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Fix dtype to numpy array conversion.

Thanks to Szabolcs Dombi for his contributions to this release.

• Add slerp / lerp to Quaternion.
• Add American spelling variation of 'normalise' ('normalize').
• Deprecate matrix functions with *_matrix in the name. Use the new alternatives provided.
• Add create_look_at in Matrix.

• Remove notes about customising euler indices. If you change the axis indices then create_from_(x,y,z)_rotation will no longer work.

• Change euler parameter order for create function, was (pitch, roll, yaw, ...), now (roll, pitch, yaw, ..).
• Make eulers always use the indices for extracting and putting values.
• Make euler indices configurable by modifying euler.index.(pitch,roll,yaw)
• Add euler.create_from_(x,y,z)_rotation. This ignores pitch, roll, yaw indices and is a straight insertion into the x, y z values of the array.
• Fix euler -> matrix33 conversion.
• Add tests to ensure euler, quaternion, and matrix rotations are all equivalent.