i have the following problem.

i have a 3x3 rotation matrix and want to have angles instead.

is it possible to calculate the angle changes around x, y and z achsis from a rotation matrix, that has following format:

[xx,xy,xz
yx,yy,yz
zx,zy,zz]


or is it possible to rotate bones with this rotation matrix somehow, then i dont need the angle calculation.

it would be a great help if someone can give me an idea how to procced.

thanks in advance