Igneous rocks form from the solidification of magma, either as intrusive (plutonic) rocks from cooling beneath the Earth's surface or extrusive (volcanic) rocks from lava solidifying on the surface. They are classified based on their composition and texture, with key terms including phaneritic, aphanitic, and fragmental, which describe crystal visibility and formation processes. Compositions vary, with major distinctions between felsic and mafic minerals, influencing the physical characteristics and classifications of resulting igneous rocks.