public static TSQuaternion Slerp(TSQuaternion from, TSQuaternion to, FP t)
{
t = FPMath.Clamp(t, 0, 1);
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
FP halfTheta = FP.Acos(dot);
return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta)));
}
public static TSQuaternion Lerp(TSQuaternion a, TSQuaternion b, FP t)
{
t = FPMath.Clamp(t, FP.Zero, FP.One);
return(LerpUnclamped(a, b, t));
}