diff --git a/Makefile b/Makefile
new file mode 100644
index 00000000..c2a48074
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,7 @@
+all:
+	rustpkg install
+
+doc:
+	rust doc src/nalgebra.rc --output-dir doc
+
+.PHONY:doc
diff --git a/pkg.rs b/pkg.rs
new file mode 100644
index 00000000..8bd591f5
--- /dev/null
+++ b/pkg.rs
@@ -0,0 +1,3 @@
+#[pkg(id = "re.crozet.nalgebra", vers = "0.0.0")];
+
+#[pkg_crate(file = "src/nalgebra.rc")];
diff --git a/src/dim2/mat2.rs b/src/dim2/mat2.rs
new file mode 100644
index 00000000..831f99fa
--- /dev/null
+++ b/src/dim2/mat2.rs
@@ -0,0 +1,99 @@
+use core::num::{One, Zero};
+use traits::inv::Inv;
+use dim2::vec2::Vec2;
+
+pub struct Mat2<T>
+{
+    m11: T, m12: T,
+    m21: T, m22: T
+}
+
+pub fn Mat2<T:Copy>(m11: T, m12: T, m21: T, m22: T) -> Mat2<T>
+{
+  Mat2
+  {
+    m11: m11, m12: m12,
+    m21: m21, m22: m22,
+  }
+}
+
+impl<T:Copy + One + Zero> One for Mat2<T>
+{
+  fn one() -> Mat2<T>
+  {
+    let (_0, _1) = (Zero::zero(), One::one());
+    return Mat2(_1, _0,
+                _0, _1)
+  }
+}
+
+impl<T:Copy + Zero> Zero for Mat2<T>
+{
+  fn zero() -> Mat2<T>
+  {
+    let _0 = Zero::zero();
+    return Mat2(_0, _0,
+                _0, _0)
+  }
+
+  // fn is_zero(&self) -> bool
+  // {
+  //   self.m11.is_zero() && self.m11.is_zero() && self.m12.is_zero()
+  //   && self.m21.is_zero() && self.m21.is_zero() && self.m22.is_zero()
+  // }
+}
+
+impl<T:Copy + Mul<T, T> + Add<T, T>> Mul<Mat2<T>, Mat2<T>> for Mat2<T>
+{
+  fn mul(&self, other : &Mat2<T>) -> Mat2<T>
+  {
+    Mat2
+    (self.m11 * other.m11 + self.m12 * other.m21,
+     self.m11 * other.m12 + self.m12 * other.m22,
+     self.m21 * other.m11 + self.m22 * other.m21,
+     self.m21 * other.m22 + self.m22 * other.m22)
+  }
+}
+
+// FIXME: implementation of multiple classes for the same struct fails
+// with "internal compiler error: Asked to compute kind of a type variable".
+//
+// impl<T:Copy + Mul<T, T> + Add<T, T>> Mul<Vec2<T>, Vec2<T>> for Mat2<T>
+// {
+//   fn mul(&self, v : &Vec2<T>) -> Vec2<T>
+//   { Vec2(self.m11 * v.x + self.m12 * v.y, self.m21 * v.x + self.m22 * v.y) }
+// }
+
+impl<T:Copy + Mul<T, T> + Add<T, T>> Mul<Mat2<T>, Vec2<T>> for Vec2<T>
+{
+  fn mul(&self, m : &Mat2<T>) -> Vec2<T>
+  { Vec2(self.x * m.m11 + self.y * m.m21, self.x * m.m12 + self.y * m.m22) }
+}
+
+impl<T:Copy + Mul<T, T> + Div<T, T> + Sub<T, T> + Neg<T> + Eq + Zero>
+Inv<T> for Mat2<T>
+{
+  fn inv(&self) -> Mat2<T>
+  {
+    let det = self.m11 * self.m22 - self.m21 * self.m12;
+
+    assert!(det != Zero::zero());
+
+    Mat2(self.m22 / det , -self.m12 / det,
+         -self.m21 / det, self.m11 / det)
+  }
+}
+
+impl<T:ToStr> ToStr for Mat2<T>
+{
+  fn to_str(&self) -> ~str
+  {
+    ~"Mat2 {"
+    + " m11: " + self.m11.to_str()
+    + " m12: " + self.m12.to_str()
+
+    + " m21: " + self.m21.to_str()
+    + " m22: " + self.m22.to_str()
+    + " }"
+  }
+}
diff --git a/src/dim2/vec2.rs b/src/dim2/vec2.rs
new file mode 100644
index 00000000..bb4b4f8a
--- /dev/null
+++ b/src/dim2/vec2.rs
@@ -0,0 +1,43 @@
+use traits::dot::Dot;
+use traits::sqrt::Sqrt;
+
+#[deriving(Eq)]
+pub struct Vec2<T>
+{
+  x : T,
+  y : T
+}
+
+pub fn Vec2<T:Copy>(x: T, y: T) -> Vec2<T>
+{ Vec2 {x: x, y: y} }
+
+
+impl<T:Copy + Add<T,T>> Add<Vec2<T>, Vec2<T>> for Vec2<T>
+{
+  fn add(&self, other: &Vec2<T>) -> Vec2<T>
+  { Vec2(self.x + other.x, self.y + other.y) }
+}
+
+impl<T:Copy + Sub<T,T>> Sub<Vec2<T>, Vec2<T>> for Vec2<T>
+{
+  fn sub(&self, other: &Vec2<T>) -> Vec2<T>
+  { Vec2(self.x - other.x, self.y - other.y) }
+}
+
+impl<T:Copy + Mul<T, T> + Add<T, T> + Sqrt> Dot<T> for Vec2<T>
+{
+  fn dot(&self, other : &Vec2<T>) -> T
+  { self.x * other.x + self.y * other.y } 
+
+  fn sqnorm(&self) -> T
+  { self.dot(self) }
+
+  fn norm(&self) -> T
+  { self.sqnorm().sqrt() }
+}
+
+impl<T:ToStr> ToStr for Vec2<T>
+{
+  fn to_str(&self) -> ~str
+  { ~"Vec2 { x : " + self.x.to_str() + ", y : " + self.y.to_str() + " }" }
+}
diff --git a/src/dim3/mat3.rs b/src/dim3/mat3.rs
new file mode 100644
index 00000000..2df20705
--- /dev/null
+++ b/src/dim3/mat3.rs
@@ -0,0 +1,146 @@
+use core::num::{One, Zero};
+use traits::inv::Inv;
+use dim3::vec3::Vec3;
+
+pub struct Mat3<T>
+{
+    m11: T, m12: T, m13: T,
+    m21: T, m22: T, m23: T,
+    m31: T, m32: T, m33: T
+}
+
+pub fn Mat3<T:Copy>(m11: T, m12: T, m13: T,
+                    m21: T, m22: T, m23: T,
+                    m31: T, m32: T, m33: T) -> Mat3<T>
+{
+  Mat3
+  {
+    m11: m11, m12: m12, m13: m13,
+    m21: m21, m22: m22, m23: m23,
+    m31: m31, m32: m32, m33: m33
+  }
+}
+
+impl<T:Copy + One + Zero> One for Mat3<T>
+{
+  fn one() -> Mat3<T>
+  {
+    let (_0, _1) = (Zero::zero(), One::one());
+    return Mat3(_1, _0, _0,
+                _0, _1, _0,
+                _0, _0, _1)
+  }
+}
+
+impl<T:Copy + Zero> Zero for Mat3<T>
+{
+  fn zero() -> Mat3<T>
+  {
+    let _0 = Zero::zero();
+    return Mat3(_0, _0, _0,
+                _0, _0, _0,
+                _0, _0, _0)
+  }
+
+  // fn is_zero(&self) -> bool
+  // {
+  //   self.m11.is_zero() && self.m12.is_zero() && self.m13.is_zero()
+  //   && self.m21.is_zero() && self.m22.is_zero() && self.m23.is_zero()
+  //   && self.m31.is_zero() && self.m32.is_zero() && self.m33.is_zero()
+  // }
+}
+
+impl<T:Copy + Mul<T, T> + Add<T, T>> Mul<Mat3<T>, Mat3<T>> for Mat3<T>
+{
+  fn mul(&self, other : &Mat3<T>) -> Mat3<T>
+  {
+    Mat3(
+      self.m11 * other.m11  + self.m12 * other.m21 + self.m13 * other.m31,
+      self.m11 * other.m12  + self.m12 * other.m22 + self.m13 * other.m32,
+      self.m11 * other.m13  + self.m12 * other.m23 + self.m13 * other.m33,
+
+      self.m21 * other.m11  + self.m22 * other.m21 + self.m23 * other.m31,
+      self.m21 * other.m12  + self.m22 * other.m22 + self.m23 * other.m32,
+      self.m21 * other.m13  + self.m22 * other.m23 + self.m23 * other.m33,
+
+      self.m31 * other.m11  + self.m32 * other.m21 + self.m33 * other.m31,
+      self.m31 * other.m12  + self.m32 * other.m22 + self.m33 * other.m32,
+      self.m31 * other.m13  + self.m32 * other.m23 + self.m33 * other.m33
+    )
+  }
+}
+
+// FIXME: implementation of multiple classes for the same struct fails
+// with "internal compiler error: Asked to compute kind of a type variable".
+//
+// impl<T:Copy + Mul<T, T> + Add<T, T>> Mul<Vec3<T>, Vec3<T>> for Mat3<T>
+// {
+//   fn mul(&self, m : &Mat3<T>) -> Vec3<T>
+//   {
+//     Vec3(self.x * m.m11 + self.y * m.m21 + self.z * m.m31,
+//          self.x * m.m12 + self.y * m.m22 + self.z * m.m32,
+//          self.x * m.m13 + self.y * m.m23 + self.z * m.m33)
+//   }
+// }
+
+impl<T:Copy + Mul<T, T> + Add<T, T>> Mul<Mat3<T>, Vec3<T>> for Vec3<T>
+{
+  fn mul(&self, m : &Mat3<T>) -> Vec3<T>
+  {
+    Vec3(self.x * m.m11 + self.y * m.m21 + self.z * m.m31,
+         self.x * m.m12 + self.y * m.m22 + self.z * m.m32,
+         self.x * m.m13 + self.y * m.m23 + self.z * m.m33)
+  }
+}
+
+impl<T:Copy + Mul<T, T> + Div<T, T> + Sub<T, T> + Add<T, T> + Neg<T>
+     + Eq + Zero>
+Inv<T> for Mat3<T>
+{
+  fn inv(&self) -> Mat3<T>
+  {
+    let minor_m22_m33 = self.m22 * self.m33 - self.m32 * self.m23;
+    let minor_m21_m33 = self.m21 * self.m33 - self.m31 * self.m23;
+    let minor_m21_m32 = self.m21 * self.m32 - self.m31 * self.m22;
+
+    let det = self.m11 * minor_m22_m33
+              - self.m12 * minor_m21_m33
+              + self.m13 * minor_m21_m32;
+
+    assert!(det != Zero::zero());
+
+    Mat3(
+      (minor_m22_m33  / det),
+      ((self.m13 * self.m32 - self.m33 * self.m12) / det),
+      ((self.m12 * self.m23 - self.m22 * self.m13) / det),
+
+      (-minor_m21_m33 / det),
+      ((self.m11 * self.m33 - self.m31 * self.m13) / det),
+      ((self.m13 * self.m21 - self.m23 * self.m11) / det),
+
+      (minor_m21_m32  / det),
+      ((self.m12 * self.m31 - self.m31 * self.m11) / det),
+      ((self.m11 * self.m22 - self.m21 * self.m12) / det)
+    )
+  }
+}
+
+impl<T:ToStr> ToStr for Mat3<T>
+{
+  fn to_str(&self) -> ~str
+  {
+    ~"Mat3 {"
+    + " m11: " + self.m11.to_str()
+    + " m12: " + self.m12.to_str()
+    + " m13: " + self.m13.to_str()
+
+    + " m21: " + self.m21.to_str()
+    + " m22: " + self.m22.to_str()
+    + " m23: " + self.m23.to_str()
+
+    + " m31: " + self.m31.to_str()
+    + " m32: " + self.m32.to_str()
+    + " m33: " + self.m33.to_str()
+    + " }"
+  }
+}
diff --git a/src/dim3/vec3.rs b/src/dim3/vec3.rs
new file mode 100644
index 00000000..9f210c93
--- /dev/null
+++ b/src/dim3/vec3.rs
@@ -0,0 +1,50 @@
+use traits::dot::Dot;
+use traits::sqrt::Sqrt;
+
+#[deriving(Eq)]
+pub struct Vec3<T>
+{
+  x : T,
+  y : T,
+  z : T
+}
+
+pub fn Vec3<T:Copy>(x: T, y: T, z: T) -> Vec3<T>
+{ Vec3 {x: x, y: y, z: z} }
+
+
+impl<T:Copy + Add<T,T>> Add<Vec3<T>, Vec3<T>> for Vec3<T>
+{
+  fn add(&self, other: &Vec3<T>) -> Vec3<T>
+  { Vec3(self.x + other.x, self.y + other.y, self.z + other.z) }
+}
+
+impl<T:Copy + Sub<T,T>> Sub<Vec3<T>, Vec3<T>> for Vec3<T>
+{
+  fn sub(&self, other: &Vec3<T>) -> Vec3<T>
+  { Vec3(self.x - other.x, self.y - other.y, self.z - other.z) }
+}
+
+impl<T:ToStr> ToStr for Vec3<T>
+{
+  fn to_str(&self) -> ~str
+  {
+    ~"Vec3 "
+    + "{ x : " + self.x.to_str()
+    + ", y : " + self.y.to_str()
+    + ", z : " + self.z.to_str()
+    + " }"
+  }
+}
+
+impl<T:Copy + Mul<T, T> + Add<T, T> + Sqrt> Dot<T> for Vec3<T>
+{
+  fn dot(&self, other : &Vec3<T>) -> T
+  { self.x * other.x + self.y * other.y + self.z * other.z } 
+
+  fn sqnorm(&self) -> T
+  { self.dot(self) }
+
+  fn norm(&self) -> T
+  { self.sqnorm().sqrt() }
+}
diff --git a/src/traits/dot.rs b/src/traits/dot.rs
new file mode 100644
index 00000000..4d57eeff
--- /dev/null
+++ b/src/traits/dot.rs
@@ -0,0 +1,6 @@
+pub trait Dot<T>
+{
+  fn dot(&self, &Self) -> T;
+  fn norm(&self)       -> T;
+  fn sqnorm(&self)     -> T; // { self.dot(self); }
+}
diff --git a/src/traits/inv.rs b/src/traits/inv.rs
new file mode 100644
index 00000000..0ce3ffe8
--- /dev/null
+++ b/src/traits/inv.rs
@@ -0,0 +1,4 @@
+pub trait Inv<T>
+{
+  fn inv(&self) -> Self;
+}
diff --git a/src/traits/sqrt.rs b/src/traits/sqrt.rs
new file mode 100644
index 00000000..9da09ca6
--- /dev/null
+++ b/src/traits/sqrt.rs
@@ -0,0 +1,17 @@
+// FIXME: this does not seem to exist already
+// but it will surely be added someday.
+
+pub trait Sqrt
+{
+  fn sqrt(&self) -> Self;
+}
+
+impl Sqrt for f64
+{
+  fn sqrt(&self) -> f64 { f64::sqrt(*self) }
+}
+
+impl Sqrt for f32
+{
+  fn sqrt(&self) -> f32 { f32::sqrt(*self) }
+}