Quaternion Squad(const Quaternion & p, const Quaternion & a, const Quaternion & b, const Quaternion & r, const Real t);
Squad uses an iterative of three slerps. Suppose four quaternions,
,
,
and
as the ordered vertices of quadrilateral.
Interpolate
along
to
using slerp and
along
to
also using slerp. Now interpolate
along
to
[2].
Squad is defined as
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(2.27) |
Quaternion