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+## v0.4.0
+- The rigid-body `linvel`, `angvel`, and `position` fields are no longer public. Access using
+  their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`.
+- Add `RigidBodyBuilder::sleeping(true)` to allow the creation of a rigid-body that is asleep
+  at initialization-time.
+
+#### Locking translation and rotations of a rigid-body
+- Add `RigidBodyBuilder::lock_rotations` to prevent a rigid-body from rotating because of forces.
+- Add `RigidBodyBuilder::lock_translations` to prevent a rigid-body from translating because of forces.
+- Add `RigidBodyBuilder::principal_inertia` for setting the principal inertia of a rigid-body, and/or
+  preventing the rigid-body from rotating along a specific axis.
+- Change `RigidBodyBuilder::mass` by adding a bool parameter indicating whether or not the collider
+  contributions should be taken into account in the future too.
+
+#### Reading contact and proximity information
+- Add `NarrowPhase::contacts_with` and `NarrowPhase::proximities_with` to retrieve all the contact
+  pairs and proximity pairs involving a specific collider.
+- Add `NarrowPhase::contact_pair` and `NarrowPhase::proximity_pair` to retrieve one specific contact
+  pair or proximity pair if it exists.
+- Add `NarrowPhase::contact_pairs`, and `NarrowPhase::proximity_pairs` to retrieve all the contact or
+  proximity pairs detected by the narrow-phase.
+
+## v0.3.2
+- Add linear and angular damping. The damping factor can be set with `RigidBodyBuilder::linear_damping` and
+  `RigidBodyBuilder::angular_damping`.
+- Implement `Clone` for almost everything that can be worth cloning.
+- Allow setting the initial mass and mass properties of a rigid-bodies using `RigidBodyBuilder::mass` and
+  `RigidBodyBuilder::mass_properties`.
+- The restitution coefficient of colliders is now taken into account by the physics solver.
+
+## v0.3.1
+- Fix non-determinism problem when using triangle-meshes, cone, cylinders, or capsules.
+- Add `JointSet::remove(...)` to remove a joint from the `JointSet`.
+
+## v0.3.0
+- Collider shapes are now trait-objects instead of a `Shape` enum.
+- Add a user-defined `u128` to each colliders and rigid-bodies for storing user data.
+- Add the support for `Cylinder`, `RoundCylinder`, and `Cone` shapes.
+- Added the support for collision filtering based on bit masks (often known as collision groups, collision masks, or
+  collision layers in other physics engines). Each collider has two groups. Their `collision_groups` is used for filtering
+  what pair of colliders should have their contacts computed by the narrow-phase. Their `solver_groups` is used for filtering
+  what pair of colliders should have their contact forces computed by the constraints solver.
+- Collision groups can also be used to filter what collider should be hit by a ray-cast performed by the `QueryPipeline`.
+- Added collision filters based on user-defined trait-objects. This adds two traits `ContactPairFilter` and
+  `ProximityPairFilter` that allows user-defined logic for determining if two colliders/sensors are allowed to interact.
+- The `PhysicsPipeline::step` method now takes two additional arguments: the optional `&ContactPairFilter` and `&ProximityPairFilter`
+for filtering contact and proximity pairs.
+
+## v0.2.1
+- Fix panic in TriMesh construction and QueryPipeline update caused by a stack overflow or a subtraction underflow.
+
+## v0.2.0
+The most significant change on this version is the addition of the `QueryPipeline` responsible for performing
+scene-wide queries. So far only ray-casting has been implemented.
+
+- Add `ColliderSet::remove(...)` to remove a collider from the `ColliderSet`.
+- Replace `PhysicsPipeline::remove_rigid_body` by `RigidBodySet::remove`.
+- The `JointSet.iter()` now returns an iterator yielding `(JointHandle, &Joint)` instead of just `&Joint`.
+- Add `ColliderDesc::translation(...)` to set the translation of a collider relative to the rigid-body it is attached to.
+- Add `ColliderDesc::rotation(...)` to set the rotation of a collider relative to the rigid-body it is attached to.
+- Add `ColliderDesc::position(...)` to set the position of a collider relative to the rigid-body it is attached to.
+- Add `Collider::position_wrt_parent()` to get the position of a collider relative to the rigid-body it is attached to.
+- Modify `RigidBody::set_position(...)` so it also resets the next kinematic position to the same value.
+- Deprecate `Collider::delta()` in favor of the new `Collider::position_wrt_parent()`.
+- Fix multiple issues occurring when having colliders resulting in a non-zero center-of-mass.
+- Fix a crash happening when removing a rigid-body with a collider, stepping the simulation, adding another rigid-body
+ with a collider, and stepping the simulation again.
+- Fix NaN when detection contacts between two polygonal faces where one has a normal perfectly perpendicular to the
+separating vector.
+- Fix bug collision detection between trimeshes and other shapes. The bug appeared depending on whether the trimesh
+collider was added before the other shape's collider or after.
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