@jonathanhogg Yes. Well, the pose is made from a bunch of vector3 joints that get translated into quaternions.

What I'm trying to do is spline-tween through the joint angles over a number of poses, but correct for when a joint angle wraps around, so 0 -> -1 degree doesn't turn into 0 -> 359 degrees.

@jtruk not easier to slerp between two quaternions describing the rotations?

@jtruk though, in saying that, I only attempted to understand quaternions last year and I'm still a little hazy on them…

@jonathanhogg Hmm. With quaternion slerping, the rotations now (mostly) stay in check, but the animation is a lot more snappy/robotic. Maybe there's a way to smooth that.

@jtruk some kind of easing function on the slerp ratio?