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Blending Multiple Animations?

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I am having difficulty blending multiple animations. The concept is straightforward but for some reason it isn't working. Specifically, if I have an animation a0 and an animation a1 and I want to play each at 0.5, and each bone contains its local rotation and translation, the algorithm is supposed to be: slerp a0.quat, a1.quat, 0.5 lerp a0.pos, a1.pos, 0.5 Then multiply everyone by their parents and you have the final transforms. Thing is, it doesn't work. If I blend a0 with a0 equally it works perfectly. But if I blend a0 and a1 various chunks of my model will 'explode'. For example the fingers might stretch out, or the jaw go to the left. It's very weird. I am confirming that the quaternion coming out of the equation is normalized. So I think the problem is with the translations. But I can't see is going wrong. Unfortunately there isn't much available on the net about this ... people either talk about slerping the quats or just use DirectX. Anyone have any ideas?

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