diff --git a/include/ignition/math/Interval.hh b/include/ignition/math/Interval.hh
index fb0229b10..115db95dc 100644
--- a/include/ignition/math/Interval.hh
+++ b/include/ignition/math/Interval.hh
@@ -51,11 +51,14 @@ namespace ignition
 
       /// \brief Constructor
       /// \param[in] _leftValue leftmost interval value
-      /// \param[in] _leftClosed whether the interval is left-closed or not
+      /// \param[in] _leftClosed whether the interval is
+      ///   left-closed or not
       /// \param[in] _rightValue rightmost interval value
-      /// \param[in] _rightClosed whether the interval is right-closed or not
-      public: Interval(T _leftValue, bool _leftClosed,
-                       T _rightValue, bool _rightClosed)
+      /// \param[in] _rightClosed whether the interval
+      ///   is right-closed or not
+      public: constexpr Interval(
+          T _leftValue, bool _leftClosed,
+          T _rightValue, bool _rightClosed)
       : leftValue(std::move(_leftValue)),
         rightValue(std::move(_rightValue)),
         leftClosed(_leftClosed),
@@ -67,7 +70,8 @@ namespace ignition
       /// \param[in] _leftValue leftmost interval value
       /// \param[in] _rightValue rightmost interval value
       /// \return the open interval
-      public: static Interval<T> Open(T _leftValue, T _rightValue)
+      public: static constexpr Interval<T>
+      Open(T _leftValue, T _rightValue)
       {
         return Interval<T>(
           std::move(_leftValue), false,
@@ -78,7 +82,8 @@ namespace ignition
       /// \param[in] _leftValue leftmost interval value
       /// \param[in] _rightValue rightmost interval value
       /// \return the left-closed interval
-      public: static Interval<T> LeftClosed(T _leftValue, T _rightValue)
+      public: static constexpr Interval<T>
+      LeftClosed(T _leftValue, T _rightValue)
       {
         return Interval<T>(
           std::move(_leftValue), true,
@@ -89,7 +94,8 @@ namespace ignition
       /// \param[in] _leftValue leftmost interval value
       /// \param[in] _rightValue rightmost interval value
       /// \return the left-closed interval
-      public: static Interval<T> RightClosed(T _leftValue, T _rightValue)
+      public: static constexpr Interval<T>
+      RightClosed(T _leftValue, T _rightValue)
       {
         return Interval<T>(
           std::move(_leftValue), false,
@@ -100,7 +106,8 @@ namespace ignition
       /// \param[in] _leftValue leftmost interval value
       /// \param[in] _rightValue rightmost interval value
       /// \return the closed interval
-      public: static Interval<T> Closed(T _leftValue, T _rightValue)
+      public: static constexpr Interval<T>
+      Closed(T _leftValue, T _rightValue)
       {
         return Interval<T>{
           std::move(_leftValue), true,
@@ -276,7 +283,7 @@ namespace ignition
 
     namespace detail {
        template<typename T>
-       const Interval<T> gUnboundedInterval =
+       constexpr Interval<T> gUnboundedInterval =
            Interval<T>::Open(-std::numeric_limits<T>::infinity(),
                              std::numeric_limits<T>::infinity());
     }  // namespace detail
diff --git a/include/ignition/math/Region3.hh b/include/ignition/math/Region3.hh
index 5d5bb4f8d..339a9d91b 100644
--- a/include/ignition/math/Region3.hh
+++ b/include/ignition/math/Region3.hh
@@ -60,7 +60,8 @@ namespace ignition
       /// \param[in] _ix x-axis interval
       /// \param[in] _iy y-axis interval
       /// \param[in] _iz z-axis interval
-      public: Region3(Interval<T> _ix, Interval<T> _iy, Interval<T> _iz)
+      public: constexpr Region3(
+          Interval<T> _ix, Interval<T> _iy, Interval<T> _iz)
       : ix(std::move(_ix)), iy(std::move(_iy)), iz(std::move(_iz))
       {
       }
@@ -74,7 +75,7 @@ namespace ignition
       /// \param[in] _zRight righmost z-axis interval value
       /// \return the (`_xLeft`, `_xRight`) ✕ (`_yLeft`, `_yRight`)
       ///  ✕ (`_zLeft`, `_zRight`) open region
-      public: static Region3<T> Open(
+      public: static constexpr Region3<T> Open(
           T _xLeft, T _yLeft, T _zLeft,
           T _xRight, T _yRight, T _zRight)
       {
@@ -92,7 +93,7 @@ namespace ignition
       /// \param[in] _zRight righmost z-axis interval value
       /// \return the [`_xLeft`, `_xRight`] ✕ [`_yLeft`, `_yRight`]
       ///  ✕ [`_zLeft`, `_zRight`] closed region
-      public: static Region3<T> Closed(
+      public: static constexpr Region3<T> Closed(
           T _xLeft, T _yLeft, T _zLeft,
           T _xRight, T _yRight, T _zRight)
       {
@@ -188,7 +189,7 @@ namespace ignition
 
     namespace detail {
        template<typename T>
-       const Region3<T> gUnboundedRegion3(
+       constexpr Region3<T> gUnboundedRegion3(
            Interval<T>::Open(-std::numeric_limits<T>::infinity(),
                              std::numeric_limits<T>::infinity()),
            Interval<T>::Open(-std::numeric_limits<T>::infinity(),