> From all your transformations (R & T), you compute the combination of
> them all (M = R.T, if you apply first the rotation then the
> translation), then you can use a linear interpolation to have the
> various steps at constant momentum: for k between 0 and 1, the
> transformation is k.M

The problem is you can't take a linear interpolation of a rotation 
matrix and get a valid result.

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