Slerp

This routine aims for calculating a unit quaternion, describing a rotation matrix, which lies between two known unit quaternions - q1 and q2, using a spherical linear interpolation - Slerp.

Slerp follow the shortest great arc on a unit sphere, hence, the shortest possible interpolation path.

Consequently, Slerp has constant angular velocity, so it is the optimal interpolation curve between two rotations.

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