Centripetal Catmull–Rom spline

In computer graphics, centripetal Catmull–Rom spline is a variant form of Catmull-Rom spline formulated by Edwin Catmull and Raphael Rom according to the work of Barry and Goldman. It is a type of interpolating spline (a curve that goes through its control points) defined by four control points P0, P1, P2, P3, with the curve drawn only from P1 to P2.

https://en.wikipedia.org/wiki/Centripetal_Catmull%E2%80%93Rom_spline#cite_ref-1