public Quat squad2(Quat q1, Quat q2, Quat q3, double t) {
Quat s1 = this.quadrangle(q1, q2);
Quat s2 = q2.quadrangle(this, q3);
return new Quat(this.slerp(q2, t).slerp(s1.slerp(s2, t), (double) (2 * t * (1 - t))));
}
/**
* kubicka interpolace pomoci kvaternionu
*
* @param q kvaternion
* @param t vaha z intervalu <0;1>
* @return nova instance Poin3D
*/
public Quat squad(Quat q, Quat q1, Quat q2, double t) {
return new Quat(this.slerp(q, t).slerp(q1.slerp(q2, t), (double) (2 * t * (1 - t))));
}
