While it may be less efficient, it seems like the rotation minimizing frame can be constructed more intuitively with quaternions.
Using Unity's functions, it looks like the rotation for the current point can just be:
```
Q(t) = Quaternion.LookRotation(P(t)-P(t-1), Q(t-1) * Vector3.up);
```
(where Q is the list of rotations and P is the set of Points)
Using Unity's functions, it looks like the rotation for the current point can just be: ``` Q(t) = Quaternion.LookRotation(P(t)-P(t-1), Q(t-1) * Vector3.up); ``` (where Q is the list of rotations and P is the set of Points)
Possible also with the method IQ defines in this article (accumulating aligning delta rotations over the course of the curve): http://iquilezles.org/www/articles/noacos/noacos.htm