diff --git a/include/tz/core/hier.hpp b/include/tz/core/hier.hpp
index 50383471f7..f1ab546c90 100644
--- a/include/tz/core/hier.hpp
+++ b/include/tz/core/hier.hpp
@@ -7,38 +7,32 @@
 
 namespace tz
 {
-	/**
-	 * @ingroup tz_core
-	 * @defgroup tz_core_hier Hierarchies
-	 * @brief Create hierarchies of transforms with attached data.
-	 */
-
 	namespace detail{struct hier_t{};}
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Represents a single hierarchy.
 	 *
 	 * See @ref create_hier for details.
 	 */
 	using hier_handle = tz::handle<detail::hier_t>;
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Represents a single node within a hierarchy.
 	 */
 	using node_handle = tz::handle<hier_handle>;
 
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Create a new empty hierarchy.
 	 */
 	hier_handle create_hier();
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Destroy an existing hierarchy, along with all of its nodes.
 	 */
 	void destroy_hier(hier_handle hier);
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Create a new node within the hierarchy.
 	 *
 	 * @param hier Hierarchy in which to create the node.
@@ -49,7 +43,7 @@ namespace tz
 	 */
 	std::expected<node_handle, tz::error_code> hier_create_node(hier_handle hier, tz::trs transform = {}, node_handle parent = tz::nullhand, void* userdata = nullptr);
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Destroy a node within the hierarchy.
 	 *
 	 * Any children are also destroyed.
@@ -62,26 +56,26 @@ namespace tz
 	tz::error_code hier_destroy_node(hier_handle hier, node_handle node);
 	
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Retrieve the local transform of a node.
 	 *
 	 * @return @ref tz::error_code::invalid_value If `hier` or `node` are invalid or have previously been destroyed.
 	 */
 	std::expected<tz::trs, tz::error_code> hier_node_get_local_transform(hier_handle hier, node_handle node);
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Set the local transform of a node.
 	 */
 	void hier_node_set_local_transform(hier_handle hier, node_handle node, tz::trs transform);
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Retrieve the global transform of a node.
 	 *
 	 * @return @ref tz::error_code::invalid_value If `hier` or `node` are invalid or have previously been destroyed.
 	 */
 	std::expected<tz::trs, tz::error_code> hier_node_get_global_transform(hier_handle hier, node_handle node);
 	/**
-	 * @ingroup tz_core_hier
+	 * @ingroup tz_core_transform
 	 * @brief Set the global transform of a node.
 	 */
 	void hier_node_set_global_transform(hier_handle hier, node_handle node, tz::trs transform);
diff --git a/include/tz/core/trs.hpp b/include/tz/core/trs.hpp
index 7ec3bb795a..f1fe10bd03 100644
--- a/include/tz/core/trs.hpp
+++ b/include/tz/core/trs.hpp
@@ -6,23 +6,61 @@
 
 namespace tz
 {
+	/**
+	 * @ingroup tz_core
+	 * @defgroup tz_core_transform Transforms
+	 * @brief Represent transformations and hierarchies of transformations in 3D space.
+	 */
+
+	/**
+	 * @ingroup tz_core_transform
+	 * @brief Create a matrix that performs the given translation in 3D space.
+	 */
 	tz::m4f matrix_translate(tz::v3f translate);
+	/**
+	 * @ingroup tz_core_transform
+	 * @brief Create a matrix that performs the given scale in 3D space.
+	 */
 	tz::m4f matrix_scale(tz::v3f scale);
+	/**
+	 * @ingroup tz_core_transform
+	 * @brief Create an orthographic projection matrix.
+	 */
 	tz::m4f matrix_ortho(float left, float right, float top, float bottom, float near, float far);
+	/**
+	 * @ingroup tz_core_transform
+	 * @brief Create a perspective projection matrix.
+	 */
 	tz::m4f matrix_persp(float fov, float aspect_ratio, float near, float far);
+	/**
+	 * @ingroup tz_core_transform
+	 * @brief Create a perspective projection matrix with an infinitely-distant far plane.
+	 */
 	tz::m4f matrix_persp_nofar(float fov, float aspect_ratio, float near);
 
+	/**
+	 * @ingroup tz_core_transform
+	 * @brief Encapsulates a combination of a Translation, Rotation, and Scale in 3D space.
+	 */
 	struct trs
 	{
+		/// Translation Component
 		tz::v3f translate = tz::v3f::zero();
+		/// Rotation Component
 		tz::quat rotate = tz::quat::iden();
+		/// Scale Component
 		tz::v3f scale = tz::v3f::filled(1.0f);
 
+		/// Linearly interpolate between this transform and another based on a factor, and return that result.
 		trs lerp(const trs& rhs, float factor) const;
+		/// Create a matrix that performs an identical transformation.
 		m4f matrix() const;
+		/// Create a new TRS that performs the identical transformation to the given matrix.
 		static trs from_matrix(m4f mat);
 
+		/// Return an inverse transform that does the exact opposite (such that multiplying a transform by its inverse yields no transformation).
 		trs inverse() const;
+		/// Combine one transform with another, and return the result. @note TRS combine operations, like matrix multiplications, are not commutative.
 		trs combine(const trs& rhs);
 
 		bool operator==(const trs& rhs) const = default;