Is there a way to get Euler angle orders in nalgebra or another Rust library?

Question

I'm trying to convert raw quaternion values to Euler angles in order zyx. I'm trying to use nalgebra rotations to convert, but the in-built conversion only gives angles in order xyz. Is there a way to convert from quat to zyx or from xyz to zyx? Or an alternative library that can do the same conversion?

Here's the function I'm currently using for conversion:

pub fn raw_quaternion_to_euler(w: f32, x: f32, y: f32, z: f32) -> (f32, f32, f32) {
    let unit_quat = UnitQuaternion::from_quaternion(nalgebra::Quaternion::from_vector([w, x, y, z]));
    unit_quat.euler_angles()
}

Answer 1

I managed to work out a way of doing this using a different library from nalgebra called quaternion-core. It was really simple to use and did exactly what I was asking for in this question.