Spherical linear interpolation

In geometry, spherical linear interpolation, commonly abbreviated slerp, is a function which interpolates between two points on a sphere, such that spherical distance from the starting point varies uniformly with the interpolation parameter. In computer graphics, it was popularized by Ken Shoemake for animating three-dimensional rotations, represented as quaternions on an abstract 3-sphere. When the interpolation parameter represents time, spherical linear interpolation results in a constant-speed motion along a great circle arc between the endpoints or a smooth and uniform variation between two three-dimensional rotations.

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