title: Animations in c++, interpolating keyframes with rotation matrices
body: <p>In my application, i have a 3D-Model, where i can rotate, scale, translate by setting the values manually..i can also extract the rotation at a given point. So i can store keyframes now, with the 4x4 matrix for each joint. </p>
  
  <p>However, now i want to animate between those frames. 
  What i want :
  interpolate from frame 1 to frame 2 within X seconds. How can i implement this in C++??
  I found something like <a href="http://www-scf.usc.edu/~amahajan/mocap/mocap4.html" rel="nofollow">http://www-scf.usc.edu/~amahajan/mocap/mocap4.html</a> ...but i have no clue how to write this in c++</p>