Quaternion.Lerp

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public static function Lerp(a: Quaternion, b: Quaternion, t: float): Quaternion;

public static Quaternion Lerp(Quaternion a, Quaternion b, float t);

Description

Interpolates between a and b by t and normalizes the result afterwards. The parameter t is clamped to the range [0, 1].

This is faster than Slerp but looks worse if the rotations are far apart.

// Interpolates rotation between the rotations
// of from and to.
// (Choose from and to not to be the same as 
// the object you attach this script to)

var from : Transform;
var to : Transform;
var speed = 0.1;
function Update () {
	transform.rotation = Quaternion.Lerp (from.rotation, to.rotation, Time.time * speed);
}

using UnityEngine;
using System.Collections;

public class ExampleClass : MonoBehaviour {
    public Transform from;
    public Transform to;
    public float speed = 0.1F;
    void Update() {
        transform.rotation = Quaternion.Lerp(from.rotation, to.rotation, Time.time * speed);
    }
}

See Also: Slerp. LerpUnclamped.