/**
     * jme3 implementation of the c++ quaternion spherical linear interpolation from wikipedia
     * modified by @author JDC, to return v1 if they are close together
     *
     * DOT_THRESHOLD should be something like 0.9995f, adjust per se
     *
     * @param v0 - start quaternion
     * @param v1 - end quaternion
     * @param t  - scale between
     * @return
     */
    public static Quaternion jqSlerp2(Quaternion v0, Quaternion v1, float t) {
        v0.normalizeLocal();
        v1.normalizeLocal();

        float dot = v0.dot(v1);

        if (dot < 0.0f) {
            v1.negate();
            dot = -dot;
        }

        if (dot > DOT_THRESHOLD) {
            return v1;
        }

        float theta_0 = FastMath.acos(dot);
        float theta = theta_0 * t;
        float sin_theta = FastMath.sin(theta);
        float sin_theta_0 = FastMath.sin(theta_0);

        float s0 = FastMath.cos(theta) - dot * sin_theta / sin_theta_0;
        float s1 = sin_theta / sin_theta_0;

        return new Quaternion(v0.multLocal(s0)).addLocal(v1.multLocal(s1));
    }