diff --git a/src/math/math.hpp b/src/math/math.hpp
index 0f918d9..0b7860b 100644
--- a/src/math/math.hpp
+++ b/src/math/math.hpp
@@ -23,54 +23,24 @@
 /// Mathematical functions and data types.
 namespace math {}
 
-/**
- * @defgroup vector Vector
- *
- * Vector type, functions, and operators.
- */
 #include "math/vector-type.hpp"
 #include "math/vector-functions.hpp"
 #include "math/vector-operators.hpp"
 
-/**
- * @defgroup matrix Matrix
- *
- * Matrix type, functions, and operators.
- */
 #include "math/matrix-type.hpp"
 #include "math/matrix-functions.hpp"
 #include "math/matrix-operators.hpp"
 
-/**
- * @defgroup quaternion Quaternion
- *
- * Quaternion type, functions, and operators.
- */
 #include "math/quaternion-type.hpp"
 #include "math/quaternion-functions.hpp"
 #include "math/quaternion-operators.hpp"
 
-/**
- * @defgroup transform Transform
- *
- * TRS transform type, functions, and operators.
- */
 #include "math/transform-type.hpp"
 #include "math/transform-functions.hpp"
 #include "math/transform-operators.hpp"
 
-/**
- * @defgroup io I/O
- *
- * Functions and operators that read/write vectors, matrices, or quaternions from/to streams.
- */
 #include "math/stream-operators.hpp"
 
-/**
- * @defgroup utility Utility constants and functions
- *
- * Commonly used utilities.
- */
 #include "math/angles.hpp"
 #include "math/constants.hpp"
 #include "math/interpolation.hpp"
diff --git a/src/math/matrix-functions.hpp b/src/math/matrix-functions.hpp
index 25f7552..e76822e 100644
--- a/src/math/matrix-functions.hpp
+++ b/src/math/matrix-functions.hpp
@@ -27,9 +27,6 @@
 
 namespace math {
 
-/// @addtogroup matrix
-/// @{
-
 /**
  * Adds two matrices.
  *
@@ -867,8 +864,6 @@ matrix<T2, N, M> type_cast(const matrix<T1, N, M>& m)
 	return type_cast<T2>(m, std::make_index_sequence<N>{}); 
 }
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_MATRIX_FUNCTIONS_HPP
diff --git a/src/math/matrix-operators.hpp b/src/math/matrix-operators.hpp
index 33b34dd..316b16f 100644
--- a/src/math/matrix-operators.hpp
+++ b/src/math/matrix-operators.hpp
@@ -23,78 +23,64 @@
 #include "math/matrix-type.hpp"
 #include "math/matrix-functions.hpp"
 
-namespace math {
-namespace matrix_operators {
-
-/// @addtogroup matrix
-/// @{
-
-/// @copydoc add(const matrix<T, 2, 2>&, const matrix<T, 2, 2>&)
+/// @copydoc math::add(const math::matrix<T, 2, 2>&, const math::matrix<T, 2, 2>&)
 template <class T, std::size_t N, std::size_t M>
-matrix<T, N, M> operator+(const matrix<T, N, M>& x, const matrix<T, N, M>& y);
+math::matrix<T, N, M> operator+(const math::matrix<T, N, M>& x, const math::matrix<T, N, M>& y);
 
-/// @copydoc mul(const matrix<T, 2, 2>&, const matrix<T, 2, 2>&)
+/// @copydoc math::mul(const math::matrix<T, 2, 2>&, const math::matrix<T, 2, 2>&)
 template <class T, std::size_t N, std::size_t M>
-matrix<T, N, M> operator*(const matrix<T, N, M>& x, const matrix<T, N, M>& y);
+math::matrix<T, N, M> operator*(const math::matrix<T, N, M>& x, const math::matrix<T, N, M>& y);
 
-/// @copydoc mul(const matrix<T, N, M>&, T)
+/// @copydoc math::mul(const math::matrix<T, N, M>&, T)
 template <class T, std::size_t N, std::size_t M>
-matrix<T, N, M> operator*(const matrix<T, N, M>& m, T s);
+math::matrix<T, N, M> operator*(const math::matrix<T, N, M>& m, T s);
 
-/// @copydoc mul(const matrix<T, N, M>&, T)
+/// @copydoc math::mul(const math::matrix<T, N, M>&, T)
 template <class T, std::size_t N, std::size_t M>
-matrix<T, N, M> operator*(T s, const matrix<T, N, M>& m);
+math::matrix<T, N, M> operator*(T s, const math::matrix<T, N, M>& m);
 
-/// @copydoc mul(const matrix<T, 2, 2>&, const vector<T, 2>&)
+/// @copydoc math::mul(const math::matrix<T, 2, 2>&, const math::vector<T, 2>&)
 template <class T, std::size_t N>
-vector<T, N> operator*(const matrix<T, N, N>& m, const vector<T, N>& v);
+math::vector<T, N> operator*(const math::matrix<T, N, N>& m, const math::vector<T, N>& v);
 
-/// @copydoc sub(const matrix<T, 2, 2>&, const matrix<T, 2, 2>&)
+/// @copydoc math::sub(const math::matrix<T, 2, 2>&, const math::matrix<T, 2, 2>&)
 template <class T, std::size_t N, std::size_t M>
-matrix<T, N, M> operator-(const matrix<T, N, M>& x, const matrix<T, N, M>& y);
+math::matrix<T, N, M> operator-(const math::matrix<T, N, M>& x, const math::matrix<T, N, M>& y);
 
 template <class T, std::size_t N, std::size_t M>
-inline matrix<T, N, M> operator+(const matrix<T, N, M>& x, const matrix<T, N, M>& y)
+inline math::matrix<T, N, M> operator+(const math::matrix<T, N, M>& x, const math::matrix<T, N, M>& y)
 {
 	return add(x, y);
 }
 
 template <class T, std::size_t N, std::size_t M>
-inline matrix<T, N, M> operator*(const matrix<T, N, M>& x, const matrix<T, N, M>& y)
+inline math::matrix<T, N, M> operator*(const math::matrix<T, N, M>& x, const math::matrix<T, N, M>& y)
 {
 	return mul(x, y);
 }
 
 template <class T, std::size_t N, std::size_t M>
-inline matrix<T, N, M> operator*(const matrix<T, N, M>& m, T s)
+inline math::matrix<T, N, M> operator*(const math::matrix<T, N, M>& m, T s)
 {
 	return mul(m, s);
 }
 
 template <class T, std::size_t N, std::size_t M>
-inline matrix<T, N, M> operator*(T s, const matrix<T, N, M>& m)
+inline math::matrix<T, N, M> operator*(T s, const math::matrix<T, N, M>& m)
 {
 	return mul(m, s);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator*(const matrix<T, N, N>& m, const vector<T, N>& v)
+inline math::vector<T, N> operator*(const math::matrix<T, N, N>& m, const math::vector<T, N>& v)
 {
 	return mul(m, v);
 }
 
 template <class T, std::size_t N, std::size_t M>
-inline matrix<T, N, M> operator-(const matrix<T, N, M>& x, const matrix<T, N, M>& y)
+inline math::matrix<T, N, M> operator-(const math::matrix<T, N, M>& x, const math::matrix<T, N, M>& y)
 {
 	return sub(x, y);
 }
 
-/// @}
-
-} // namespace matrix_operators
-} // namespace math
-
-// Bring matrix operators into global namespace
-using namespace math::matrix_operators;
-
 #endif // ANTKEEPER_MATH_MATRIX_OPERATORS_HPP
diff --git a/src/math/matrix-type.hpp b/src/math/matrix-type.hpp
index ff6d923..9f8a469 100644
--- a/src/math/matrix-type.hpp
+++ b/src/math/matrix-type.hpp
@@ -25,9 +25,6 @@
 
 namespace math {
 
-/// @addtogroup matrix
-/// @{
-
 /**
  * An NxM matrix.
  *
@@ -46,8 +43,6 @@ struct matrix
 	inline constexpr const row_type& operator[](std::size_t i) const noexcept { return columns[i]; }
 };
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_MATRIX_TYPE_HPP
diff --git a/src/math/quaternion-functions.hpp b/src/math/quaternion-functions.hpp
index f75ffaa..ed56e02 100644
--- a/src/math/quaternion-functions.hpp
+++ b/src/math/quaternion-functions.hpp
@@ -28,9 +28,6 @@
 
 namespace math {
 
-/// @addtogroup quaternion
-/// @{
-
 /**
  * Adds two quaternions.
  *
@@ -482,8 +479,6 @@ inline quaternion<T2> type_cast(const quaternion<T1>& q)
 	};
 }
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_QUATERNION_FUNCTIONS_HPP
diff --git a/src/math/quaternion-operators.hpp b/src/math/quaternion-operators.hpp
index 9ecf1da..c71b887 100644
--- a/src/math/quaternion-operators.hpp
+++ b/src/math/quaternion-operators.hpp
@@ -23,89 +23,75 @@
 #include "math/quaternion-type.hpp"
 #include "math/quaternion-functions.hpp"
 
-namespace math {
-namespace quaternion_operators {
-
-/// @addtogroup quaternion
-/// @{
-
-/// @copydoc add(const quaternion<T>&, const quaternion<T>&)
+/// @copydoc math::add(const math::quaternion<T>&, const math::quaternion<T>&)
 template <class T>
-quaternion<T> operator+(const quaternion<T>& x, const quaternion<T>& y);
+math::quaternion<T> operator+(const math::quaternion<T>& x, const math::quaternion<T>& y);
 
-/// @copydoc div(const quaternion<T>&, T)
+/// @copydoc math::div(const math::quaternion<T>&, T)
 template <class T>
-quaternion<T> operator/(const quaternion<T>& q, T s);
+math::quaternion<T> operator/(const math::quaternion<T>& q, T s);
 
-/// @copydoc mul(const quaternion<T>&, const quaternion<T>&)
+/// @copydoc math::mul(const math::quaternion<T>&, const math::quaternion<T>&)
 template <class T>
-quaternion<T> operator*(const quaternion<T>& x, const quaternion<T>& y);
+math::quaternion<T> operator*(const math::quaternion<T>& x, const math::quaternion<T>& y);
 
-/// @copydoc mul(const quaternion<T>&, T)
+/// @copydoc math::mul(const math::quaternion<T>&, T)
 template <class T>
-quaternion<T> operator*(const quaternion<T>& q, T s);
+math::quaternion<T> operator*(const math::quaternion<T>& q, T s);
 
-/// @copydoc mul(const quaternion<T>&, const vector<T, 3>&)
+/// @copydoc math::mul(const math::quaternion<T>&, const math::vector<T, 3>&)
 template <class T>
-vector<T, 3> operator*(const quaternion<T>& q, const vector<T, 3>& v);
+math::vector<T, 3> operator*(const math::quaternion<T>& q, const math::vector<T, 3>& v);
 
-/// @copydoc sub(const quaternion<T>&, const quaternion<T>&)
+/// @copydoc math::sub(const math::quaternion<T>&, const math::quaternion<T>&)
 template <class T>
-quaternion<T> operator-(const quaternion<T>& x, const quaternion<T>& y);
+math::quaternion<T> operator-(const math::quaternion<T>& x, const math::quaternion<T>& y);
 
-/// @copydoc negate(const quaternion<T>&)
+/// @copydoc math::negate(const math::quaternion<T>&)
 template <class T, std::size_t N>
-quaternion<T> operator-(const quaternion<T>& x);
+math::quaternion<T> operator-(const math::quaternion<T>& x);
 
 template <class T>
-inline quaternion<T> operator+(const quaternion<T>& x, const quaternion<T>& y)
+inline math::quaternion<T> operator+(const math::quaternion<T>& x, const math::quaternion<T>& y)
 {
 	return add(x, y);
 }
 
 template <class T>
-inline quaternion<T> operator/(const quaternion<T>& q, T s)
+inline math::quaternion<T> operator/(const math::quaternion<T>& q, T s)
 {
 	return div(q, s);
 }
 
 template <class T>
-inline quaternion<T> operator*(const quaternion<T>& x, const quaternion<T>& y)
+inline math::quaternion<T> operator*(const math::quaternion<T>& x, const math::quaternion<T>& y)
 {
 	return mul(x, y);
 }
 
 template <class T>
-inline quaternion<T> operator*(const quaternion<T>& q, T s)
+inline math::quaternion<T> operator*(const math::quaternion<T>& q, T s)
 {
 	return mul(q, s);
 }
 
 template <class T>
-inline vector<T, 3> operator*(const quaternion<T>& q, const vector<T, 3>& v)
+inline math::vector<T, 3> operator*(const math::quaternion<T>& q, const math::vector<T, 3>& v)
 {
 	return mul(q, v);
 }
 
 template <class T>
-inline quaternion<T> operator-(const quaternion<T>& x, const quaternion<T>& y)
+inline math::quaternion<T> operator-(const math::quaternion<T>& x, const math::quaternion<T>& y)
 {
 	return sub(x, y);
 }
 
 template <class T, std::size_t N>
-inline quaternion<T> operator-(const quaternion<T>& x)
+inline math::quaternion<T> operator-(const math::quaternion<T>& x)
 {
 	return negate(x);
 }
 
-/// @}
-
-} // namespace quaternion_operators
-} // namespace math
-
-/// Bring quaternion operators into global namespace
-using namespace math::quaternion_operators;
-
 #endif // ANTKEEPER_MATH_QUATERNION_OPERATORS_HPP
 
diff --git a/src/math/quaternion-type.hpp b/src/math/quaternion-type.hpp
index d7fa768..24a7e2a 100644
--- a/src/math/quaternion-type.hpp
+++ b/src/math/quaternion-type.hpp
@@ -22,9 +22,6 @@
 
 namespace math {
 
-/// @addtogroup quaternion
-/// @{
-
 /**
  * A quaternion type is a tuple made of a scalar (real) part and vector (imaginary) part.
  *
@@ -40,8 +37,6 @@ struct quaternion
 	scalar_type z;
 };
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_QUATERNION_TYPE_HPP
diff --git a/src/math/stream-operators.hpp b/src/math/stream-operators.hpp
index 60e1d4b..386a3d8 100644
--- a/src/math/stream-operators.hpp
+++ b/src/math/stream-operators.hpp
@@ -25,12 +25,6 @@
 #include "math/quaternion-type.hpp"
 #include <ostream>
 
-namespace math {
-namespace stream_operators {
-
-/// @addtogroup io
-/// @{
-
 /**
  * Writes the elements of a vector to an output stream, with each element delimeted by a space.
  *
@@ -39,7 +33,7 @@ namespace stream_operators {
  * @return Output stream.
  */
 template <class T, std::size_t N>
-std::ostream& operator<<(std::ostream& os, const vector<T, N>& v);
+std::ostream& operator<<(std::ostream& os, const math::vector<T, N>& v);
 
 /**
  * Writes the elements of a matrix to an output stream, with each element delimeted by a space.
@@ -49,7 +43,7 @@ std::ostream& operator<<(std::ostream& os, const vector<T, N>& v);
  * @return Output stream.
  */
 template <class T, std::size_t N, std::size_t M>
-std::ostream& operator<<(std::ostream& os, const matrix<T, N, M>& m);
+std::ostream& operator<<(std::ostream& os, const math::matrix<T, N, M>& m);
 
 /**
  * Writes the real and imaginary parts of a quaternion to an output stream, with each number delimeted by a space.
@@ -59,7 +53,7 @@ std::ostream& operator<<(std::ostream& os, const matrix<T, N, M>& m);
  * @return Output stream.
  */
 template <class T>
-std::ostream& operator<<(std::ostream& os, const quaternion<T>& q);
+std::ostream& operator<<(std::ostream& os, const math::quaternion<T>& q);
 
 /**
  * Reads the elements of a vector from an input stream, with each element delimeted by a space.
@@ -69,7 +63,7 @@ std::ostream& operator<<(std::ostream& os, const quaternion<T>& q);
  * @return Input stream.
  */
 template <class T, std::size_t N>
-std::istream& operator>>(std::istream& is, vector<T, N>& v);
+std::istream& operator>>(std::istream& is, math::vector<T, N>& v);
 
 /**
  * Reads the elements of a matrix from an input stream, with each element delimeted by a space.
@@ -79,7 +73,7 @@ std::istream& operator>>(std::istream& is, vector<T, N>& v);
  * @return Input stream.
  */
 template <class T, std::size_t N, std::size_t M>
-std::istream& operator>>(std::istream& is, matrix<T, N, M>& m);
+std::istream& operator>>(std::istream& is, math::matrix<T, N, M>& m);
 
 /**
  * Reads the real and imaginary parts of a quaternion from an input stream, with each number delimeted by a space.
@@ -89,10 +83,10 @@ std::istream& operator>>(std::istream& is, matrix<T, N, M>& m);
  * @return Input stream.
  */
 template <class T>
-std::istream& operator>>(std::istream& is, const quaternion<T>& q);
+std::istream& operator>>(std::istream& is, const math::quaternion<T>& q);
 
 template <class T, std::size_t N>
-std::ostream& operator<<(std::ostream& os, const vector<T, N>& v)
+std::ostream& operator<<(std::ostream& os, const math::vector<T, N>& v)
 {
 	for (std::size_t i = 0; i < N; ++i)
 	{
@@ -108,7 +102,7 @@ std::ostream& operator<<(std::ostream& os, const vector<T, N>& v)
 }
 
 template <class T, std::size_t N, std::size_t M>
-std::ostream& operator<<(std::ostream& os, const matrix<T, N, M>& m)
+std::ostream& operator<<(std::ostream& os, const math::matrix<T, N, M>& m)
 {
 	for (std::size_t i = 0; i < N; ++i)
 	{
@@ -127,14 +121,14 @@ std::ostream& operator<<(std::ostream& os, const matrix<T, N, M>& m)
 }
 
 template <class T>
-std::ostream& operator<<(std::ostream& os, const quaternion<T>& q)
+std::ostream& operator<<(std::ostream& os, const math::quaternion<T>& q)
 {
 	os << q.w << ' ' << q.x << ' ' << q.y << ' ' << q.z;
 	return os;
 }
 
 template <class T, std::size_t N>
-std::istream& operator>>(std::istream& is, vector<T, N>& v)
+std::istream& operator>>(std::istream& is, math::vector<T, N>& v)
 {
 	for (std::size_t i = 0; i < N; ++i)
 		is >> v[i];
@@ -143,7 +137,7 @@ std::istream& operator>>(std::istream& is, vector<T, N>& v)
 }
 
 template <class T, std::size_t N, std::size_t M>
-std::istream& operator>>(std::istream& is, matrix<T, N, M>& m)
+std::istream& operator>>(std::istream& is, math::matrix<T, N, M>& m)
 {
 	for (std::size_t i = 0; i < N * M; ++i)
 	{
@@ -156,7 +150,7 @@ std::istream& operator>>(std::istream& is, matrix<T, N, M>& m)
 }
 
 template <class T>
-std::istream& operator>>(std::istream& is, const quaternion<T>& q)
+std::istream& operator>>(std::istream& is, const math::quaternion<T>& q)
 {
 	is >> q.w;
 	is >> q.x;
@@ -166,12 +160,4 @@ std::istream& operator>>(std::istream& is, const quaternion<T>& q)
 	return is;
 }
 
-/// @}
-
-} // namespace stream_operators
-} // namespace math
-
-// Bring stream operators into global namespace
-using namespace math::stream_operators;
-
 #endif // ANTKEEPER_MATH_STREAM_OPERATORS_HPP
diff --git a/src/math/transform-functions.hpp b/src/math/transform-functions.hpp
index 88224ea..e3c06bf 100644
--- a/src/math/transform-functions.hpp
+++ b/src/math/transform-functions.hpp
@@ -27,9 +27,6 @@
 
 namespace math {
 
-/// @addtogroup transform
-/// @{
-
 /**
  * Calculates the inverse of a transform.
  *
@@ -102,8 +99,6 @@ vector<T, 3> mul(const transform<T>& t, const vector<T, 3>& v)
 	return t.translation + (t.rotation * (v * t.scale));
 }
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_TRANSFORM_FUNCTIONS_HPP
diff --git a/src/math/transform-operators.hpp b/src/math/transform-operators.hpp
index 1f27034..caacf7f 100644
--- a/src/math/transform-operators.hpp
+++ b/src/math/transform-operators.hpp
@@ -23,19 +23,13 @@
 #include "math/transform-type.hpp"
 #include "math/transform-functions.hpp"
 
-namespace math {
-namespace transform_operators {
-
-/// @addtogroup transform
-/// @{
-
-/// @copydoc mul(const transform<T>&, const transform<T>&)
+/// @copydoc math::mul(const math::transform<T>&, const math::transform<T>&)
 template <class T>
-transform<T> operator*(const transform<T>& x, const transform<T>& y);
+math::transform<T> operator*(const math::transform<T>& x, const math::transform<T>& y);
 
-/// @copydoc mul(const transform<T>&, const vector<T, 3>&)
+/// @copydoc math::mul(const math::transform<T>&, const math::vector<T, 3>&)
 template <class T>
-vector<T, 3> operator*(const transform<T>& t, const vector<T, 3>& v);
+math::vector<T, 3> operator*(const math::transform<T>& t, const math::vector<T, 3>& v);
 
 /**
  * Multiplies two transforms and stores the result in the first transform.
@@ -45,33 +39,25 @@ vector<T, 3> operator*(const transform<T>& t, const vector<T, 3>& v);
  * @return Reference to the first transform.
  */
 template <class T>
-transform<T>& operator*=(transform<T>& x, const transform<T>& y);
+math::transform<T>& operator*=(math::transform<T>& x, const math::transform<T>& y);
 
 template <class T>
-inline transform<T> operator*(const transform<T>& x, const transform<T>& y)
+inline math::transform<T> operator*(const math::transform<T>& x, const math::transform<T>& y)
 {
 	return mul(x, y);
 }
 
 template <class T>
-inline vector<T, 3> operator*(const transform<T>& t, const vector<T, 3>& v)
+inline math::vector<T, 3> operator*(const math::transform<T>& t, const math::vector<T, 3>& v)
 {
 	return mul(t, v);
 }
 
 template <class T>
-inline transform<T>& operator*=(transform<T>& x, const vector<T, 3>& y)
+inline math::transform<T>& operator*=(math::transform<T>& x, const math::vector<T, 3>& y)
 {
 	return (x = x * y);
 }
 
-/// @}
-
-} // namespace transform_operators
-} // namespace math
-
-// Bring transform operators into global namespace
-using namespace math::transform_operators;
-
 #endif // ANTKEEPER_MATH_TRANSFORM_OPERATORS_HPP
 
diff --git a/src/math/transform-type.hpp b/src/math/transform-type.hpp
index 4304826..249ee6c 100644
--- a/src/math/transform-type.hpp
+++ b/src/math/transform-type.hpp
@@ -25,9 +25,6 @@
 
 namespace math {
 
-/// @addtogroup transform
-/// @{
-
 /**
  * Represents 3D TRS transformation.
  *
@@ -46,8 +43,6 @@ struct transform
 	vector<T, 3> scale;
 };
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_TRANSFORM_TYPE_HPP
diff --git a/src/math/vector-functions.hpp b/src/math/vector-functions.hpp
index 279b96a..8281bcc 100644
--- a/src/math/vector-functions.hpp
+++ b/src/math/vector-functions.hpp
@@ -28,9 +28,6 @@
 
 namespace math {
 
-/// @addtogroup vector
-/// @{
-
 /**
  * Adds two vectors.
  *
@@ -644,8 +641,6 @@ inline vector<T2, N> type_cast(const vector<T1, N>& v)
 	return type_cast<T2>(v, std::make_index_sequence<N>{}); 
 }
 
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_VECTOR_FUNCTIONS_HPP
diff --git a/src/math/vector-operators.hpp b/src/math/vector-operators.hpp
index f40fb97..af7f899 100644
--- a/src/math/vector-operators.hpp
+++ b/src/math/vector-operators.hpp
@@ -23,43 +23,37 @@
 #include "math/vector-type.hpp"
 #include "math/vector-functions.hpp"
 
-namespace math {
-namespace vector_operators {
-
-/// @addtogroup vector
-/// @{
-
-/// @copydoc add(const vector<T, N>&, const vector<T, N>&)
+/// @copydoc math::add(const math::vector<T, N>&, const math::vector<T, N>&)
 template <class T, std::size_t N>
-vector<T, N> operator+(const vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N> operator+(const math::vector<T, N>& x, const math::vector<T, N>& y);
 
-/// @copydoc div(const vector<T, N>&, const vector<T, N>&)
+/// @copydoc math::div(const math::vector<T, N>&, const math::vector<T, N>&)
 template <class T, std::size_t N>
-vector<T, N> operator/(const vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N> operator/(const math::vector<T, N>& x, const math::vector<T, N>& y);
 
-/// @copydoc div(const vector<T, N>&, T)
+/// @copydoc math::div(const math::vector<T, N>&, T)
 template <class T, std::size_t N>
-vector<T, N> operator/(const vector<T, N>& v, T s);
+math::vector<T, N> operator/(const math::vector<T, N>& v, T s);
 
-/// @copydoc mul(const vector<T, N>&, const vector<T, N>&)
+/// @copydoc math::mul(const math::vector<T, N>&, const math::vector<T, N>&)
 template <class T, std::size_t N>
-vector<T, N> operator*(const vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N> operator*(const math::vector<T, N>& x, const math::vector<T, N>& y);
 
-/// @copydoc mul(const vector<T, N>&, T)
+/// @copydoc math::mul(const math::vector<T, N>&, T)
 template <class T, std::size_t N>
-vector<T, N> operator*(const vector<T, N>& v, T s);
+math::vector<T, N> operator*(const math::vector<T, N>& v, T s);
 
-/// @copydoc mul(const vector<T, N>&, T)
+/// @copydoc math::mul(const math::vector<T, N>&, T)
 template <class T, std::size_t N>
-vector<T, N> operator*(T s, const vector<T, N>& v);
+math::vector<T, N> operator*(T s, const math::vector<T, N>& v);
 
-/// @copydoc negate(const vector<T, N>&)
+/// @copydoc math::negate(const math::vector<T, N>&)
 template <class T, std::size_t N>
-vector<T, N> operator-(const vector<T, N>& x);
+math::vector<T, N> operator-(const math::vector<T, N>& x);
 
-/// @copydoc sub(const vector<T, N>&, const vector<T, N>&)
+/// @copydoc math::sub(const math::vector<T, N>&, const math::vector<T, N>&)
 template <class T, std::size_t N>
-vector<T, N> operator-(const vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N> operator-(const math::vector<T, N>& x, const math::vector<T, N>& y);
 
 /**
  * Adds two vectors and stores the result in the first vector.
@@ -69,7 +63,7 @@ vector<T, N> operator-(const vector<T, N>& x, const vector<T, N>& y);
  * @return Reference to the first vector.
  */
 template <class T, std::size_t N>
-vector<T, N>& operator+=(vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N>& operator+=(math::vector<T, N>& x, const math::vector<T, N>& y);
 
 /**
  * Subtracts two vectors and stores the result in the first vector.
@@ -79,7 +73,7 @@ vector<T, N>& operator+=(vector<T, N>& x, const vector<T, N>& y);
  * @return Reference to the first vector.
  */
 template <class T, std::size_t N>
-vector<T, N>& operator-=(vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N>& operator-=(math::vector<T, N>& x, const math::vector<T, N>& y);
 
 /**
  * Multiplies two vectors and stores the result in the first vector.
@@ -89,7 +83,7 @@ vector<T, N>& operator-=(vector<T, N>& x, const vector<T, N>& y);
  * @return Reference to the first vector.
  */
 template <class T, std::size_t N>
-vector<T, N>& operator*=(vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N>& operator*=(math::vector<T, N>& x, const math::vector<T, N>& y);
 
 /**
  * Multiplies a vector and a scalar and stores the result in the vector.
@@ -99,7 +93,7 @@ vector<T, N>& operator*=(vector<T, N>& x, const vector<T, N>& y);
  * @return Reference to the vector.
  */
 template <class T, std::size_t N>
-vector<T, N>& operator*=(vector<T, N>& v, T s);
+math::vector<T, N>& operator*=(math::vector<T, N>& v, T s);
 
 /**
  * Divides the first vector by the second vector the result in the first vector.
@@ -109,7 +103,7 @@ vector<T, N>& operator*=(vector<T, N>& v, T s);
  * @return Reference to the first vector.
  */
 template <class T, std::size_t N>
-vector<T, N>& operator/=(vector<T, N>& x, const vector<T, N>& y);
+math::vector<T, N>& operator/=(math::vector<T, N>& x, const math::vector<T, N>& y);
 
 /**
  * Divides a vector by a scalar and stores the result in the vector.
@@ -119,99 +113,91 @@ vector<T, N>& operator/=(vector<T, N>& x, const vector<T, N>& y);
  * @return Reference to the vector.
  */
 template <class T, std::size_t N>
-vector<T, N>& operator/=(vector<T, N>& v, T s);
+math::vector<T, N>& operator/=(math::vector<T, N>& v, T s);
 
 template <class T, std::size_t N>
-inline vector<T, N> operator+(const vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N> operator+(const math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return add(x, y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator-(const vector<T, N>& x)
+inline math::vector<T, N> operator-(const math::vector<T, N>& x)
 {
 	return negate(x);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator-(const vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N> operator-(const math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return sub(x, y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator*(const vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N> operator*(const math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return mul(x, y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator*(const vector<T, N>& v, T s)
+inline math::vector<T, N> operator*(const math::vector<T, N>& v, T s)
 {
 	return mul(v, s);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator*(T s, const vector<T, N>& v)
+inline math::vector<T, N> operator*(T s, const math::vector<T, N>& v)
 {
 	return mul(v, s);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator/(const vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N> operator/(const math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return div(x, y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N> operator/(const vector<T, N>& v, T s)
+inline math::vector<T, N> operator/(const math::vector<T, N>& v, T s)
 {
 	return div(v, s);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N>& operator+=(vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N>& operator+=(math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return (x = x + y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N>& operator-=(vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N>& operator-=(math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return (x = x - y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N>& operator*=(vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N>& operator*=(math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return (x = x * y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N>& operator*=(vector<T, N>& v, T s)
+inline math::vector<T, N>& operator*=(math::vector<T, N>& v, T s)
 {
 	return (v = v * s);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N>& operator/=(vector<T, N>& x, const vector<T, N>& y)
+inline math::vector<T, N>& operator/=(math::vector<T, N>& x, const math::vector<T, N>& y)
 {
 	return (x = x * y);
 }
 
 template <class T, std::size_t N>
-inline vector<T, N>& operator/=(vector<T, N>& v, T s)
+inline math::vector<T, N>& operator/=(math::vector<T, N>& v, T s)
 {
 	return (v = v / s);
 }
 
-/// @}
-
-} // namespace vector_operators
-} // namespace math
-
-// Bring vector operators into global namespace
-using namespace math::vector_operators;
-
 #endif // ANTKEEPER_MATH_VECTOR_OPERATORS_HPP
 
diff --git a/src/math/vector-type.hpp b/src/math/vector-type.hpp
index 422ab47..80aa108 100644
--- a/src/math/vector-type.hpp
+++ b/src/math/vector-type.hpp
@@ -25,9 +25,6 @@
 
 namespace math {
 
-/// @addtogroup vector
-/// @{
-
 /**
  * An `N`-dimensional Euclidean vector.
  *
@@ -121,10 +118,6 @@ struct vector<T, 4>
 	inline constexpr std::size_t size() const noexcept { return 4; };
 };
 
-static_assert(std::is_trivial<vector<float, 4>>::value);
-
-/// @}
-
 } // namespace math
 
 #endif // ANTKEEPER_MATH_VECTOR_TYPE_HPP