Arc Length Parameterization

1. Given a spline path P(u) = [x(u),y(u),z(u)], compute the arclength of the spline as a function of u: s = A(u).
2. Find the inverse of A(u): .
3. Substitute into P(u) to find a motion path parameterized by arclength, s: .

Note that u (and thus s) should be global parameters, extending across all segments of the original spline.