Centripetal Catmull–Rom spline

In computer graphics, the centripetal Catmull–Rom spline is a variant form of the Catmull–Rom spline, originally formulated by Edwin Catmull and Raphael Rom, which can be evaluated using a recursive algorithm proposed by Barry and Goldman. It is a type of interpolating spline (a curve that goes through its control points) defined by four control points P 0 , P 1 , P 2 , P 3 {\displaystyle \mathbf {P} _{0},\mathbf {P} _{1},\mathbf {P} _{2},\mathbf {P} _{3}} , with the curve drawn only from P 1 {\displaystyle \mathbf {P} _{1}} to P 2 {\displaystyle \mathbf {P} _{2}} .

Source: Wikipedia — Centripetal Catmull–Rom spline (CC BY-SA 4.0)