/**
* Returns the slerp interpolation of the two quaternions {@code a} and {@code b}, at time {@code
* t}, using tangents {@code tgA} and {@code tgB}.
*
* <p>The resulting Quaternion is "between" {@code a} and {@code b} (result is {@code a} when
* {@code t=0} and {@code b} for {@code t=1}).
*
* <p>Use {@link #squadTangent(Quaternion, Quaternion, Quaternion)} to define the Quaternion
* tangents {@code tgA} and {@code tgB}.
*
* @param a the first Quaternion
* @param tgA the first tangent Quaternion
* @param tgB the second tangent Quaternion
* @param b the second Quaternion
* @param t the t interpolation parameter
*/
public static final Quaternion squad(
Quaternion a, Quaternion tgA, Quaternion tgB, Quaternion b, float t) {
Quaternion ab = Quaternion.slerp(a, b, t);
Quaternion tg = Quaternion.slerp(tgA, tgB, t, false);
return Quaternion.slerp(ab, tg, 2.0f * t * (1.0f - t), false);
}
/**
* Wrapper function that simply calls {@code slerp(a, b, t, true)}.
*
* <p>See {@link #slerp(Quaternion, Quaternion, float, boolean)} for details.
*/
public static final Quaternion slerp(Quaternion a, Quaternion b, float t) {
return Quaternion.slerp(a, b, t, true);
}