If I remember my uni engineering/calculus maths class correctly, the third derivative of position is used in planning these sort of curves. The first derivative of postion (with respect to time) is velocity. The second derivative is acceleration (ie rate of change of velocity). And the third derivative is jerk (rate of change of acceleration). And 'jerk' has to be kept below a certain threshold for humans to find mov…
A very similar thing is done in the creation of reflective surfaces on car bodies (typically in CAD software). They call these constraints by G and a number. G1 would be a positional constraint: the two surfaces meet each other at the same point G2 tangential: same as G1, but the surfaces are tangential G3: same as G2, but the curvature (radius^-1) of the surfaces is the same at the point where the two meet. This ess…
https://99percentinvisible.org/article/circling-square-desig...