code: public static Quaterniond lerp(Quaterniond a, Quaterniond b, double percent) {
          return a.mul(1 - percent).add(b.mul(percent));
      }
docs: Interpolates a quaternion between two others using linear interpolation.
  
  @param a The first quaternion
  @param b The second quaternion
  @param percent The percent for the interpolation, between 0 and 1 inclusively
  @return The interpolated quaternion