diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ed2c86..6ed0d07 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,6 +37,7 @@ add_shaders(shaders
 )
 
 add_executable(demo
+  animation.c
   gpu.c
   linear_alg.c
   main.c
diff --git a/animation.c b/animation.c
new file mode 100644
index 0000000..bac7383
--- /dev/null
+++ b/animation.c
@@ -0,0 +1,50 @@
+#include "animation.h"
+
+#include <assert.h>
+#include <stdlib.h>
+
+static mat4_t bone_transform(bone_t bone)
+{
+	return mat4_mul(
+	    mat4_translate_vec3(bone.translation),
+	    mat4_mul(
+	        mat4_rotate_quaternion(bone.rotation),
+	        mat4_scale_vec3(bone.scale)));
+}
+
+static void compute_bone_matrices(
+    size_t bone_count, const bone_t *bones,
+    const mat4_t *inverse_bind_matrices, mat4_t *matrices)
+{
+	matrices[0] = bone_transform(bones[0]);
+	for (unsigned i = 1; i < bone_count; ++i) {
+		const mat4_t transform = bone_transform(bones[i]);
+		assert(bones[i].parent < bone_count);
+		matrices[i] = mat4_mul(matrices[bones[i].parent], transform);
+	}
+
+	for (unsigned i = 0; i < bone_count; ++i)
+		matrices[i] = mat4_mul(matrices[i], inverse_bind_matrices[i]);
+}
+
+animation_state_t animation_init(const model_t *model)
+{
+	mat4_t *bone_matrices = calloc(model->bone_count, sizeof(mat4_t));
+	assert(bone_matrices != nullptr);
+	return (animation_state_t) { .bone_matrices = bone_matrices };
+}
+
+void animation_cleanup(animation_state_t *state)
+{
+	if (state->bone_matrices != nullptr) {
+		free(state->bone_matrices);
+		state->bone_matrices = nullptr;
+	}
+}
+
+void animation_update(animation_state_t state, const model_t *model)
+{
+	compute_bone_matrices(
+	    model->bone_count, model->bones, model->inverse_bind_matrices,
+	    state.bone_matrices);
+}
diff --git a/animation.h b/animation.h
new file mode 100644
index 0000000..20cde1e
--- /dev/null
+++ b/animation.h
@@ -0,0 +1,15 @@
+#ifndef ANIMATION_H
+#define ANIMATION_H
+
+#include "model.h"
+
+typedef struct {
+	mat4_t *bone_matrices;
+} animation_state_t;
+
+animation_state_t animation_init(const model_t *model);
+void animation_cleanup(animation_state_t *state);
+
+void animation_update(animation_state_t state, const model_t *model);
+
+#endif
diff --git a/linear_alg.c b/linear_alg.c
index 2aa141f..6cbbaee 100644
--- a/linear_alg.c
+++ b/linear_alg.c
@@ -74,3 +74,60 @@ mat4_t mat4_perspective(float aspect, float fov, float near, float far)
 		{ 0, 0, -far * near / (far - near), 0 },
 	};
 }
+
+mat4_t mat4_translate_vec3(vec3_t v)
+{
+	return (mat4_t) {
+		{ 1, 0, 0, 0 },
+		{ 0, 1, 0, 0 },
+		{ 0, 0, 1, 0 },
+		{ v.x, v.y, v.z, 1 },
+	};
+}
+
+mat4_t mat4_scale_vec3(vec3_t v)
+{
+	return (mat4_t) {
+		{ v.x, 0, 0, 0 },
+		{ 0, v.y, 0, 0 },
+		{ 0, 0, v.z, 0 },
+		{ 0, 0, 0, 1 },
+	};
+}
+
+mat4_t mat4_rotate_quaternion(vec4_t q)
+{
+	const float xx = q.x * q.x;
+	const float xy = q.x * q.y;
+	const float xz = q.x * q.z;
+	const float xw = q.x * q.w;
+
+	const float yy = q.y * q.y;
+	const float yz = q.y * q.z;
+	const float yw = q.y * q.w;
+
+	const float zz = q.z * q.z;
+	const float zw = q.z * q.w;
+
+	return (mat4_t) {
+		{
+		    1 - 2 * (yy + zz),
+		    2 * (xy + zw),
+		    2 * (xz - yw),
+		    0,
+		},
+		{
+		    2 * (xy - zw),
+		    1 - 2 * (xx + zz),
+		    2 * (yz + xw),
+		    0,
+		},
+		{
+		    2 * (xz + yw),
+		    2 * (yz - xw),
+		    1 - 2 * (xx + yy),
+		    0,
+		},
+		{ 0, 0, 0, 1 },
+	};
+}
diff --git a/linear_alg.h b/linear_alg.h
index 09fcaa6..8eb5d52 100644
--- a/linear_alg.h
+++ b/linear_alg.h
@@ -80,5 +80,8 @@ vec3_t vec3_cross(vec3_t v, vec3_t u);
 mat4_t mat4_mul(mat4_t m, mat4_t n);
 mat4_t mat4_lookat(vec3_t camera, vec3_t target, vec3_t up);
 mat4_t mat4_perspective(float aspect, float fov, float near, float far);
+mat4_t mat4_translate_vec3(vec3_t v);
+mat4_t mat4_scale_vec3(vec3_t v);
+mat4_t mat4_rotate_quaternion(vec4_t q);
 
 #endif
diff --git a/main.c b/main.c
index a0b9dd8..cc8e9c0 100644
--- a/main.c
+++ b/main.c
@@ -1,3 +1,4 @@
+#include "animation.h"
 #include "gpu.h"
 #include "model_format_glb.h"
 
@@ -71,6 +72,10 @@ int main(int argc, char *argv[])
 	gpu_ctx_t gpu;
 	gpu_init(&gpu, &gpu_config, model);
 
+	// Initialise animation
+	animation_state_t anim = animation_init(&model);
+	animation_update(anim, &model);
+
 	const vec3_t cam = { 0, 4, -4 };
 	const vec3_t tgt = { 0, 0.5, 0 };
 	mvp_t mvp = {
@@ -107,6 +112,7 @@ int main(int argc, char *argv[])
 	}
 
 	// Clean up
+	animation_cleanup(&anim);
 	gpu_cleanup(&gpu);
 	model_cleanup(&model);
 	glfwDestroyWindow(window);