# Rotation matrix from Euler angles `pitch`, `yaw` and `roll` in radians
	#
	# Apply a composition of intrinsic rotations around the axes x-y'-z''.
	# Or `pitch` around the X axis, `yaw` around Y and `roll` around Z,
	# applied successively. All rotations follow the right hand rule.
	#
	# This service aims to respect the world axes and logic of `gamnit`,
	# it may not correspond to all needs.
	#
	# The returned `Matrix` may be cached, it must not be modified.
	new gamnit_euler_rotation(pitch, yaw, roll: Float)
	do
		if pitch == 0.0 and yaw == 0.0 and roll == 0.0 then
			return once new Matrix.identity(4)
		end

		if rotation_pitch == pitch and rotation_yaw == yaw and rotation_roll == roll then
			var rot = rotation_matrix_cache
			if rot != null then return rot
		end

		var c1 = pitch.cos
		var s1 = pitch.sin
		var c2 = yaw.cos
		var s2 = yaw.sin
		var c3 = roll.cos
		var s3 = roll.sin

		var rot = new Matrix(4, 4)
		rot.items.mat4_set(
			          c2*c3,          -c2*s3,   -s2, 0.0,
			 c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3, c2*s1, 0.0,
			-s1*s3+c1*c3*s2, -c3*s1-c1*s2*s3, c1*c2, 0.0,
			            0.0,             0.0,   0.0, 1.0)

		rotation_matrix_cache = rot
		rotation_pitch = pitch
		rotation_yaw = yaw
		rotation_roll = roll
		return rot
	end