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Releases in Reverse Chronological Order

Version 1.x

[Unreleased]

  • Updated to Rust edition 2024.
  • Optimized UnitQuaternion::adjust_norm for norms close to 1, avoiding an expensive sqrt and division in the common case.
  • Updated nalgebra to version 0.35.0.
  • Updated serde_json to 1.0.150.
  • Updated C++ benchmark dependencies to their latest versions (boost.qvm, eigen, google_benchmark, rules_cc, bazel_clang_tidy).

Release 1.0.8 (2026-04-08)

  • Optimized UnitQuaternion::rotate_vector to use fewer flops.
  • Optimized UnitQuaternion::to_rotation_vector for the f32 type. Benchmarks show that the speed-up is more than 2x while accuracy is approximately the same. Compared to quaternion_core the speed-up is roughly 10x and compared to nalgebra the speed-up is roughly 6x. It also beats all benchmarked C++ libraries with a speed-up of more than 2x.
  • Rewrote Chebyshev approximation program, so it works for arbitrary smooth functions, not only for power series.
  • Wrote benchmark to check the accuracy of computing a scaled rotation vector from a quaternion and back with f32 precision. All crates have similar root mean square errors of this round trip which are all below a f32 epsilon and above half an epsilon.
  • Updated Bazel version to 8.5.0.
  • Updated all Bazel modules to their latest versions.
  • Updated rand to version 0.10.0 and rand_distr to version 0.6.0.
  • Updated minimum required Rust version to 1.85.0.

Contributors: @ralphtandetzky

Release 1.0.7 (2025-12-09)

  • Fixed broken Links in Rustdoc documentation.
  • Updated dependencies:
    • serde
    • criterion
    • nalgebra
    • serde_json
    • quaternion-core

Contributors: @ralphtandetzky

Release 1.0.6 (2025-08-26)

  • Optimized UnitQuaternion::from_rotation_vector for small vectors of length less than pi. Speedups of 3x are observed.
  • Added benchmarks for UnitQuaternion::from_rotation_vector.
  • Updated nalgebra dependency to version 0.34.
  • Improved CI by checking C++ code formatting and run clang-tidy.
  • Fixed all warnings reported by clang-tidy in C++ benchmarks.
  • Added instructions for AI agents to contribute to the project.

Contributors: @ralphtandetzky

Release 1.0.5 (2025-07-27)

  • Updated versions of dependencies in C++ benchmarks.
  • Updated criterion to version 0.7.
  • Updated minimum supported Rust version to 1.85.0.

Contributors: @ralphtandetzky

Release 1.0.4 (2025-04-23)

  • Added PureQuaternion type.
  • Added missing arithmetic operations, such as MutAssign and DivAssign traits for UnitQuaternion.
  • Fixed numerical inaccuracy in the ln method of Quaternion in edge cases.
  • Updated pull request template.
  • Updated dependency serde to version 1.0.218.
  • Updated dependency serde_json to version 1.0.139.

Contributors: @ralphtandetzky

Release 1.0.3 (2025-02-21)

  • Added Bazel build to CI.
  • Improved PR template.
  • Updated dependency rand to version 0.9.
  • Updated dependency rand_distr to version 0.5.1.
  • Updated dependency quaternion to version 2.0.

Contributors: @ralphtandetzky

Release 1.0.2 (2024-10-14)

  • Avoid num-integer pulling in std by default

Contributors: Zachary Catlin

Release 1.0.1 (2024-10-11)

  • Added benchmarks to measure run-time and accuracy of norm and compare against other Rust crates and C++ libraries.
  • Improved run-time and accuracy of norm.
  • Updated Minimum Supported Rust Version from 1.61 to 1.63.

Contributors: @ralphtandetzky

Release 1.0.0 (2024-09-10)

  • Improved and updated high-level documentation. Issue #106

Note: There have been no breaking API changes in this release. The major version update only signals the maturity and stability of the crate. (There have not been any breaking changes since version 0.2.0, in fact.)

Contributors: @ralphtandetzky

Version 0.x

Release 0.2.29 (2024-09-15)

  • Added pose_animation example.
  • Added Rustdoc code examples for all methods.

Contributors: @ralphtandetzky

Release 0.2.28 (2024-09-07)

  • Split lib.rs into new modules quaternion, unit_quaternion, and arithmetics.

Contributors: @ralphtandetzky

Release 0.2.27 (2024-09-04)

  • Reached 100% test coverage.

Contributors: @ralphtandetzky

Release 0.2.26 (2024-08-29)

  • Added rand feature to crate.
  • Implemented sampling UnitQuaternion<T> from a uniform distribution.
  • Increased test coverage.

Contributors: @ralphtandetzky

Release 0.2.25 (2024-08-21)

  • Fix bug in gimbal lock case of UnitQuaternion::to_euler_angles.
  • Improved test coverage.

Contributors: @ralphtandetzky

Release 0.2.24 (2024-08-18)

  • Fixed edge case in Quaternion::ln.
  • Added scripts for test coverage.
  • Improved test coverage.

Contributors: @ralphtandetzky

Release 0.2.23 (2024-08-12)

  • Added has_nan and is_all_nan methods for Quaternion<T>.
  • Improved documentation and tests.

Contributors: @ralphtandetzky

Release 0.2.22 (2024-08-10)

  • Improved documentation.
  • Added to_inner method for UnitQuaternion<T>.
  • Made is_finite method public.
  • Improved existing tests and added more tests.

Contributors: @ralphtandetzky

Release 0.2.21 (2024-08-01)

  • Updated minimum required Rust compiler version to 1.63.
  • Added Design Rationale laying out the design goals and the error handling strategy.
  • Adjusted formatting of the code.

Contributors: @ralphtandetzky

Release 0.2.20 (2024-07-28)

  • Implemented Quaternion::powf method.
  • Changed method Quaternion::ln for zero arguments to return NEG_INFINITY independent of the signs of the input quaternion components.

Contributors: @ralphtandetzky

Release 0.2.19 (2024-07-27)

  • Changed orientation of some UnitQuaternion functions to conform to common conventions.

Contributors: @ralphtandetzky

Release 0.2.18 (2024-07-23)

  • Implemented Quaternion::expf method.

Contributors: @ralphtandetzky

Release 0.2.17 (2024-07-22)

  • Implemented edge cases of Quaternion::exp method.

Contributors: @ralphtandetzky

Release 0.2.16 (2024-07-16)

  • Fixed inaccuracy in Quaternion::norm for very large and very small results. (#51)
  • Added new function Quaternion::fast_norm for branchless fast (but possibly inaccurate) norm calculation.

Contributors: @ralphtandetzky

Release 0.2.15 (2024-07-13)

  • Added new function UnitQuaternion::from_rotation_matrix3x3.

Contributors: @ralphtandetzky

Release 0.2.14 (2024-07-11)

  • Added new function UnitQuaternion::to_rotation_matrix3x3.

Contributors: @ralphtandetzky

Release 0.2.13 (2024-07-08)

  • Added new function UnitQuaternion::from_two_vectors.

Contributors: @ralphtandetzky

Release 0.2.12 (2024-07-05)

  • Fixed failing rustdoc tests for disabled features.
  • Improvements in CI.
  • Added scripts for running CI tests locally.

Contributors: @ralphtandetzky

Release 0.2.11 (2024-07-03)

  • Implemented the function sqrt for UnitQuaternion.
  • Fixed warnings in markdown files.

Contributors: @ralphtandetzky

Release 0.2.10 (2024-07-02)

  • Implemented the function sqrt for Quaternion.

Contributors: @ralphtandetzky

Release 0.2.9 (2024-06-26)

  • Implemented the functions exp and ln.

Contributors: @ralphtandetzky

Release 0.2.8 (2024-06-21)

  • Added feature serde. Implemented Serialize and Deserialize traits for all data structures.

Contributors: @ralphtandetzky

Release 0.2.7 (2024-06-19)

Contributors: @ralphtandetzky

Release 0.2.6 (2024-06-15)

  • Added arithmetic operators which take references as arguments.

Contributors: @ralphtandetzky

Release 0.2.5 (2024-06-13)

  • Added a lot of top level documentation.

Contributors: @ralphtandetzky

Release 0.2.4 (2024-06-10)

  • Added dot product.
  • Added spherical linear interpolation.

Contributors: @ralphtandetzky

Release 0.2.3 (2024-06-08)

  • Added the function UnitQuaternion::to_rotation_vector.
  • Added new unstable function from_euler_angles_struct. (It is marked as unstable since the naming may change in the future.)

Contributors: @ralphtandetzky

Release 0.2.2 (2024-06-05)

  • Added the function UnitQuaternion::to_euler_angles.
  • Added the struct EulerAngles<T>.
  • Small improvements in the docs.

Contributors: @ralphtandetzky

Release 0.2.1 (2024-06-04)

  • Added the function UnitQuaternion::rotate_vector.

Contributors: @ralphtandetzky

Release 0.2.0 (2024-06-03)

  • Breaking change: Renamed member fields of Quaternion from a, b, c, and d to w, x, y, and z.
  • Added UnitQuaternion type with tons of new functionality.
  • Made a couple of functions #[inline].

Contributors: @ralphtandetzky

Release 0.1.2 (2024-05-26)

  • Fixed issue with Rust Doc.

Contributors: @ralphtandetzky

Release 0.1.1 (2024-05-26)

  • Improved documentation including math formulas.
  • Added operators for real-values left hand operands.

Contributors: @ralphtandetzky

Release 0.1.0 (2024-05-18)

  • Initial release.

Contributors: @ralphtandetzky