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Nov 17th, 2017
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  1. slerp(a , b, t) =
  2. theta = acos(dot(a, b))
  3. (sin((1-t)theta) / sin(theta)) * a+ (sin(t * theta)/sin(theta)) * b
  4.  
  5. c = dot(p0, p1) * 2
  6. pk+1 = c pk − pk−1
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