public static DualQuaternion sclerp(DualQuaternion from, DualQuaternion to, float t)
{
float dot = from.dot(to);
if (dot < 0)
{
to = to * -1.0f;
}
var diff = from.conjugate() * to;
var vr = diff.real.getVectorPart();
var vd = diff.dual.getVectorPart();
float invr = 1.0f / Mathf.Sqrt(Vector3.Dot(vr, vr));
float angle = 2.0f * Mathf.Acos(diff.real.w);
float pitch = -2.0f * diff.dual.w * invr;
Vector3 dir = vr * invr;
Vector3 moment = (vd - dir * pitch * diff.real.w * 0.5f) * invr;
angle *= t;
pitch *= t;
float sinAngle = Mathf.Sin(0.5f * angle);
float cosAngle = Mathf.Cos(0.5f * angle);
var result = new DualQuaternion();
result.real = new Quaternion(dir.x * sinAngle, dir.y * sinAngle, dir.z * sinAngle, cosAngle);
var rdv = (sinAngle * moment + pitch * 0.5f * cosAngle * dir);
result.dual = new Quaternion(rdv.x, rdv.y, rdv.z, -pitch * 0.5f * sinAngle);
return(result);
}