec3::new(0f64, 0f64, -5f64).normalize());
     let r3 = Ray::new(Point3::new(2f64, 0f64, 5f64), Vec3::new(0f64, 0f64, -5f64).normalize());
     assert_eq!((sphere,r0).intersection(), Some(Point3::new(0f64, 0f64, 1f64)));
-    assert_approx_eq!((sphere,r1).intersection().unwrap(), Point3::new(num::cos(1f64), 0f64, num::sin(1f64)));
+    assert!((sphere,r1).intersection().unwrap().approx_eq( &Point3::new(num::cos(1f64), 0f64, num::sin(1f64)) ));
     assert_eq!((sphere,r2).intersection(), Some(Point3::new(1f64, 0f64, 0f64)));
     assert_eq!((sphere,r3).intersection(), None);
 }
diff --git a/src/tests/transform.rs b/src/tests/transform.rs
index be81359..1ca465c 100644
--- a/src/tests/transform.rs
+++ b/src/tests/transform.rs
@@ -16,12 +16,13 @@
 use cgmath::quaternion::*;
 use cgmath::transform::*;
 use cgmath::vector::*;
+use cgmath::approx::ApproxEq;
 
 #[test]
 fn test_invert() {
 	let v = Vec3::new(1.0, 2.0, 3.0);
-	let t = Transform3D::new( 1.5, Quat::new(0.5,0.5,0.5,0.5), Vec3::new(6.0,-7.0,8.0) );
-	let ti = t.invert().expect("Expected successful inversion");
-	let vt = t.transform_vec( &v );
-    assert_approx_eq!(v, ti.transform_vec( &vt ));
+	let t = Transform3D::new(1.5, Quat::new(0.5,0.5,0.5,0.5), Vec3::new(6.0,-7.0,8.0));
+	let ti = t.get().invert().expect("Expected successful inversion");
+	let vt = t.get().transform_vec( &v );
+    assert!(v.approx_eq( &ti.transform_vec( &vt ) ));
 }
diff --git a/src/tests/vector.rs b/src/tests/vector.rs
index 457b4c2..029308b 100644
--- a/src/tests/vector.rs
+++ b/src/tests/vector.rs
@@ -15,6 +15,7 @@
 
 use cgmath::angle::*;
 use cgmath::vector::*;
+use cgmath::approx::ApproxEq;
 
 #[test]
 fn test_from_value() {
@@ -136,23 +137,23 @@ mod test_length {
 
 #[test]
 fn test_angle() {
-    assert_approx_eq!(Vec2::new(1.0, 0.0).angle(&Vec2::new(0.0, 1.0)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec2::new(10.0, 0.0).angle(&Vec2::new(0.0, 5.0)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec2::new(-1.0, 0.0).angle(&Vec2::new(0.0, 1.0)), -rad(Real::frac_pi_2()));
+    assert!(Vec2::new(1.0, 0.0).angle(&Vec2::new(0.0, 1.0)).approx_eq( &rad(Real::frac_pi_2()) ));
+    assert!(Vec2::new(10.0, 0.0).angle(&Vec2::new(0.0, 5.0)).approx_eq( &rad(Real::frac_pi_2()) ));
+    assert!(Vec2::new(-1.0, 0.0).angle(&Vec2::new(0.0, 1.0)).approx_eq( &-rad(Real::frac_pi_2()) ));
 
-    assert_approx_eq!(Vec3::new(1.0, 0.0, 1.0).angle(&Vec3::new(1.0, 1.0, 0.0)), rad(Real::frac_pi_3()));
-    assert_approx_eq!(Vec3::new(10.0, 0.0, 10.0).angle(&Vec3::new(5.0, 5.0, 0.0)), rad(Real::frac_pi_3()));
-    assert_approx_eq!(Vec3::new(-1.0, 0.0, -1.0).angle(&Vec3::new(1.0, -1.0, 0.0)), rad(2.0 * Real::frac_pi_3()));
+    assert!(Vec3::new(1.0, 0.0, 1.0).angle(&Vec3::new(1.0, 1.0, 0.0)).approx_eq( &rad(Real::frac_pi_3()) ));
+    assert!(Vec3::new(10.0, 0.0, 10.0).angle(&Vec3::new(5.0, 5.0, 0.0)).approx_eq( &rad(Real::frac_pi_3()) ));
+    assert!(Vec3::new(-1.0, 0.0, -1.0).angle(&Vec3::new(1.0, -1.0, 0.0)).approx_eq( &rad(2.0 * Real::frac_pi_3()) ));
 
-    assert_approx_eq!(Vec4::new(1.0, 0.0, 1.0, 0.0).angle(&Vec4::new(0.0, 1.0, 0.0, 1.0)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec4::new(10.0, 0.0, 10.0, 0.0).angle(&Vec4::new(0.0, 5.0, 0.0, 5.0)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec4::new(-1.0, 0.0, -1.0, 0.0).angle(&Vec4::new(0.0, 1.0, 0.0, 1.0)), rad(Real::frac_pi_2()));
+    assert!(Vec4::new(1.0, 0.0, 1.0, 0.0).angle(&Vec4::new(0.0, 1.0, 0.0, 1.0)).approx_eq( &rad(Real::frac_pi_2()) ));
+    assert!(Vec4::new(10.0, 0.0, 10.0, 0.0).angle(&Vec4::new(0.0, 5.0, 0.0, 5.0)).approx_eq( &rad(Real::frac_pi_2()) ));
+    assert!(Vec4::new(-1.0, 0.0, -1.0, 0.0).angle(&Vec4::new(0.0, 1.0, 0.0, 1.0)).approx_eq( &rad(Real::frac_pi_2()) ));
 }
 
 #[test]
 fn test_normalize() {
     // TODO: test normalize_to, normalize_sel.0, and normalize_self_to
-    assert_approx_eq!(Vec2::new(3.0, 4.0).normalize(), Vec2::new(3.0/5.0, 4.0/5.0));
-    assert_approx_eq!(Vec3::new(2.0, 3.0, 6.0).normalize(), Vec3::new(2.0/7.0, 3.0/7.0, 6.0/7.0));
-    assert_approx_eq!(Vec4::new(1.0, 2.0, 4.0, 10.0).normalize(), Vec4::new(1.0/11.0, 2.0/11.0, 4.0/11.0, 10.0/11.0));
+    assert!(Vec2::new(3.0, 4.0).normalize().approx_eq( &Vec2::new(3.0/5.0, 4.0/5.0) ));
+    assert!(Vec3::new(2.0, 3.0, 6.0).normalize().approx_eq( &Vec3::new(2.0/7.0, 3.0/7.0, 6.0/7.0) ));
+    assert!(Vec4::new(1.0, 2.0, 4.0, 10.0).normalize().approx_eq( &Vec4::new(1.0/11.0, 2.0/11.0, 4.0/11.0, 10.0/11.0) ));
 }