diff --git a/src/cgmath/array.rs b/src/cgmath/array.rs
index 6e06df9..b50c9c4 100644
--- a/src/cgmath/array.rs
+++ b/src/cgmath/array.rs
@@ -44,6 +44,18 @@ pub trait Array
     fn each_mut(&mut self, f: &fn(i: uint, x: &mut T));
 }
 
+/*impl  //TODO
+<
+    T: Clone,
+    Slice,
+    A: Array<T,Slice>
+>
+Clone for A    {
+    fn clone(&self) -> A    {
+        self.build(|i| self.i(i).clone())
+    }
+}*/
+
 macro_rules! array(
     (impl<$S:ident> $Self:ty -> [$T:ty, ..$n:expr] $_n:ident) => (
         impl<$S: Clone> Array<$T, [$T,..$n]> for $Self {
diff --git a/src/cgmath/plane.rs b/src/cgmath/plane.rs
index 85ee3a2..b744a08 100644
--- a/src/cgmath/plane.rs
+++ b/src/cgmath/plane.rs
@@ -14,6 +14,7 @@
 // limitations under the License.
 
 use std::cast::transmute;
+use std::fmt;
 
 use intersect::Intersect;
 use point::{Point, Point3};
@@ -21,8 +22,6 @@ use ray::Ray3;
 use vector::{Vec3, Vec4};
 use vector::{Vector, EuclideanVector};
 
-use std::fmt;
-
 /// A 3-dimendional plane formed from the equation: `a*x + b*y + c*z - d = 0`.
 ///
 /// # Fields
diff --git a/src/cgmath/point.rs b/src/cgmath/point.rs
index bc2cfb6..388d7be 100644
--- a/src/cgmath/point.rs
+++ b/src/cgmath/point.rs
@@ -18,7 +18,7 @@
 //! not have a fixed position.
 
 use std::fmt;
-use std::num::zero;
+use std::num::{one,zero};
 
 use array::*;
 use vector::*;
@@ -54,6 +54,19 @@ impl<S: Num> Point3<S> {
     pub fn origin() -> Point3<S> { zero() }
 }
 
+impl<S: Clone + Num + Primitive> Point3<S> {
+    #[inline]
+    pub fn from_homogeneous(v: &Vec4<S>) -> Point3<S>   {
+        let _1 :S = one();
+        let e = v.truncate().mul_s( _1 / v.w );
+        Point3::new(e.x.clone(), e.y.clone(), e.z.clone())  //FIXME
+    }
+    #[inline]
+    pub fn to_homogeneous(&self) -> Vec4<S>   {
+        Vec4::new(self.x.clone(), self.y.clone(), self.z.clone(), one())
+    }
+}
+
 /// Specifies the numeric operations for point types.
 pub trait Point
 <
diff --git a/src/cgmath/ray.rs b/src/cgmath/ray.rs
index ec6c06a..f9d4125 100644
--- a/src/cgmath/ray.rs
+++ b/src/cgmath/ray.rs
@@ -13,33 +13,29 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use point::{Point2, Point3};
-use vector::{Vec2, Vec3};
+use point::{Point, Point2, Point3};
+use vector::{Vector, Vec2, Vec3};
 
+/// A generic ray
 #[deriving(Clone, Eq)]
-pub struct Ray2<S> {
-    origin: Point2<S>,
-    direction: Vec2<S>,
+pub struct Ray<P,V>
+{
+    origin: P,
+    direction: V,
 }
 
-impl<S> Ray2<S> {
-    /// Creates a new ray from a position coordinate and a direction vector
-    #[inline]
-    pub fn new(origin: Point2<S>, direction: Vec2<S>) -> Ray2<S> {
-        Ray2 { origin: origin, direction: direction }
+impl
+<
+    S: Primitive,
+    Slice,
+    V: Vector<S,Slice>,
+    P: Point<S,V,Slice>
+>  Ray<P,V>
+{
+    pub fn new(origin: P, direction: V) -> Ray<P,V> {
+        Ray { origin:origin, direction:direction }
     }
 }
 
-#[deriving(Clone, Eq)]
-pub struct Ray3<S> {
-    origin: Point3<S>,
-    direction: Vec3<S>,
-}
-
-impl<S> Ray3<S> {
-    /// Creates a new ray from a position coordinate and a direction vector
-    #[inline]
-    pub fn new(origin: Point3<S>, direction: Vec3<S>) -> Ray3<S> {
-        Ray3 { origin: origin, direction: direction }
-    }
-}
+pub type Ray2<S> = Ray<Point2<S>,Vec2<S>>;
+pub type Ray3<S> = Ray<Point3<S>,Vec3<S>>;
diff --git a/src/cgmath/rotation.rs b/src/cgmath/rotation.rs
index 28dc015..6eba8fc 100644
--- a/src/cgmath/rotation.rs
+++ b/src/cgmath/rotation.rs
@@ -14,52 +14,72 @@
 // limitations under the License.
 
 use angle::Rad;
+use array::Array;
 use matrix::Matrix;
 use matrix::{Mat2, ToMat2};
 use matrix::{Mat3, ToMat3};
-use point::{Point2, Point3};
+use point::{Point, Point2, Point3};
 use quaternion::{Quat, ToQuat};
-use ray::{Ray2, Ray3};
+use ray::{Ray, Ray2, Ray3};
 use vector::{Vector, Vec2, Vec3};
 
+/// A trait for generic rotation
+pub trait Rotation
+<
+    S: Primitive,
+    Slice,
+    V: Vector<S,Slice>,
+    P: Point<S,V,Slice>
+>
+:   Eq
++   ApproxEq<S>
+{
+    fn identity() -> Self;
+    fn rotate_point(&self, point: &P) -> P;
+    fn rotate_vec(&self, vec: &V) -> V;
+
+    #[inline]
+    fn rotate_ray(&self, ray: &Ray<P,V>) -> Ray<P,V>    {
+        Ray::new(   //FIXME: use clone derived from Array
+            Array::build(|i| ray.origin.i(i).clone()),
+            self.rotate_vec(&ray.direction) )
+    }
+
+    fn concat(&self, other: &Self) -> Self;
+    fn invert(&self) -> Self;
+
+    #[inline]
+    fn concat_self(&mut self, other: &Self) {
+        *self = self.concat(other);
+    }
+    
+    #[inline]
+    fn invert_self(&mut self)   {
+        *self = self.invert();
+    }
+}
+
 /// A two-dimensional rotation
 pub trait Rotation2
 <
     S
 >
-:   Eq
-+   ApproxEq<S>
+:   Rotation<S, [S, ..2], Vec2<S>, Point2<S>>
 +   ToMat2<S>
 +   ToBasis2<S>
-{
-    fn rotate_point2(&self, point: &Point2<S>) -> Point2<S>;
-    fn rotate_vec2(&self, vec: &Vec2<S>) -> Vec2<S>;
-    fn rotate_ray2(&self, ray: &Ray2<S>) -> Ray2<S>;
-    fn concat(&self, other: &Self) -> Self;
-    fn concat_self(&mut self, other: &Self);
-    fn invert(&self) -> Self;
-    fn invert_self(&mut self);
-}
+{}
 
 /// A three-dimensional rotation
 pub trait Rotation3
 <
     S
 >
-:   Eq
-+   ApproxEq<S>
+:   Rotation<S, [S, ..3], Vec3<S>, Point3<S>>
 +   ToMat3<S>
 +   ToBasis3<S>
 +   ToQuat<S>
-{
-    fn rotate_point3(&self, point: &Point3<S>) -> Point3<S>;
-    fn rotate_vec3(&self, vec: &Vec3<S>) -> Vec3<S>;
-    fn rotate_ray3(&self, ray: &Ray3<S>) -> Ray3<S>;
-    fn concat(&self, other: &Self) -> Self;
-    fn concat_self(&mut self, other: &Self);
-    fn invert(&self) -> Self;
-    fn invert_self(&mut self);
-}
+{}
+
 
 /// A two-dimensional rotation matrix.
 ///
@@ -91,15 +111,18 @@ impl<S: Float> ToMat2<S> for Basis2<S> {
     fn to_mat2(&self) -> Mat2<S> { self.mat.clone() }
 }
 
-impl<S: Float> Rotation2<S> for Basis2<S> {
+impl<S: Float> Rotation<S, [S, ..2], Vec2<S>, Point2<S>> for Basis2<S> {
     #[inline]
-    fn rotate_point2(&self, _point: &Point2<S>) -> Point2<S> { fail!("Not yet implemented") }
+    fn identity() -> Basis2<S>  { Basis2{ mat: Mat2::identity() } }
+    
+    #[inline]
+    fn rotate_point(&self, _point: &Point2<S>) -> Point2<S> { fail!("Not yet implemented") }
 
     #[inline]
-    fn rotate_vec2(&self, vec: &Vec2<S>) -> Vec2<S> { self.mat.mul_v(vec) }
+    fn rotate_vec(&self, vec: &Vec2<S>) -> Vec2<S> { self.mat.mul_v(vec) }
 
     #[inline]
-    fn rotate_ray2(&self, _ray: &Ray2<S>) -> Ray2<S> { fail!("Not yet implemented") }
+    fn rotate_ray(&self, _ray: &Ray2<S>) -> Ray2<S> { fail!("Not yet implemented") }
 
     #[inline]
     fn concat(&self, other: &Basis2<S>) -> Basis2<S> { Basis2 { mat: self.mat.mul_m(&other.mat) } }
@@ -136,6 +159,8 @@ impl<S: Float> ApproxEq<S> for Basis2<S> {
     }
 }
 
+impl<S: Float> Rotation2<S> for Basis2<S>   {}
+
 /// A three-dimensional rotation matrix.
 ///
 /// The matrix is guaranteed to be orthogonal, so some operations, specifically
@@ -207,15 +232,18 @@ impl<S: Float> ToQuat<S> for Basis3<S> {
     fn to_quat(&self) -> Quat<S> { self.mat.to_quat() }
 }
 
-impl<S: Float> Rotation3<S> for Basis3<S> {
+impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Basis3<S> {
     #[inline]
-    fn rotate_point3(&self, _point: &Point3<S>) -> Point3<S> { fail!("Not yet implemented") }
+    fn identity() -> Basis3<S>  { Basis3{ mat: Mat3::identity() } }
+    
+    #[inline]
+    fn rotate_point(&self, _point: &Point3<S>) -> Point3<S> { fail!("Not yet implemented") }
 
     #[inline]
-    fn rotate_vec3(&self, vec: &Vec3<S>) -> Vec3<S> { self.mat.mul_v(vec) }
+    fn rotate_vec(&self, vec: &Vec3<S>) -> Vec3<S> { self.mat.mul_v(vec) }
 
     #[inline]
-    fn rotate_ray3(&self, _ray: &Ray3<S>) -> Ray3<S> { fail!("Not yet implemented") }
+    fn rotate_ray(&self, _ray: &Ray3<S>) -> Ray3<S> { fail!("Not yet implemented") }
 
     #[inline]
     fn concat(&self, other: &Basis3<S>) -> Basis3<S> { Basis3 { mat: self.mat.mul_m(&other.mat) } }
@@ -252,6 +280,8 @@ impl<S: Float> ApproxEq<S> for Basis3<S> {
     }
 }
 
+impl<S: Float> Rotation3<S> for Basis3<S>    {}
+
 // Quaternion Rotation impls
 
 impl<S: Float> ToBasis3<S> for Quat<S> {
@@ -264,15 +294,18 @@ impl<S: Float> ToQuat<S> for Quat<S> {
     fn to_quat(&self) -> Quat<S> { self.clone() }
 }
 
-impl<S: Float> Rotation3<S> for Quat<S> {
+impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Quat<S> {
     #[inline]
-    fn rotate_point3(&self, _point: &Point3<S>) -> Point3<S> { fail!("Not yet implemented") }
+    fn identity() -> Quat<S>  { Quat::identity() }  
+    
+    #[inline]
+    fn rotate_point(&self, _point: &Point3<S>) -> Point3<S> { fail!("Not yet implemented") }
 
     #[inline]
-    fn rotate_vec3(&self, vec: &Vec3<S>) -> Vec3<S> { self.mul_v(vec) }
+    fn rotate_vec(&self, vec: &Vec3<S>) -> Vec3<S> { self.mul_v(vec) }
 
     #[inline]
-    fn rotate_ray3(&self, _ray: &Ray3<S>) -> Ray3<S> { fail!("Not yet implemented") }
+    fn rotate_ray(&self, _ray: &Ray3<S>) -> Ray3<S> { fail!("Not yet implemented") }
 
     #[inline]
     fn concat(&self, other: &Quat<S>) -> Quat<S> { self.mul_q(other) }
@@ -286,3 +319,5 @@ impl<S: Float> Rotation3<S> for Quat<S> {
     #[inline]
     fn invert_self(&mut self) { *self = self.invert() }
 }
+
+impl<S: Float> Rotation3<S> for Quat<S> {}
diff --git a/src/cgmath/transform.rs b/src/cgmath/transform.rs
index bb60df7..e7e7847 100644
--- a/src/cgmath/transform.rs
+++ b/src/cgmath/transform.rs
@@ -13,51 +13,156 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use matrix::Mat4;
-use point::{Point,Point3};
-use ray::Ray3;
-use rotation::Rotation3;
-use vector::{Vector,Vec3};
+use std::num;
 
+use matrix::{Matrix, Mat4, ToMat4};
+use point::{Point, Point3};
+use ray::Ray;
+use rotation::{Rotation, Rotation3};
+use quaternion::Quat;
+use vector::{Vector, Vec3};
+
+/// A trait of affine transformation, that can be applied to points or vectors
+pub trait Transform
+<
+    S: Primitive,
+    Slice,
+    V: Vector<S,Slice>,
+    P: Point<S,V,Slice>
+>
+{
+    fn identity() -> Self;
+    fn transform_vec(&self, vec: &V) -> V;
+    fn transform_point(&self, point: &P) -> P;
+    fn invert(&self) -> Option<Self>;
 
-pub trait Transform3<S> {
-    fn transform_vec3(&self, vec: &Vec3<S>) -> Vec3<S>;
-    fn transform_point3(&self, point: &Point3<S>) -> Point3<S>;
-    
     #[inline]
-    fn transform_ray3(&self, ray: &Ray3<S>) -> Ray3<S>    {
-        Ray3::new( self.transform_point3(&ray.origin), self.transform_vec3(&ray.direction) )
+    fn transform_ray(&self, ray: &Ray<P,V>) -> Ray<P,V>    {
+        Ray::new( self.transform_point(&ray.origin), self.transform_vec(&ray.direction) )
+    }
+
+    #[inline]
+    fn invert_self(&mut self)-> bool    {
+        match self.invert() {
+            Some(t) => {*self = t; true},
+            None    => false,
+        }
     }
 }
 
+/// A generic transformation consisting of a rotation,
+/// displacement vector and scale amount.
+pub struct Decomposed<S,V,R>    {
+    scale: S,
+    rot: R,
+    disp: V,
+}
+
+impl
+<
+    S: Float,
+    Slice,
+    V: Vector<S, Slice>,
+    P: Point<S, V, Slice>,
+    R: Rotation<S, Slice, V, P>
+>
+Transform<S, Slice, V, P> for Decomposed<S,V,R>    {
+    #[inline]
+    fn identity() -> Decomposed<S,V,R>  {
+        Decomposed {
+            scale: num::one(),
+            rot: Rotation::identity(),
+            disp: num::zero(),
+        }
+    }
+
+    #[inline]
+    fn transform_vec(&self, vec: &V) -> V   {
+        self.rot.rotate_vec( &vec.mul_s( self.scale.clone() ))
+    }
+
+    #[inline]
+    fn transform_point(&self, point: &P) -> P   {
+        self.rot.rotate_point( &point.mul_s( self.scale.clone() )).add_v( &self.disp )
+    }
+
+    #[inline]
+    fn invert(&self) -> Option<Decomposed<S,V,R>>   {
+        if self.scale.approx_eq( &num::zero() )   {
+            None
+        }else   {
+            let _1 : S = num::one();
+            let s = _1 / self.scale;
+            let r = self.rot.invert();
+            let d = r.rotate_vec( &self.disp ).mul_s( -s );
+            Some( Decomposed {
+                scale: s,
+                rot: r,
+                disp: d,
+            })
+        }
+    }
+}
+
+pub trait Transform3<S>
+: Transform<S, [S, ..3], Vec3<S>, Point3<S>>
++ ToMat4<S>
+{}
+
+impl<S: Float + Clone, 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();
+        m.w = self.disp.extend( num::one() );
+        m
+    }
+}
+
+impl<S: Float, R: Rotation3<S>>
+Transform3<S> for Decomposed<S,Vec3<S>,R>   {}
+
 /// A homogeneous transformation matrix.
 pub struct AffineMatrix3<S> {
     mat: Mat4<S>,
 }
 
+impl<S : Clone + Float>
+Transform<S, [S, ..3], Vec3<S>, Point3<S>> for AffineMatrix3<S>  {
+    #[inline]
+    fn identity() -> AffineMatrix3<S>  {
+       AffineMatrix3 { mat: Mat4::identity() }
+    }
+    
+    #[inline]
+    fn transform_vec(&self, vec: &Vec3<S>) -> Vec3<S>  {
+        self.mat.mul_v( &vec.extend(num::zero()) ).truncate()
+    }
+
+    #[inline]
+    fn transform_point(&self, point: &Point3<S>) -> Point3<S>   {
+        Point3::from_homogeneous( &self.mat.mul_v( &point.to_homogeneous() ))
+    }
+
+    #[inline]
+    fn invert(&self) -> Option<AffineMatrix3<S>>   {
+        self.mat.invert().map(|m| AffineMatrix3{ mat: m })
+    }   
+}
+
+impl<S: Clone + Primitive>
+ToMat4<S> for AffineMatrix3<S>  {
+    #[inline] fn to_mat4(&self) -> Mat4<S>    { self.mat.clone() }
+}
+
+
+
 /// A transformation in three dimensions consisting of a rotation,
 /// displacement vector and scale amount.
-pub struct Transform3D<S, R> {
-    rot: R,
-    disp: Vec3<S>,
-    scale: S,
-}
+pub struct Transform3D<S>( Decomposed<S,Vec3<S>,Quat<S>> );
 
-impl<S: Float, R: Rotation3<S>> Transform3D<S, R> {
+impl<S: Float> Transform3D<S> {
     #[inline]
-    pub fn new(rot: R, disp: Vec3<S>, scale: S) -> Transform3D<S, R> {
-        Transform3D { rot: rot, disp: disp, scale: scale }
-    }
-}
-
-impl <S: Float, R: Rotation3<S>> Transform3<S> for Transform3D<S,R>   {
-    #[inline]
-    fn transform_vec3(&self, vec: &Vec3<S>) -> Vec3<S>   {
-        self.rot.rotate_vec3( &vec.mul_s( self.scale.clone() ))
-    }
-
-    #[inline]
-    fn transform_point3(&self, point: &Point3<S>) -> Point3<S>   {
-        self.rot.rotate_point3( &point.mul_s( self.scale.clone() )).add_v( &self.disp )
+    pub fn new(scale: S, rot: Quat<S>, disp: Vec3<S>) -> Transform3D<S> {
+       Transform3D( Decomposed { scale: scale, rot: rot, disp: disp })
     }
 }
diff --git a/src/cgmath/vector.rs b/src/cgmath/vector.rs
index bc8f8b5..1ecd665 100644
--- a/src/cgmath/vector.rs
+++ b/src/cgmath/vector.rs
@@ -31,7 +31,7 @@ pub struct Vec3<S> { x: S, y: S, z: S }
 #[deriving(Eq, Clone, Zero)]
 pub struct Vec4<S> { x: S, y: S, z: S, w: S }
 
-// Conversion traits
+// Conversion traits    //FIXME: not used anywhere?
 pub trait ToVec2<S: Primitive> { fn to_vec2(&self) -> Vec2<S>; }
 pub trait ToVec3<S: Primitive> { fn to_vec3(&self) -> Vec3<S>; }
 pub trait ToVec4<S: Primitive> { fn to_vec4(&self) -> Vec4<S>; }
@@ -55,7 +55,7 @@ macro_rules! vec(
             #[inline]
             pub fn zero() -> $Self<$S> { $Self::from_value(zero()) }
 
-            /// The additive identity of the vector.
+            /// The multiplicative identity of the vector.
             #[inline]
             pub fn ident() -> $Self<$S> { $Self::from_value(one()) }
         }
@@ -70,12 +70,28 @@ impl<S: Primitive> Vec2<S> {
     #[inline] pub fn unit_x() -> Vec2<S> { Vec2::new(one(), zero()) }
     #[inline] pub fn unit_y() -> Vec2<S> { Vec2::new(zero(), one()) }
 }
+impl<S: Primitive + Clone> Vec2<S>  {
+    #[inline]
+    pub fn extend(&self, z: S)-> Vec3<S>  {
+        Vec3::new(self.x.clone(), self.y.clone(), z)
+    }
+}
 
 impl<S: Primitive> Vec3<S> {
     #[inline] pub fn unit_x() -> Vec3<S> { Vec3::new(one(), zero(), zero()) }
     #[inline] pub fn unit_y() -> Vec3<S> { Vec3::new(zero(), one(), zero()) }
     #[inline] pub fn unit_z() -> Vec3<S> { Vec3::new(zero(), zero(), one()) }
 }
+impl<S: Primitive + Clone> Vec3<S>  {
+    #[inline]
+    pub fn extend(&self, w: S)-> Vec4<S>  {
+        Vec4::new(self.x.clone(), self.y.clone(), self.z.clone(), w)
+    }
+    #[inline]
+    pub fn truncate(&self)-> Vec2<S>  {
+        Vec2::new(self.x.clone(), self.y.clone())   //ignore Z
+    }
+}
 
 impl<S: Primitive> Vec4<S> {
     #[inline] pub fn unit_x() -> Vec4<S> { Vec4::new(one(), zero(), zero(), zero()) }
@@ -83,6 +99,12 @@ impl<S: Primitive> Vec4<S> {
     #[inline] pub fn unit_z() -> Vec4<S> { Vec4::new(zero(), zero(), one(), zero()) }
     #[inline] pub fn unit_w() -> Vec4<S> { Vec4::new(zero(), zero(), zero(), one()) }
 }
+impl<S: Primitive + Clone> Vec4<S>  {
+    #[inline]
+    pub fn truncate(&self)-> Vec3<S>  {
+        Vec3::new(self.x.clone(), self.y.clone(), self.z.clone())   //ignore W
+    }
+}
 
 array!(impl<S> Vec2<S> -> [S, ..2] _2)
 array!(impl<S> Vec3<S> -> [S, ..3] _3)
diff --git a/src/tests/matrix.rs b/src/tests/matrix.rs
index 6d67e4a..7edda32 100644
--- a/src/tests/matrix.rs
+++ b/src/tests/matrix.rs
@@ -15,10 +15,12 @@
 
 use cgmath::matrix::*;
 use cgmath::vector::*;
+type float = f64;
 
 pub mod mat2 {
     use cgmath::matrix::*;
     use cgmath::vector::*;
+    type float = f64;
 
     pub static A: Mat2<f64> = Mat2 { x: Vec2 { x: 1.0, y: 3.0 },
                                        y: Vec2 { x: 2.0, y: 4.0 } };
@@ -34,6 +36,7 @@ pub mod mat2 {
 pub mod mat3 {
     use cgmath::matrix::*;
     use cgmath::vector::*;
+    type float = f64;
 
     pub static A: Mat3<f64> = Mat3 { x: Vec3 { x: 1.0, y: 4.0, z:  7.0 },
                                        y: Vec3 { x: 2.0, y: 5.0, z:  8.0 },
@@ -55,6 +58,7 @@ pub mod mat3 {
 pub mod mat4 {
     use cgmath::matrix::*;
     use cgmath::vector::*;
+    type float = f64;
 
     pub static A: Mat4<f64> = Mat4 { x: Vec4 { x: 1.0, y: 5.0, z:  9.0, w: 13.0 },
                                        y: Vec4 { x: 2.0, y: 6.0, z: 10.0, w: 14.0 },
diff --git a/src/tests/plane.rs b/src/tests/plane.rs
index cceefc4..422e352 100644
--- a/src/tests/plane.rs
+++ b/src/tests/plane.rs
@@ -18,11 +18,13 @@ use cgmath::point::*;
 
 #[test]
 fn test_from_points() {
-    assert_eq!(Plane::from_points(Point3::new(5f64, 0f64,  5f64),
-                                  Point3::new(5f64, 5f64,  5f64),
-                                  Point3::new(5f64, 0f64, -1f64)), Some(Plane::from_abcd(-1f64, 0f64, 0f64, 5f64)));
+    assert_eq!(Plane::from_points(Point3::new(5.0, 0.0,  5.0),
+                                  Point3::new(5.0, 5.0,  5.0),
+                                  Point3::new(5.0, 0.0, -1.0)),
+    	Some(Plane::from_abcd(-1.0, 0.0, 0.0, 5.0)));
 
-    assert_eq!(Plane::from_points(Point3::new(0f64, 5f64, -5f64),
-                                  Point3::new(0f64, 5f64,  0f64),
-                                  Point3::new(0f64, 5f64,  5f64)), None);     // The points are parallel
+    assert_eq!(Plane::from_points(Point3::new(0.0, 5.0, -5.0),
+                                  Point3::new(0.0, 5.0,  0.0),
+                                  Point3::new(0.0, 5.0,  5.0)),
+        None);     // The points are parallel
 }
diff --git a/src/tests/point.rs b/src/tests/point.rs
new file mode 100644
index 0000000..b61954e
--- /dev/null
+++ b/src/tests/point.rs
@@ -0,0 +1,22 @@
+// 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 cgmath::point::*;
+
+#[test]
+fn test_homogeneous() {
+	let p = Point3::new(1.0, 2.0, 3.0);
+    assert_approx_eq!(p, Point3::from_homogeneous( &p.to_homogeneous() ));
+}
diff --git a/src/tests/test.rs b/src/tests/test.rs
index b2a4f6e..1621767 100644
--- a/src/tests/test.rs
+++ b/src/tests/test.rs
@@ -14,6 +14,8 @@
 // limitations under the License.
 #[feature(globs)];
 
+#[feature(globs)];
+
 extern mod cgmath;
 
 // pub mod array;
@@ -23,9 +25,10 @@ pub mod vector;
 
 pub mod angle;
 pub mod plane;
-// pub mod point;
+pub mod point;
 // pub mod ray;
 // pub mod rotation;
+pub mod transform;
 
 // pub mod projection;
 
diff --git a/src/tests/transform.rs b/src/tests/transform.rs
new file mode 100644
index 0000000..be81359
--- /dev/null
+++ b/src/tests/transform.rs
@@ -0,0 +1,27 @@
+// 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 cgmath::quaternion::*;
+use cgmath::transform::*;
+use cgmath::vector::*;
+
+#[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 ));
+}
diff --git a/src/tests/vector.rs b/src/tests/vector.rs
index b1e5e19..457b4c2 100644
--- a/src/tests/vector.rs
+++ b/src/tests/vector.rs
@@ -36,9 +36,9 @@ fn test_comp_add() {
     assert_eq!(Vec3::new(1, 2, 3).comp_add(), 6);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_add(), 10);
 
-    assert_eq!(Vec2::new(3f64, 4f64).comp_add(), 7f64);
-    assert_eq!(Vec3::new(4f64, 5f64, 6f64).comp_add(), 15f64);
-    assert_eq!(Vec4::new(5f64, 6f64, 7f64, 8f64).comp_add(), 26f64);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_add(), 7.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_add(), 15.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_add(), 26.0);
 }
 
 #[test]
@@ -47,9 +47,9 @@ fn test_comp_mul() {
     assert_eq!(Vec3::new(1, 2, 3).comp_mul(), 6);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_mul(), 24);
 
-    assert_eq!(Vec2::new(3f64, 4f64).comp_mul(), 12f64);
-    assert_eq!(Vec3::new(4f64, 5f64, 6f64).comp_mul(), 120f64);
-    assert_eq!(Vec4::new(5f64, 6f64, 7f64, 8f64).comp_mul(), 1680f64);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_mul(), 12.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_mul(), 120.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_mul(), 1680.0);
 }
 
 #[test]
@@ -58,9 +58,9 @@ fn test_comp_min() {
     assert_eq!(Vec3::new(1, 2, 3).comp_min(), 1);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_min(), 1);
 
-    assert_eq!(Vec2::new(3f64, 4f64).comp_min(), 3f64);
-    assert_eq!(Vec3::new(4f64, 5f64, 6f64).comp_min(), 4f64);
-    assert_eq!(Vec4::new(5f64, 6f64, 7f64, 8f64).comp_min(), 5f64);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_min(), 3.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_min(), 4.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_min(), 5.0);
 }
 
 #[test]
@@ -69,9 +69,9 @@ fn test_comp_max() {
     assert_eq!(Vec3::new(1, 2, 3).comp_max(), 3);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_max(), 4);
 
-    assert_eq!(Vec2::new(3f64, 4f64).comp_max(), 4f64);
-    assert_eq!(Vec3::new(4f64, 5f64, 6f64).comp_max(), 6f64);
-    assert_eq!(Vec4::new(5f64, 6f64, 7f64, 8f64).comp_max(), 8f64);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_max(), 4.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_max(), 6.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_max(), 8.0);
 }
 
 #[test]
@@ -88,9 +88,9 @@ fn test_cross() {
 
 #[test]
 fn test_is_perpendicular() {
-    assert!(Vec2::new(1f64, 0f64).is_perpendicular(&Vec2::new(0f64, 1f64)));
-    assert!(Vec3::new(0f64, 1f64, 0f64).is_perpendicular(&Vec3::new(0f64, 0f64, 1f64)));
-    assert!(Vec4::new(1f64, 0f64, 0f64, 0f64).is_perpendicular(&Vec4::new(0f64, 0f64, 0f64, 1f64)));
+    assert!(Vec2::new(1.0, 0.0).is_perpendicular(&Vec2::new(0.0, 1.0)));
+    assert!(Vec3::new(0.0, 1.0, 0.0).is_perpendicular(&Vec3::new(0.0, 0.0, 1.0)));
+    assert!(Vec4::new(1.0, 0.0, 0.0, 0.0).is_perpendicular(&Vec4::new(0.0, 0.0, 0.0, 1.0)));
 }
 
 #[cfg(test)]
@@ -99,8 +99,8 @@ mod test_length {
 
     #[test]
     fn test_vec2(){
-        let (a, a_res) = (Vec2::new(3f64, 4f64), 5f64); // (3, 4, 5) Pythagorean triple
-        let (b, b_res) = (Vec2::new(5f64, 12f64), 13f64); // (5, 12, 13) Pythagorean triple
+        let (a, a_res) = (Vec2::new(3.0, 4.0), 5.0); // (3, 4, 5) Pythagorean triple
+        let (b, b_res) = (Vec2::new(5.0, 12.0), 13.0); // (5, 12, 13) Pythagorean triple
 
         assert_eq!(a.length2(), a_res * a_res);
         assert_eq!(b.length2(), b_res * b_res);
@@ -111,8 +111,8 @@ mod test_length {
 
     #[test]
     fn test_vec3(){
-        let (a, a_res) = (Vec3::new(2f64, 3f64, 6f64), 7f64); // (2, 3, 6, 7) Pythagorean quadruple
-        let (b, b_res) = (Vec3::new(1f64, 4f64, 8f64), 9f64); // (1, 4, 8, 9) Pythagorean quadruple
+        let (a, a_res) = (Vec3::new(2.0, 3.0, 6.0), 7.0); // (2, 3, 6, 7) Pythagorean quadruple
+        let (b, b_res) = (Vec3::new(1.0, 4.0, 8.0), 9.0); // (1, 4, 8, 9) Pythagorean quadruple
 
         assert_eq!(a.length2(), a_res * a_res);
         assert_eq!(b.length2(), b_res * b_res);
@@ -123,8 +123,8 @@ mod test_length {
 
     #[test]
     fn test_vec4(){
-        let (a, a_res) = (Vec4::new(1f64, 2f64, 4f64, 10f64), 11f64); // (1, 2, 4, 10, 11) Pythagorean quintuple
-        let (b, b_res) = (Vec4::new(1f64, 2f64, 8f64, 10f64), 13f64); // (1, 2, 8, 10, 13) Pythagorean quintuple
+        let (a, a_res) = (Vec4::new(1.0, 2.0, 4.0, 10.0), 11.0); // (1, 2, 4, 10, 11) Pythagorean quintuple
+        let (b, b_res) = (Vec4::new(1.0, 2.0, 8.0, 10.0), 13.0); // (1, 2, 8, 10, 13) Pythagorean quintuple
 
         assert_eq!(a.length2(), a_res * a_res);
         assert_eq!(b.length2(), b_res * b_res);
@@ -136,23 +136,23 @@ mod test_length {
 
 #[test]
 fn test_angle() {
-    assert_approx_eq!(Vec2::new(1f64, 0f64).angle(&Vec2::new(0f64, 1f64)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec2::new(10f64, 0f64).angle(&Vec2::new(0f64, 5f64)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec2::new(-1f64, 0f64).angle(&Vec2::new(0f64, 1f64)), -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_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_approx_eq!(Vec3::new(1f64, 0f64, 1f64).angle(&Vec3::new(1f64, 1f64, 0f64)), rad(Real::frac_pi_3()));
-    assert_approx_eq!(Vec3::new(10f64, 0f64, 10f64).angle(&Vec3::new(5f64, 5f64, 0f64)), rad(Real::frac_pi_3()));
-    assert_approx_eq!(Vec3::new(-1f64, 0f64, -1f64).angle(&Vec3::new(1f64, -1f64, 0f64)), rad(2f64 * 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(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_approx_eq!(Vec4::new(1f64, 0f64, 1f64, 0f64).angle(&Vec4::new(0f64, 1f64, 0f64, 1f64)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec4::new(10f64, 0f64, 10f64, 0f64).angle(&Vec4::new(0f64, 5f64, 0f64, 5f64)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec4::new(-1f64, 0f64, -1f64, 0f64).angle(&Vec4::new(0f64, 1f64, 0f64, 1f64)), 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_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()));
 }
 
 #[test]
 fn test_normalize() {
-    // TODO: test normalize_to, normalize_self, and normalize_self_to
-    assert_approx_eq!(Vec2::new(3f64, 4f64).normalize(), Vec2::new(3f64/5f64, 4f64/5f64));
-    assert_approx_eq!(Vec3::new(2f64, 3f64, 6f64).normalize(), Vec3::new(2f64/7f64, 3f64/7f64, 6f64/7f64));
-    assert_approx_eq!(Vec4::new(1f64, 2f64, 4f64, 10f64).normalize(), Vec4::new(1f64/11f64, 2f64/11f64, 4f64/11f64, 10f64/11f64));
+    // 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));
 }