SQUAD_Intermediate.boo

// Tries to compute sensible tangent values for the quaternion
def Intermediate(q0 as Quaternion, q1 as Quaternion, q2 as Quaternion):
  q1inv as Quaternion = Quaternion.Inverse(q1)
  c1 as Quaternion = q1inv * q2 
  c2 as Quaternion = q1inv * q0
  c1.Log()
  c2.Log()
  c3 as Quaternion = c2 + c1
  c3.Scale(-0.25)
  c3.Exp()
  r as Quaternion = q1 * c3 
  r.Normalize()
  return r