I'm looking for a good algorithm to compute weighted, multi-way (i.e., more
than 2) quaternion interpolation that won't introduce artifacting (so
something more robust than averaging components and renormalizing). I'm
essentially recreating the functionality of an orient constraint for use
elsewhere.

I've seen a few options out there, but many of them seem a little expensive.
I figure there are enough math-smart/well-read people here that someone may
at least have some suggestions of worthwhile papers.

thanks!

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