function weld(p0,p1,c0,c1,par)
local w = Instance.new("Weld",p0 or par)
w.Part0 = p0
w.Part1 = p1
w.C0 = c0 or CFrame.new()
w.C1 = c1 or CFrame.new()
return w
end
do -- Credit to Stravant...
local function QuaternionFromCFrame(cf) local mx, my, mz, m00, m01, m02, m10, m11, m12, m20, m21, m22 = cf:components() local trace = m00 + m11 + m22 if trace > 0 then local s = math.sqrt(1 + trace) local recip = 0.5/s return (m21-m12)*recip, (m02-m20)*recip, (m10-m01)*recip, s*0.5 else local i = 0 if m11 > m00 then i = 1 end if m22 > (i == 0 and m00 or m11) then i = 2 end if i == 0 then local s = math.sqrt(m00-m11-m22+1) local recip = 0.5/s return 0.5*s, (m10+m01)*recip, (m20+m02)*recip, (m21-m12)*recip elseif i == 1 then local s = math.sqrt(m11-m22-m00+1) local recip = 0.5/s return (m01+m10)*recip, 0.5*s, (m21+m12)*recip, (m02-m20)*recip elseif i == 2 then local s = math.sqrt(m22-m00-m11+1) local recip = 0.5/s return (m02+m20)*recip, (m12+m21)*recip, 0.5*s, (m10-m01)*recip end end end

local function QuaternionToCFrame(px, py, pz, x, y, z, w) local xs, ys, zs = x + x, y + y, z + z local wx, wy, wz = w*xs, w*ys, w*zs local xx = x*xs local xy = x*ys local xz = x*zs local yy = y*ys local yz = y*zs local zz = z*zs return CFrame.new(px, py, pz,1-(yy+zz), xy - wz, xz + wy,xy + wz, 1-(xx+zz), yz - wx, xz - wy, yz + wx, 1-(xx+yy)) end

local function QuaternionSlerp(a, b, t) local cosTheta = a[1]*b[1] + a[2]*b[2] + a[3]*b[3] + a[4]*b[4] local startInterp, finishInterp; if cosTheta >= 0.0001 then if (1 - cosTheta) > 0.0001 then local theta = math.acos(cosTheta) local invSinTheta = 1/math.sin(theta) startInterp = math.sin((1-t)*theta)*invSinTheta finishInterp = math.sin(t*theta)*invSinTheta else startInterp = 1-t finishInterp = t end else if (1+cosTheta) > 0.0001 then local theta = math.acos(-cosTheta) local invSinTheta = 1/math.sin(theta) startInterp = math.sin((t-1)*theta)*invSinTheta finishInterp = math.sin(t*theta)*invSinTheta else startInterp = t-1 finishInterp = t end end return a[1]*startInterp + b[1]*finishInterp, a[2]*startInterp + b[2]*finishInterp, a[3]*startInterp + b[3]*finishInterp, a[4]*startInterp + b[4]*finishInterp end
function clerp(a,b,t)
if not a or not b then print(a,b,"is missing") return end
local qa = {QuaternionFromCFrame(a)}
local qb = {QuaternionFromCFrame(b)}
local ax, ay, az = a.x, a.y, a.z
local bx, by, bz = b.x, b.y, b.z
local _t = 1-t
return QuaternionToCFrame(_t*ax + t*bx, _t*ay + t*by, _t*az + t*bz,QuaternionSlerp(qa, qb, t))
end
end