I learned that way and I think it's very easy:
~x = (x + 1) * (-1)
Add one then change the signal.
Examples:
~0 = (0 + 1) * (-1) = -1
~6 = (6 + 1) * (-1) = -7
~31 = (31 + 1) * (-1) = -32
~(-1) = (-1 + 1) * (-1) = 0
~(-2) = (-2 + 1) * (-1) = 1
~(-9) = (-9 + 1) * (-1) = 8
~(-32) = (-32 + 1) * (-1) = 31
(this is the same as Bala and Harwinder said...)

[ November 20, 2003: Message edited by: Ana Abrantes ]