1. Extrusive (Volcanic): Formed from lava that cools and solidifies on the Earth's surface.

2. Intrusive (Plutonic): Formed from magma that cools and solidifies beneath the Earth's surface.

3. Hypabyssal: Formed from magma that cools and solidifies in the upper crust, often in fractures and veins. This family is sometimes considered a sub-category of intrusive rocks.