QuaternionSpline

A spline that uses spherical quadrangle (squad) interpolation to create a quaternion curve. The generated curve is in the class C¹.

Name	Type	Argument	Description
`options.times`	Array		An array of strictly increasing, unit-less, floating-point times at each point. The values are in no way connected to the clock time. They are the parameterization for the curve.
`options.points`	Array		The array of Quaternion control points.
`options.firstInnerQuadrangle`	Quaternion	<optional>	The inner quadrangle of the curve at the first control point. If the inner quadrangle is not given, it will be estimated.
`options.lastInnerQuadrangle`	Quaternion	<optional>	The inner quadrangle of the curve at the last control point. If the inner quadrangle is not given, it will be estimated.

Finds an index i in times such that the parameter time is in the interval [times[i], times[i + 1]].

<readonly> innerQuadrangles :Array

An array of Quaternion inner qradrangles for the control points.

<readonly> points :Array

An array of Quaternion control points.

<readonly> times :Array

An array of times for the control points.

Finds an index i in times such that the parameter time is in the interval [times[i], times[i + 1]].

Evaluates the curve at a given time.

Name	Type	Argument	Description
`time`	Number		The time at which to evaluate the curve.
`result`	Quaternion	<optional>	The object onto which to store the result.

DeveloperError : time is required.
DeveloperError : time must be in the range [t₀, t_n], where t₀ is the first element in the array times and t_n is the last element in the array times.

Quaternion The modified result parameter or a new instance of the point on the curve at the given time.