# Implementing Forward Kinematics This tutorial continues our quest to solve the problem of forward kinematics. After exploring a mathematical solution in The Mathematics of Forward Kinematics, we will see how to translate it into C# for Unity. The next tutorial, An Introduction to Gradient Descent, will finally show the theoretical foundations to solve inverse kinematics. The other post in this series can be found here:

At the end of this post you can find a link to download all the assets and scenes necessary to replicate this tutorial.

# The Mathematics of Forward Kinematics This tutorial starts our journey into the world of inverse kinematics. There are countless ways to approach this problem, but they all starts with forward kinematics.

Inverse kinematics takes a point in space, and tells you how to move your arm to reach it. Forward kinematics solves the opposite, dual problem. Knowing how you are moving your arm, it tells which point in space it reaches. The other post in this series can be found here:

At the end of this post you can find a link to download all the assets and scenes necessary to replicate this tutorial.

# The Transformation Matrix for 2D Games This tutorial will introduce the Transformation Matrix, one of the standard technique to translate, rotate and scale 2D graphics. The first part of this series, A Gentle Primer on 2D Rotations, explaines some of the Maths that is be used here.