求多个四元数的平均数

public static Quaternion Average(Quaternion[] quatArray)
{
var result = new Quaternion();
var count = quatArray.Length;
var error = 0;

while (count > 1)
{
if (error >= 10000) break;
error++;
var k = 0;
for (int i = 0; i + 1 < count; i += 2)
{
var a = quatArray[i];
var b = quatArray[i + 1];

if (Quaternion.Dot(a, a) < Quaternion.kEpsilon)
a = Quaternion.identity;

if (Quaternion.Dot(b, b) < Quaternion.kEpsilon)
b = Quaternion.identity;

var avgQuat = Quaternion.LerpUnclamped(a, b, 0.5f);

quatArray[k] = avgQuat;
k++;
}

var lastCount = count;
count = k;

if ((lastCount & 1) == 1)
{
k++;
count++;
quatArray[k] = quatArray[lastCount - 1];
}
}

result = quatArray[0];

return result;
}