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quaternion interpolation


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I am exploring the few ways of interpoling rotations in houdini, and it seems that quaternions can only be interpolated linearly. why is there no spline or cubic equivalent for them? is it mathematically impossible?

or maybe I am doing things wrong, but if I simply rotate a box, and set a qlinear() interpolation for all the animation segments, and the change of rotation axis is very abrupt.

I found a little work around by working the resulting rotation channel in chops and apply a few filters in order to smooth the movement, but is there a better way?

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