diff --git a/include/J3ML/LinearAlgebra/Matrix3x3.h b/include/J3ML/LinearAlgebra/Matrix3x3.h
index e51a077..84840bd 100644
--- a/include/J3ML/LinearAlgebra/Matrix3x3.h
+++ b/include/J3ML/LinearAlgebra/Matrix3x3.h
@@ -26,6 +26,7 @@ namespace J3ML::LinearAlgebra {
      *  vectors in the form M * v. This means that "Matrix3x3 M, M1, M2; M = M1 * M2;" gives a transformation M
      *  that applies M2 first, followed by M1 second
      */
+
     class Matrix3x3 {
     public:
         enum { Rows = 3 };
@@ -137,7 +138,10 @@ namespace J3ML::LinearAlgebra {
         Vector4 Mul(const Vector4& rhs) const;
         Quaternion Mul(const Quaternion& rhs) const;
 
-        void IsColOrthogonal();
+        // Returns true if the column vectors of this matrix are all perpendicular to each other.
+        bool IsColOrthogonal(float epsilon = 1e-3f) const;
+        // Returns true if the row vectors of this matrix are all perpendicular to each other.
+        bool IsRowOrthogonal(float epsilon = 1e-3f) const;
 
     protected:
         float elems[3][3];
diff --git a/src/J3ML/LinearAlgebra/Matrix3x3.cpp b/src/J3ML/LinearAlgebra/Matrix3x3.cpp
index 4b5f24c..0896c0f 100644
--- a/src/J3ML/LinearAlgebra/Matrix3x3.cpp
+++ b/src/J3ML/LinearAlgebra/Matrix3x3.cpp
@@ -397,8 +397,18 @@ namespace J3ML::LinearAlgebra {
         return *this * rhs;
     }
 
-    void Matrix3x3::IsColOrthogonal() {
+    bool Matrix3x3::IsRowOrthogonal(float epsilon) const
+    {
+        return GetRow(0).IsPerpendicular(GetRow(1), epsilon)
+            && GetRow(0).IsPerpendicular(GetRow(2), epsilon)
+            && GetRow(1).IsPerpendicular(GetRow(2), epsilon);
+    }
 
+    bool Matrix3x3::IsColOrthogonal(float epsilon) const
+    {
+        return GetColumn(0).IsPerpendicular(GetColumn(1), epsilon)
+            && GetColumn(0).IsPerpendicular(GetColumn(2), epsilon)
+            && GetColumn(1).IsPerpendicular(GetColumn(2), epsilon);
     }
 
 }