diff --git a/src/geometry/scale.rs b/src/geometry/scale.rs
new file mode 100755
index 00000000..48656f9c
--- /dev/null
+++ b/src/geometry/scale.rs
@@ -0,0 +1,363 @@
+use approx::{AbsDiffEq, RelativeEq, UlpsEq};
+use num::{One, Zero};
+use std::fmt;
+use std::hash;
+#[cfg(feature = "abomonation-serialize")]
+use std::io::{Result as IOResult, Write};
+
+#[cfg(feature = "serde-serialize-no-std")]
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
+
+#[cfg(feature = "abomonation-serialize")]
+use abomonation::Abomonation;
+
+use simba::scalar::{ClosedAdd, ClosedNeg, ClosedSub};
+
+use crate::base::allocator::Allocator;
+use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
+use crate::base::storage::Owned;
+use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
+
+use crate::geometry::Point;
+
+/// A translation.
+#[repr(C)]
+pub struct Translation<T, const D: usize> {
+    /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
+    /// translated.
+    pub vector: SVector<T, D>,
+}
+
+impl<T: fmt::Debug, const D: usize> fmt::Debug for Translation<T, D> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.vector.as_slice().fmt(formatter)
+    }
+}
+
+impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Translation<T, D>
+where
+    Owned<T, Const<D>>: hash::Hash,
+{
+    fn hash<H: hash::Hasher>(&self, state: &mut H) {
+        self.vector.hash(state)
+    }
+}
+
+impl<T: Scalar + Copy, const D: usize> Copy for Translation<T, D> {}
+
+impl<T: Scalar, const D: usize> Clone for Translation<T, D>
+where
+    Owned<T, Const<D>>: Clone,
+{
+    #[inline]
+    fn clone(&self) -> Self {
+        Translation::from(self.vector.clone())
+    }
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Zeroable for Translation<T, D>
+where
+    T: Scalar + bytemuck::Zeroable,
+    SVector<T, D>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Pod for Translation<T, D>
+where
+    T: Scalar + bytemuck::Pod,
+    SVector<T, D>: bytemuck::Pod,
+{
+}
+
+#[cfg(feature = "abomonation-serialize")]
+impl<T, const D: usize> Abomonation for Translation<T, D>
+where
+    T: Scalar,
+    SVector<T, D>: Abomonation,
+{
+    unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
+        self.vector.entomb(writer)
+    }
+
+    fn extent(&self) -> usize {
+        self.vector.extent()
+    }
+
+    unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
+        self.vector.exhume(bytes)
+    }
+}
+
+#[cfg(feature = "serde-serialize-no-std")]
+impl<T: Scalar, const D: usize> Serialize for Translation<T, D>
+where
+    Owned<T, Const<D>>: Serialize,
+{
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: Serializer,
+    {
+        self.vector.serialize(serializer)
+    }
+}
+
+#[cfg(feature = "serde-serialize-no-std")]
+impl<'a, T: Scalar, const D: usize> Deserialize<'a> for Translation<T, D>
+where
+    Owned<T, Const<D>>: Deserialize<'a>,
+{
+    fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
+    where
+        Des: Deserializer<'a>,
+    {
+        let matrix = SVector::<T, D>::deserialize(deserializer)?;
+
+        Ok(Translation::from(matrix))
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Translation;
+    use crate::base::SVector;
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Archive, const D: usize> Archive for Translation<T, D> {
+        type Archived = Translation<T::Archived, D>;
+        type Resolver = <SVector<T, D> as Archive>::Resolver;
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.vector.resolve(
+                pos + offset_of!(Self::Archived, vector),
+                resolver,
+                project_struct!(out: Self::Archived => vector),
+            );
+        }
+    }
+
+    impl<T: Serialize<S>, S: Fallible + ?Sized, const D: usize> Serialize<S> for Translation<T, D> {
+        fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+            self.vector.serialize(serializer)
+        }
+    }
+
+    impl<T: Archive, _D: Fallible + ?Sized, const D: usize> Deserialize<Translation<T, D>, _D>
+        for Translation<T::Archived, D>
+    where
+        T::Archived: Deserialize<T, _D>,
+    {
+        fn deserialize(&self, deserializer: &mut _D) -> Result<Translation<T, D>, _D::Error> {
+            Ok(Translation {
+                vector: self.vector.deserialize(deserializer)?,
+            })
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> Translation<T, D> {
+    /// Creates a new translation from the given vector.
+    #[inline]
+    #[deprecated(note = "Use `::from` instead.")]
+    pub fn from_vector(vector: SVector<T, D>) -> Translation<T, D> {
+        Translation { vector }
+    }
+
+    /// Inverts `self`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation2, Translation3};
+    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(t * t.inverse(), Translation3::identity());
+    /// assert_eq!(t.inverse() * t, Translation3::identity());
+    ///
+    /// // Work in all dimensions.
+    /// let t = Translation2::new(1.0, 2.0);
+    /// assert_eq!(t * t.inverse(), Translation2::identity());
+    /// assert_eq!(t.inverse() * t, Translation2::identity());
+    /// ```
+    #[inline]
+    #[must_use = "Did you mean to use inverse_mut()?"]
+    pub fn inverse(&self) -> Translation<T, D>
+    where
+        T: ClosedNeg,
+    {
+        Translation::from(-&self.vector)
+    }
+
+    /// Converts this translation into its equivalent homogeneous transformation matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation2, Translation3, Matrix3, Matrix4};
+    /// let t = Translation3::new(10.0, 20.0, 30.0);
+    /// let expected = Matrix4::new(1.0, 0.0, 0.0, 10.0,
+    ///                             0.0, 1.0, 0.0, 20.0,
+    ///                             0.0, 0.0, 1.0, 30.0,
+    ///                             0.0, 0.0, 0.0, 1.0);
+    /// assert_eq!(t.to_homogeneous(), expected);
+    ///
+    /// let t = Translation2::new(10.0, 20.0);
+    /// let expected = Matrix3::new(1.0, 0.0, 10.0,
+    ///                             0.0, 1.0, 20.0,
+    ///                             0.0, 0.0, 1.0);
+    /// assert_eq!(t.to_homogeneous(), expected);
+    /// ```
+    #[inline]
+    #[must_use]
+    pub fn to_homogeneous(&self) -> OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
+    where
+        T: Zero + One,
+        Const<D>: DimNameAdd<U1>,
+        DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+    {
+        let mut res = OMatrix::<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>::identity();
+        res.fixed_slice_mut::<D, 1>(0, D).copy_from(&self.vector);
+
+        res
+    }
+
+    /// Inverts `self` in-place.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation2, Translation3};
+    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// let mut inv_t = Translation3::new(1.0, 2.0, 3.0);
+    /// inv_t.inverse_mut();
+    /// assert_eq!(t * inv_t, Translation3::identity());
+    /// assert_eq!(inv_t * t, Translation3::identity());
+    ///
+    /// // Work in all dimensions.
+    /// let t = Translation2::new(1.0, 2.0);
+    /// let mut inv_t = Translation2::new(1.0, 2.0);
+    /// inv_t.inverse_mut();
+    /// assert_eq!(t * inv_t, Translation2::identity());
+    /// assert_eq!(inv_t * t, Translation2::identity());
+    /// ```
+    #[inline]
+    pub fn inverse_mut(&mut self)
+    where
+        T: ClosedNeg,
+    {
+        self.vector.neg_mut()
+    }
+}
+
+impl<T: Scalar + ClosedAdd, const D: usize> Translation<T, D> {
+    /// Translate the given point.
+    ///
+    /// This is the same as the multiplication `self * pt`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation3, Point3};
+    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// let transformed_point = t.transform_point(&Point3::new(4.0, 5.0, 6.0));
+    /// assert_eq!(transformed_point, Point3::new(5.0, 7.0, 9.0));
+    #[inline]
+    #[must_use]
+    pub fn transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
+        pt + &self.vector
+    }
+}
+
+impl<T: Scalar + ClosedSub, const D: usize> Translation<T, D> {
+    /// Translate the given point by the inverse of this translation.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation3, Point3};
+    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// let transformed_point = t.inverse_transform_point(&Point3::new(4.0, 5.0, 6.0));
+    /// assert_eq!(transformed_point, Point3::new(3.0, 3.0, 3.0));
+    #[inline]
+    #[must_use]
+    pub fn inverse_transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
+        pt - &self.vector
+    }
+}
+
+impl<T: Scalar + Eq, const D: usize> Eq for Translation<T, D> {}
+
+impl<T: Scalar + PartialEq, const D: usize> PartialEq for Translation<T, D> {
+    #[inline]
+    fn eq(&self, right: &Translation<T, D>) -> bool {
+        self.vector == right.vector
+    }
+}
+
+impl<T: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Translation<T, D>
+where
+    T::Epsilon: Clone,
+{
+    type Epsilon = T::Epsilon;
+
+    #[inline]
+    fn default_epsilon() -> Self::Epsilon {
+        T::default_epsilon()
+    }
+
+    #[inline]
+    fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
+        self.vector.abs_diff_eq(&other.vector, epsilon)
+    }
+}
+
+impl<T: Scalar + RelativeEq, const D: usize> RelativeEq for Translation<T, D>
+where
+    T::Epsilon: Clone,
+{
+    #[inline]
+    fn default_max_relative() -> Self::Epsilon {
+        T::default_max_relative()
+    }
+
+    #[inline]
+    fn relative_eq(
+        &self,
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
+        self.vector
+            .relative_eq(&other.vector, epsilon, max_relative)
+    }
+}
+
+impl<T: Scalar + UlpsEq, const D: usize> UlpsEq for Translation<T, D>
+where
+    T::Epsilon: Clone,
+{
+    #[inline]
+    fn default_max_ulps() -> u32 {
+        T::default_max_ulps()
+    }
+
+    #[inline]
+    fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
+        self.vector.ulps_eq(&other.vector, epsilon, max_ulps)
+    }
+}
+
+/*
+ *
+ * Display
+ *
+ */
+impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Translation<T, D> {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        let precision = f.precision().unwrap_or(3);
+
+        writeln!(f, "Translation {{")?;
+        write!(f, "{:.*}", precision, self.vector)?;
+        writeln!(f, "}}")
+    }
+}