# Unite Berlin 2018: What Went Wrong

If you have been following Unite Berlin, you might be aware that OMG NESTED PREFABS!

Fun fact: I was literally below the confetti explosion; I’m back to London, and I’m still finding those damn confetti everywhere. And I have evidence… Continue reading

# 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.

# Arrays & shaders: heatmaps in Unity

This tutorial explains how to pass arrays to shaders in Unity. This feature has been present for a long time, but is mostly undocumented. Unity 5.4.0 Beta 1 will introduce a proper API to pass arrays to shaders; this technique however will work with any previous version.

If you are using Unity 5.4+, please refer to the Arrays & Shaders in Unity 5.4+ tutorial.