I heard my roommate (also a game coder) talking about doing some matrix transformation, when he threw in the word "transverse". Transverse is when you flip a matrix over its major diagonal; that is, for matrix A, a(i,j) becomes a(j,i). The question is, what does this conceptually mean for a matrix representing rotation or translation? ~BenDilts( void );

The word you are looking for is transpose . In short, orthogonal matrices have an inverse equal to it''s transpose. Rotations around the origin are orthogonal.

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