code: def lerp_quat(from_quat, to_quat, percent):
      
  
      # Check if signs need to be reversed.
      if dot_quat(from_quat, to_quat) < 0.0:
          to_sign = -1
      else:
          to_sign = 1
  
      # Simple linear interpolation
      percent_from = 1.0 - percent
      percent_to = percent
  
      result = Quat(
          percent_from * from_quat.x + to_sign * percent_to * to_quat.x,
          percent_from * from_quat.y + to_sign * percent_to * to_quat.y,
          percent_from * from_quat.z + to_sign * percent_to * to_quat.z,
          percent_from * from_quat.w + to_sign * percent_to * to_quat.w)
  
      return result
docs: Return linear interpolation of two quaternions.