(1-t)^3*p0 + 3(1-t)^2*t(p0+2p1)/3+3(1-t)t^2*(2p1+p2)/3+t^3p2
=p0 - 2 p0 t + 2 p1 t + p0 t^2 - 2 p1 t^2 + p2 t^2