slerp.py

import numpy as np

def slerp(p0, p1, n):
    # https://en.wikipedia.org/wiki/Slerp
    norm = np.linalg.norm(p0) * np.linalg.norm(p1)
    dot = np.sum(p0 * p1 / norm)
    theta_0 = np.arccos(dot)
    sin_theta_0 = np.sin(theta_0)
    interp = []
    for t in np.linspace(0.0, 1.0, n):
        theta_t = theta_0 * t
        s0 = np.sin(theta_0 - theta_t) / sin_theta_0
        s1 = np.sin(theta_t) / sin_theta_0
        interp.append(p0*s0 + p1*s1)
    return np.stack(interp)

Thanks for writing this Mat! I happen to come across this and recognized you on it!

good one @cemoody ! hope you're well!