diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7f3d088..4d171e4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,16 @@ This project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
+### Added
+
+- Implements `fmt::Debug` for `Basis2`, `Basis3`, and `AffineMatrix3`
+
+### Changed
+
+- Improves the `fmt::Debug` impls for `Vector`, `Matrix`, `Point`, `Decomposed`,
+  `Quaternion` and `Angle` to make them easier to derive, and have clearer
+  formatting.
+
 ## [v0.7.0] - 2015-12-23
 
 ### Added
diff --git a/src/angle.rs b/src/angle.rs
index 0858817..71c7bec 100644
--- a/src/angle.rs
+++ b/src/angle.rs
@@ -218,7 +218,7 @@ macro_rules! impl_angle {
             }
         }
 
-        impl<S: BaseFloat> fmt::Debug for $Angle<S> {
+        impl<S: fmt::Debug> fmt::Debug for $Angle<S> {
             fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
                 write!(f, $fmt, self.s)
             }
diff --git a/src/matrix.rs b/src/matrix.rs
index d205a63..6287ebe 100644
--- a/src/matrix.rs
+++ b/src/matrix.rs
@@ -1111,30 +1111,24 @@ impl<S: BaseFloat> From<Matrix3<S>> for Quaternion<S> {
     }
 }
 
-impl<S: BaseFloat> fmt::Debug for Matrix2<S> {
+impl<S: fmt::Debug> fmt::Debug for Matrix2<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[[{:?}, {:?}], [{:?}, {:?}]]",
-                self[0][0], self[0][1],
-                self[1][0], self[1][1])
+        try!(write!(f, "Matrix2 "));
+        <[[S; 2]; 2] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
-impl<S: BaseFloat> fmt::Debug for Matrix3<S> {
+impl<S: fmt::Debug> fmt::Debug for Matrix3<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[[{:?}, {:?}, {:?}], [{:?}, {:?}, {:?}], [{:?}, {:?}, {:?}]]",
-                self[0][0], self[0][1], self[0][2],
-                self[1][0], self[1][1], self[1][2],
-                self[2][0], self[2][1], self[2][2])
+        try!(write!(f, "Matrix3 "));
+        <[[S; 3]; 3] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
-impl<S: BaseFloat> fmt::Debug for Matrix4<S> {
+impl<S: fmt::Debug> fmt::Debug for Matrix4<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[[{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}]]",
-                self[0][0], self[0][1], self[0][2], self[0][3],
-                self[1][0], self[1][1], self[1][2], self[1][3],
-                self[2][0], self[2][1], self[2][2], self[2][3],
-                self[3][0], self[3][1], self[3][2], self[3][3])
+        try!(write!(f, "Matrix4 "));
+        <[[S; 4]; 4] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
diff --git a/src/point.rs b/src/point.rs
index 1acd820..362f1b8 100644
--- a/src/point.rs
+++ b/src/point.rs
@@ -189,15 +189,17 @@ impl_fixed_array_conversions!(Point3<S> { x: 0, y: 1, z: 2 }, 3);
 impl_tuple_conversions!(Point2<S> { x, y }, (S, S));
 impl_tuple_conversions!(Point3<S> { x, y, z }, (S, S, S));
 
-impl<S: BaseNum> fmt::Debug for Point2<S> {
+impl<S: fmt::Debug> fmt::Debug for Point2<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[{:?}, {:?}]", self.x, self.y)
+        try!(write!(f, "Point2 "));
+        <[S; 2] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
-impl<S: BaseNum> fmt::Debug for Point3<S> {
+impl<S: fmt::Debug> fmt::Debug for Point3<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[{:?}, {:?}, {:?}]", self.x, self.y, self.z)
+        try!(write!(f, "Point3 "));
+        <[S; 3] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
diff --git a/src/projection.rs b/src/projection.rs
index 4aaee72..c7f96d0 100644
--- a/src/projection.rs
+++ b/src/projection.rs
@@ -64,7 +64,7 @@ pub fn ortho<S: BaseFloat>(left: S, right: S, bottom: S, top: S, near: S, far: S
 }
 
 /// A perspective projection based on a vertical field-of-view angle.
-#[derive(Copy, Clone, PartialEq, RustcEncodable, RustcDecodable)]
+#[derive(Copy, Clone, Debug, PartialEq, RustcEncodable, RustcDecodable)]
 pub struct PerspectiveFov<S> {
     pub fovy:   Rad<S>,
     pub aspect: S,
@@ -130,7 +130,7 @@ impl<S: BaseFloat> From<PerspectiveFov<S>> for Matrix4<S> {
 }
 
 /// A perspective projection with arbitrary left/right/bottom/top distances
-#[derive(Copy, Clone, PartialEq, RustcEncodable, RustcDecodable)]
+#[derive(Copy, Clone, Debug, PartialEq, RustcEncodable, RustcDecodable)]
 pub struct Perspective<S> {
     pub left:   S,
     pub right:  S,
@@ -176,7 +176,7 @@ impl<S: BaseFloat> From<Perspective<S>> for Matrix4<S> {
 }
 
 /// An orthographic projection with arbitrary left/right/bottom/top distances
-#[derive(Copy, Clone, PartialEq, RustcEncodable, RustcDecodable)]
+#[derive(Copy, Clone, Debug, PartialEq, RustcEncodable, RustcDecodable)]
 pub struct Ortho<S> {
     pub left:   S,
     pub right:  S,
diff --git a/src/quaternion.rs b/src/quaternion.rs
index 4a65b01..a20690d 100644
--- a/src/quaternion.rs
+++ b/src/quaternion.rs
@@ -13,7 +13,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use std::fmt;
 use std::mem;
 use std::ops::*;
 
@@ -32,7 +31,7 @@ use vector::{Vector3, Vector, EuclideanVector};
 
 /// A [quaternion](https://en.wikipedia.org/wiki/Quaternion) in scalar/vector
 /// form.
-#[derive(Copy, Clone, PartialEq, RustcEncodable, RustcDecodable)]
+#[derive(Copy, Clone, Debug, PartialEq, RustcEncodable, RustcDecodable)]
 pub struct Quaternion<S> {
     pub s: S,
     pub v: Vector3<S>,
@@ -312,16 +311,6 @@ impl<S: BaseFloat> From<Quaternion<S>> for Matrix4<S> {
     }
 }
 
-impl<S: BaseFloat> fmt::Debug for Quaternion<S> {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "{:?} + {:?}i + {:?}j + {:?}k",
-                self.s,
-                self.v.x,
-                self.v.y,
-                self.v.z)
-    }
-}
-
 // Quaternion Rotation impls
 
 impl<S: BaseFloat> From<Quaternion<S>> for Basis3<S> {
diff --git a/src/rotation.rs b/src/rotation.rs
index d69e648..993188e 100644
--- a/src/rotation.rs
+++ b/src/rotation.rs
@@ -13,6 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+use std::fmt;
+
 use angle::{Angle, Rad};
 use approx::ApproxEq;
 use matrix::SquareMatrix;
@@ -222,6 +224,13 @@ impl<S: BaseFloat> Rotation2<S> for Basis2<S> {
     fn from_angle(theta: Rad<S>) -> Basis2<S> { Basis2 { mat: Matrix2::from_angle(theta) } }
 }
 
+impl<S: fmt::Debug> fmt::Debug for Basis2<S> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        try!(write!(f, "Basis2 "));
+        <[[S; 2]; 2] as fmt::Debug>::fmt(self.mat.as_ref(), f)
+    }
+}
+
 /// A three-dimensional rotation matrix.
 ///
 /// The matrix is guaranteed to be orthogonal, so some operations, specifically
@@ -323,3 +332,10 @@ impl<S: BaseFloat> Rotation3<S> for Basis3<S> {
         Basis3 { mat: Matrix3::from_angle_z(theta) }
     }
 }
+
+impl<S: fmt::Debug> fmt::Debug for Basis3<S> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        try!(write!(f, "Basis3 "));
+        <[[S; 3]; 3] as fmt::Debug>::fmt(self.mat.as_ref(), f)
+    }
+}
diff --git a/src/transform.rs b/src/transform.rs
index dfe99fd..59e6826 100644
--- a/src/transform.rs
+++ b/src/transform.rs
@@ -71,7 +71,7 @@ pub trait Transform<P: Point>: Sized {
 
 /// A generic transformation consisting of a rotation,
 /// displacement vector and scale amount.
-#[derive(Copy, Clone, RustcEncodable, RustcDecodable)]
+#[derive(Copy, Clone, Debug, RustcEncodable, RustcDecodable)]
 pub struct Decomposed<V: Vector, R> {
     pub scale: V::Scalar,
     pub rot: R,
@@ -163,13 +163,6 @@ impl<S: BaseFloat, R: Rotation2<S>> Transform2<S> for Decomposed<Vector2<S>, R>
 
 impl<S: BaseFloat, R: Rotation3<S>> Transform3<S> for Decomposed<Vector3<S>, R> {}
 
-impl<S: BaseFloat, R: fmt::Debug + Rotation3<S>> fmt::Debug for Decomposed<Vector3<S>, R> {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "(scale({:?}), rot({:?}), disp{:?})",
-            self.scale, self.rot, self.disp)
-    }
-}
-
 /// A homogeneous transformation matrix.
 #[derive(Copy, Clone, RustcEncodable, RustcDecodable)]
 pub struct AffineMatrix3<S> {
@@ -213,3 +206,10 @@ impl<S: BaseNum> From<AffineMatrix3<S>> for Matrix4<S> {
 }
 
 impl<S: BaseFloat> Transform3<S> for AffineMatrix3<S> {}
+
+impl<S: fmt::Debug> fmt::Debug for AffineMatrix3<S> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        try!(write!(f, "AffineMatrix3 "));
+        <[[S; 4]; 4] as fmt::Debug>::fmt(self.mat.as_ref(), f)
+    }
+}
diff --git a/src/vector.rs b/src/vector.rs
index 8d287a3..91abfcb 100644
--- a/src/vector.rs
+++ b/src/vector.rs
@@ -489,21 +489,24 @@ impl<S: BaseFloat> EuclideanVector for Vector4<S> {
     }
 }
 
-impl<S: BaseNum> fmt::Debug for Vector2<S> {
+impl<S: fmt::Debug> fmt::Debug for Vector2<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[{:?}, {:?}]", self.x, self.y)
+        try!(write!(f, "Vector2 "));
+        <[S; 2] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
-impl<S: BaseNum> fmt::Debug for Vector3<S> {
+impl<S: fmt::Debug> fmt::Debug for Vector3<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[{:?}, {:?}, {:?}]", self.x, self.y, self.z)
+        try!(write!(f, "Vector3 "));
+        <[S; 3] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }
 
-impl<S: BaseNum> fmt::Debug for Vector4<S> {
+impl<S: fmt::Debug> fmt::Debug for Vector4<S> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[{:?}, {:?}, {:?}, {:?}]", self.x, self.y, self.z, self.w)
+        try!(write!(f, "Vector4 "));
+        <[S; 4] as fmt::Debug>::fmt(self.as_ref(), f)
     }
 }