matrix decomposition (euler angles)

Hi,

I build an OpenGL matrix like this:

     ca       = COS(-e.rx);
     sa       = SIN(-e.rx);
     sb       = COS(e.ry);
     cb       = SIN(e.ry);
     cc       = COS(-e.rz);
     sc       = SIN(-e.rz);

  sacb=sa*cb
  cacb=ca*cb

     e.M[0]  =   sb * cc
     e.M[1]  =  -sb * sc
     e.M[2]  =  -cb

     e.M[4]  = -sacb * cc + ca * sc
     e.M[5]  =  sacb * sc + ca * cc
     e.M[6]  =  -sa * sb

     e.M[8]  =  cacb * cc + sa * sc
     e.M[9]  = -cacb * sc + sa * cc
     e.M[10] =   ca * sb

  e.M[12]= e.x
  e.M[13]= e.y
  e.M[14]= e.z
  e.M[15]= 1


Question: how can I get the euler angles (rx,ry,rz) from this matrix? 
(Assuming the matix is symetrical and unified).

Thank you in advice.


-- 
------------------------------------
Gernot Frisch
http://www.glbasic.com