diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index 63148836..17533dfb 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -38,14 +38,23 @@ use simba::scalar::{ClosedNeg, RealField};
 ///  If a feature that you need is missing, feel free to open an issue or a PR.
 ///  See https://github.com/dimforge/nalgebra/issues/487
 #[repr(C)]
-#[derive(Debug, Eq, PartialEq, Copy, Clone)]
-pub struct DualQuaternion<T: Scalar> {
+#[derive(Debug, Copy, Clone)]
+pub struct DualQuaternion<T> {
     /// The real component of the quaternion
     pub real: Quaternion<T>,
     /// The dual component of the quaternion
     pub dual: Quaternion<T>,
 }
 
+impl<T: Scalar + Eq> Eq for DualQuaternion<T> {}
+
+impl<T: Scalar> PartialEq for DualQuaternion<T> {
+    #[inline]
+    fn eq(&self, right: &Self) -> bool {
+        self.real == right.real && self.dual == right.dual
+    }
+}
+
 impl<T: Scalar + Zero> Default for DualQuaternion<T> {
     fn default() -> Self {
         Self {
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index 7d8c6e95..4e6c15d7 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -68,7 +68,7 @@ use crate::geometry::{AbstractRotation, Point, Translation};
                        DefaultAllocator: Allocator<T, Const<D>>,
                        Owned<T, Const<D>>: Deserialize<'de>"))
 )]
-pub struct Isometry<T: Scalar, R, const D: usize> {
+pub struct Isometry<T, R, const D: usize> {
     /// The pure rotational part of this isometry.
     pub rotation: R,
     /// The pure translational part of this isometry.
diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index 17a5b969..36c6ae7f 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -18,7 +18,7 @@ use crate::base::{Matrix4, Vector, Vector3};
 use crate::geometry::{Point3, Projective3};
 
 /// A 3D orthographic projection stored as a homogeneous 4x4 matrix.
-pub struct Orthographic3<T: RealField> {
+pub struct Orthographic3<T> {
     matrix: Matrix4<T>,
 }
 
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index 6ad9707f..5c849a60 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -14,12 +14,12 @@ use simba::scalar::RealField;
 
 use crate::base::dimension::U3;
 use crate::base::storage::Storage;
-use crate::base::{Matrix4, Scalar, Vector, Vector3};
+use crate::base::{Matrix4, Vector, Vector3};
 
 use crate::geometry::{Point3, Projective3};
 
 /// A 3D perspective projection stored as a homogeneous 4x4 matrix.
-pub struct Perspective3<T: Scalar> {
+pub struct Perspective3<T> {
     matrix: Matrix4<T>,
 }
 
diff --git a/src/geometry/reflection.rs b/src/geometry/reflection.rs
index dcc754c2..51ee4e45 100644
--- a/src/geometry/reflection.rs
+++ b/src/geometry/reflection.rs
@@ -1,5 +1,5 @@
 use crate::base::constraint::{AreMultipliable, DimEq, SameNumberOfRows, ShapeConstraint};
-use crate::base::{Const, Matrix, Scalar, Unit, Vector};
+use crate::base::{Const, Matrix, Unit, Vector};
 use crate::dimension::{Dim, U1};
 use crate::storage::{Storage, StorageMut};
 use simba::scalar::ComplexField;
@@ -7,7 +7,7 @@ use simba::scalar::ComplexField;
 use crate::geometry::Point;
 
 /// A reflection wrt. a plane.
-pub struct Reflection<T: Scalar, D: Dim, S: Storage<T, D>> {
+pub struct Reflection<T, D, S> {
     axis: Vector<T, D, S>,
     bias: T,
 }
diff --git a/src/geometry/rotation.rs b/src/geometry/rotation.rs
index f3127fb9..3e74af65 100755
--- a/src/geometry/rotation.rs
+++ b/src/geometry/rotation.rs
@@ -55,7 +55,7 @@ use crate::geometry::Point;
 ///
 #[repr(C)]
 #[derive(Debug)]
-pub struct Rotation<T: Scalar, const D: usize> {
+pub struct Rotation<T, const D: usize> {
     matrix: SMatrix<T, D, D>,
 }
 
diff --git a/src/geometry/similarity.rs b/src/geometry/similarity.rs
index 48ce6a85..6ae79c81 100755
--- a/src/geometry/similarity.rs
+++ b/src/geometry/similarity.rs
@@ -39,7 +39,7 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
                        DefaultAllocator: Allocator<T, Const<D>>,
                        Owned<T, Const<D>>: Deserialize<'de>"))
 )]
-pub struct Similarity<T: Scalar, R, const D: usize> {
+pub struct Similarity<T, R, const D: usize> {
     /// The part of this similarity that does not include the scaling factor.
     pub isometry: Isometry<T, R, D>,
     scaling: T,