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// Returns a smooth approximation between q1 and q2 using t1 and t2 as 'tangents'
def SQUAD(q1 as Quaternion, t1 as Quaternion, t2 as Quaternion, q2 as Quaternion, t as single):
slerpT as single = 2.0 * t * (1.0 - t)
slerp1 as Quaternion = QuaternionExtensions.SlerpNoInvert(q1, q2, t)
slerp2 as Quaternion = QuaternionExtensions.SlerpNoInvert(t1, t2, t)
return QuaternionExtensions.SlerpNoInvert(slerp1, slerp2, slerpT)
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