diff --git a/labo_ik/Armature.cpp b/labo_ik/Armature.cpp
index d3afa80..4eb4392 100644
--- a/labo_ik/Armature.cpp
+++ b/labo_ik/Armature.cpp
@@ -6,63 +6,66 @@ using namespace gti320;
 
 // Constructor
 //
-Link::Link(Link* _parent, const Vector3f& _eulerAng, const Vector3f& _trans) :
-    parent(_parent), eulerAng(_eulerAng), trans(_trans)
-{
-    if (parent != nullptr)
-    {
+Link::Link(Link *_parent, const Vector3f &_eulerAng, const Vector3f &_trans) :
+        parent(_parent), eulerAng(_eulerAng), trans(_trans) {
+    if (parent != nullptr) {
         parent->enfants.push_back(this);
     }
     M.setIdentity();
 }
 
-void Link::forward()
-{
-    // TODO Create a rotation matrix from the Euler angles
+void Link::forward() {
+    // Create a rotation matrix from the Euler angles
     //      of the current link.
-    
-    // TODO Create a local 4D rigid transformation matrix from the 
+    // Create a local 4D rigid transformation matrix from the
     //      3D rotation matrix and translation of the current link.
+    Matrix<float, 4, 4> local;
+    local.setIdentity();
+    local.block(0, 0, 3, 3) = makeRotation(eulerAng(0), eulerAng(1), eulerAng(2));
+    local(0, 3) = trans(0);
+    local(1, 3) = trans(1);
+    local(2, 3) = trans(2);
 
-    // TODO Update the global transformation for the link using the
+    // Update the global transformation for the link using the
     //      parent's rigid transformation matrix and the local transformation.
     //      Hint : the parent matrix should be post-multiplied.
     //      Hint : the root does not have a parent. You must consider this case.
+    if (isRoot()) {
+        M = local;
+    } else {
+        M = parent->M * local;
+    }
 
-    // TODO Update the transformation of child links
+    // Update the transformation of child links
     // by recursion.
-
+    for (const auto &child: enfants) {
+        child->forward();
+    }
 }
 
 
-Armature::Armature() : links(), root(nullptr)
-{
+Armature::Armature() : links(), root(nullptr) {
 
 }
 
-Armature::~Armature()
-{
-    for (Link* l : links)
-    {
+Armature::~Armature() {
+    for (Link *l: links) {
         delete l;
     }
 }
 
-void Armature::updateKinematics()
-{
+void Armature::updateKinematics() {
     assert(root != nullptr);
     root->forward();
 }
 
-void Armature::pack(Vector<float, Dynamic>& theta)
-{
+void Armature::pack(Vector<float, Dynamic> &theta) {
     // TODO Collect the Euler angles of each link and put them
     //      into the dense vector @a theta
 
 }
 
-void Armature::unpack(const Vector<float, Dynamic>& theta)
-{
+void Armature::unpack(const Vector<float, Dynamic> &theta) {
     const int numLinks = links.size();
     assert(theta.size() == 3 * numLinks);
 
diff --git a/labo_ik/CMakeLists.txt b/labo_ik/CMakeLists.txt
index 3ed646b..12bfa72 100644
--- a/labo_ik/CMakeLists.txt
+++ b/labo_ik/CMakeLists.txt
@@ -27,7 +27,7 @@ set(HEADERS IKApplication.h IKGLCanvas.h LinkUI.h TargetUI.h Armature.h IKSolver
 set(SOURCE main.cpp IKApplication.cpp IKGLCanvas.cpp LinkUI.cpp TargetUI.cpp Armature.cpp IKSolver.cpp)
 add_executable(labo_ik ${SOURCE} ${HEADERS})
 
-target_link_libraries(labo_ik nanogui opengl32 ${NANOGUI_EXTRA_LIBS})
+target_link_libraries(labo_ik nanogui OpenGL ${NANOGUI_EXTRA_LIBS})
 
 if(MSVC) 
 	set_property(TARGET labo_ik PROPERTY VS_DEBUGGER_WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/labo_ik)