diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8f87866..39e2fc9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,6 +36,7 @@ add_library(${MR_MATH_LIB_NAME} INTERFACE
   include/mr-math/math.hpp
   include/mr-math/bound_box.hpp
   include/mr-math/color.hpp
+  include/mr-math/debug.hpp
 )
 
 target_include_directories(${MR_MATH_LIB_NAME} INTERFACE
diff --git a/include/mr-math/debug.hpp b/include/mr-math/debug.hpp
new file mode 100644
index 0000000..23b8364
--- /dev/null
+++ b/include/mr-math/debug.hpp
@@ -0,0 +1,114 @@
+#ifndef __MR_DEBUG_HPP_
+#define __MR_DEBUG_HPP_
+
+// This file provides template instantiations used by debug visualizers
+// and is intended for debug builds only
+
+#include "vec.hpp"
+
+namespace mr {
+namespace debug {
+
+// following functions instantiate methods of template structs desired in debug visualization
+
+inline namespace row {
+
+  void instantiate_row_get(const auto& row) {
+    volatile auto x = row.get(0); (void)x;
+  }
+
+#define MR_INSTANTIATE_ROW2(T) template void instantiate_row_get(const Row<T, 2>&)
+#define MR_INSTANTIATE_ROW3(T) template void instantiate_row_get(const Row<T, 3>&)
+#define MR_INSTANTIATE_ROW4(T) template void instantiate_row_get(const Row<T, 4>&)
+#define MR_INSTANTIATE_ROW2_ROW3_ROW4(T) MR_INSTANTIATE_ROW2(T); MR_INSTANTIATE_ROW3(T); MR_INSTANTIATE_ROW4(T)
+
+  // instantiate types
+  MR_INSTANTIATE_ROW2_ROW3_ROW4(float);
+  MR_INSTANTIATE_ROW2_ROW3_ROW4(double);
+  MR_INSTANTIATE_ROW2_ROW3_ROW4(int);
+  MR_INSTANTIATE_ROW2_ROW3_ROW4(uint32_t);
+
+} // namespace row
+
+inline namespace vec {
+
+  void instantiate_vec_x_y_length(const auto& vec) {
+    volatile auto x = vec.x(); (void)x;
+    volatile auto y = vec.y(); (void)y;
+    volatile auto l = vec.length(); (void)l;
+  }
+
+  void instantiate_vec_x_y_z_length(const auto& vec) {
+    instantiate_vec_x_y_length(vec);
+    volatile auto z = vec.z(); (void)z;
+  }
+
+  void instantiate_vec_x_y_z_w_length(const auto& vec) {
+    instantiate_vec_x_y_z_length(vec);
+    volatile auto w = vec.w(); (void)w;
+  }
+
+#define MR_INSTANTIATE_VEC2(T) template void instantiate_vec_x_y_length(const Vec2<T>&)
+#define MR_INSTANTIATE_VEC3(T) template void instantiate_vec_x_y_z_length(const Vec3<T>&)
+#define MR_INSTANTIATE_VEC4(T) template void instantiate_vec_x_y_z_w_length(const Vec4<T>&)
+#define MR_INSTANTIATE_VEC2_VEC3_VEC4(T) MR_INSTANTIATE_VEC2(T); MR_INSTANTIATE_VEC3(T); MR_INSTANTIATE_VEC4(T)
+
+  // instantiate types
+  MR_INSTANTIATE_VEC2_VEC3_VEC4(float);
+  MR_INSTANTIATE_VEC2_VEC3_VEC4(double);
+  MR_INSTANTIATE_VEC2_VEC3_VEC4(int);
+  MR_INSTANTIATE_VEC2_VEC3_VEC4(uint32_t);
+
+} // namespace vec
+
+inline namespace norm {
+
+  void instantiate_norm_x_y(const auto& norm) {
+    volatile auto x = norm.x(); (void)x;
+    volatile auto y = norm.y(); (void)y;
+  }
+
+  void instantiate_norm_x_y_z(const auto& norm) {
+    instantiate_norm_x_y(norm);
+    volatile auto z = norm.z(); (void)z;
+  }
+
+  void instantiate_norm_x_y_z_w(const auto& norm) {
+    instantiate_norm_x_y_z(norm);
+    volatile auto w = norm.w(); (void)w;
+  }
+
+#define MR_INSTANTIATE_NORM2(T) template void instantiate_norm_x_y(const Norm2<T>&)
+#define MR_INSTANTIATE_NORM3(T) template void instantiate_norm_x_y_z(const Norm3<T>&)
+#define MR_INSTANTIATE_NORM4(T) template void instantiate_norm_x_y_z_w(const Norm4<T>&)
+#define MR_INSTANTIATE_NORM2_NORM3_NORM4(T) MR_INSTANTIATE_NORM2(T); MR_INSTANTIATE_NORM3(T); MR_INSTANTIATE_NORM4(T)
+
+  // instantiate types
+  MR_INSTANTIATE_NORM2_NORM3_NORM4(float);
+  MR_INSTANTIATE_NORM2_NORM3_NORM4(double);
+  MR_INSTANTIATE_NORM2_NORM3_NORM4(int);
+  MR_INSTANTIATE_NORM2_NORM3_NORM4(uint32_t);
+
+} // namespace norm
+
+inline namespace bounb_box {
+
+  void instantiate_aabb_dimensions(const auto& aabb) {
+    volatile auto d = aabb.dimensions(); (void)d;
+  }
+
+#define MR_INSTANTIATE_AABB(T) template void instantiate_aabb_dimensions(const AABB<T>&)
+
+  // instantiate types
+  MR_INSTANTIATE_AABB(float);
+  MR_INSTANTIATE_AABB(double);
+  MR_INSTANTIATE_AABB(int);
+  MR_INSTANTIATE_AABB(uint32_t);
+
+} // namespace norm
+
+} // namespace debug
+} // namespace mr
+
+#endif // __MR_DEBUG_HPP_
+
diff --git a/include/mr-math/math.hpp b/include/mr-math/math.hpp
index bce165d..015bc1d 100644
--- a/include/mr-math/math.hpp
+++ b/include/mr-math/math.hpp
@@ -12,4 +12,8 @@
 #include "bound_box.hpp"
 #include "color.hpp"
 
+#ifndef NDEBUG
+  #include "debug.hpp"
+#endif
+
 #endif // __MR_MATH_HPP_
diff --git a/include/mr-math/norm.hpp b/include/mr-math/norm.hpp
index fe907b2..5ce602a 100644
--- a/include/mr-math/norm.hpp
+++ b/include/mr-math/norm.hpp
@@ -146,7 +146,6 @@ namespace mr {
 
       private:
         friend struct Vec<T, N>;
-        friend struct Rotation<T>;
         constexpr Norm(const VecT &v) noexcept : Norm(unchecked, v) {}
 
         VecT _data;
diff --git a/include/mr-math/row.hpp b/include/mr-math/row.hpp
index 891c8da..ff2e63d 100644
--- a/include/mr-math/row.hpp
+++ b/include/mr-math/row.hpp
@@ -81,6 +81,10 @@ namespace mr {
         return _data[i];
       }
 
+      [[nodiscard]] constexpr T get(std::size_t i) const {
+        return _data[i];
+      }
+
       constexpr bool operator==(const Row &other) const noexcept {
         return stdx::all_of(_data == other._data);
       }
diff --git a/mr-math.natvis b/mr-math.natvis
new file mode 100644
index 0000000..d6d714a
--- /dev/null
+++ b/mr-math.natvis
@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="utf-8"?>
+<AutoVisualizer xmlns="http://schemas.microsoft.com/vstudio/debugger/natvis/2010">
+
+  <!-- mr::Row2 -->
+  <Type Name="mr::Row&lt;*, 2&gt;">
+    <DisplayString>{{{get(0)}, {get(1)}}}</DisplayString>
+    <Expand>
+      <Item Name="[0]">get(0)</Item>
+      <Item Name="[1]">get(1)</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Row3 -->
+  <Type Name="mr::Row&lt;*, 3&gt;">
+    <DisplayString>{{{get(0)}, {get(1)}, {get(2)}}}</DisplayString>
+    <Expand>
+      <Item Name="[0]">get(0)</Item>
+      <Item Name="[1]">get(1)</Item>
+      <Item Name="[2]">get(2)</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Row4 -->
+  <Type Name="mr::Row&lt;*, 4&gt;">
+    <DisplayString>{{{get(0)}, {get(1)}, {get(2)}, {get(3)}}}</DisplayString>
+    <Expand>
+      <Item Name="[0]">get(0)</Item>
+      <Item Name="[1]">get(1)</Item>
+      <Item Name="[2]">get(2)</Item>
+      <Item Name="[3]">get(3)</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Vec2 -->
+  <Type Name="mr::Vec&lt;*, 2&gt;">
+    <DisplayString>{{{x()}, {y()}}}</DisplayString>
+    <Expand>
+      <Item Name="X">x()</Item>
+      <Item Name="Y">y()</Item>
+      <Item Name="Length">length()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Vec3 -->
+  <Type Name="mr::Vec&lt;*, 3&gt;">
+    <DisplayString>{{{x()}, {y()}, {z()}}}</DisplayString>
+    <Expand>
+      <Item Name="X">x()</Item>
+      <Item Name="Y">y()</Item>
+      <Item Name="Z">z()</Item>
+      <Item Name="Length">length()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Vec4 -->
+  <Type Name="mr::Vec&lt;*, 4&gt;">
+    <DisplayString>{{{x()}, {y()}, {z()}, {w()}}}</DisplayString>
+    <Expand>
+      <Item Name="X">x()</Item>
+      <Item Name="Y">y()</Item>
+      <Item Name="Z">z()</Item>
+      <Item Name="W">w()</Item>
+      <Item Name="Length">length()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Norm2 -->
+  <Type Name="mr::Norm&lt;*, 2&gt;">
+    <DisplayString>{{{x()}, {y()}}}</DisplayString>
+    <Expand>
+      <Item Name="X">x()</Item>
+      <Item Name="Y">y()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Norm3 -->
+  <Type Name="mr::Norm&lt;*, 3&gt;">
+    <DisplayString>{{{x()}, {y()}, {z()}}}</DisplayString>
+    <Expand>
+      <Item Name="X">x()</Item>
+      <Item Name="Y">y()</Item>
+      <Item Name="Z">z()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Norm4 -->
+  <Type Name="mr::Norm&lt;*, 4&gt;">
+    <DisplayString>{{{x()}, {y()}, {z()}, {w()}}}</DisplayString>
+    <Expand>
+      <Item Name="X">x()</Item>
+      <Item Name="Y">y()</Item>
+      <Item Name="Z">z()</Item>
+      <Item Name="W">w()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Radians -->
+  <Type Name="mr::Radians&lt;*&gt;">
+    <DisplayString>{_data} rad</DisplayString>
+  </Type>
+
+  <!-- mr::Degrees -->
+  <Type Name="mr::Degrees&lt;*&gt;">
+    <DisplayString>{_data} deg</DisplayString>
+  </Type>
+
+  <!-- mr::Color -->
+  <Type Name="mr::Color">
+    <DisplayString>R={r()}, G={g()}, B={b()}, A={a()}}</DisplayString>
+    <Expand>
+      <Item Name="R">r()</Item>
+      <Item Name="G">g()</Item>
+      <Item Name="B">b()</Item>
+      <Item Name="A">a()</Item>
+      <Item Name="Hex">(uint32_t(r() * 255) &lt;&lt; 24) + (uint32_t(g() * 255) &lt;&lt; 16) + (uint32_t(b() * 255) &lt;&lt; 8) + (uint32_t(a() * 255)), Xb</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::AABB -->
+  <Type Name="mr::AABB&lt;*&gt;">
+    <DisplayString>{min} : {max}</DisplayString>
+    <Expand>
+      <Item Name="Min">min</Item>
+      <Item Name="Max">max</Item>
+      <Item Name="Dimensions">dimensions()</Item>
+    </Expand>
+  </Type>
+
+  <!-- mr::Matr -->
+  <Type Name="mr::Matr&lt;*, *&gt;">
+    <DisplayString>{_data[0]} ...</DisplayString>
+    <Expand>
+      <Item Name="Rows">_data</Item>
+    </Expand>
+  </Type>
+
+</AutoVisualizer>