slerp

Fully qualified name: isaacsim::core::includes::math::slerp

inline carb::Float4 isaacsim::core::includes::math::slerp(

const carb::Float4 &start,

const carb::Float4 &end,

const float t,

)

Performs spherical linear interpolation between quaternions.

Interpolates along the shortest arc on the quaternion sphere. Maintains constant angular velocity throughout the interpolation.

Note

Both input quaternions must be normalized

Warning

May be unstable for angles close to 180 degrees

Parameters:

• start – [in] Starting quaternion (must be normalized)

• end – [in] Ending quaternion (must be normalized)

• t – [in] Interpolation parameter [0,1]

Returns:

carb::Float4 The interpolated quaternion