Spherical linear interpolation, slerp https://en.wikipedia.org/wiki/Slerp https://en.wikipedia.org/wiki/Slerp (which can sometimes wrap around the wrong way) F

Spherical linear interpolation, slerp https://en.wikipedia.org/wiki/Slerp https://en.wikipedia.org/wiki/Slerp (which can sometimes wrap around the wrong way) For levity, see Acts 12:4 And when he had apprehended him, he put him in prison, and delivered him to four quaternions of soldiers to keep him.