Currently helping these guys with some music implementation. Very exciting project. Working with iOS implementation for the first time, so this is a very good experience. Being converted from an Android project, libpd implementation is at work. It is also very gratifying to get to work on my Pure Data (Pd) skills.
This Java for Max object will convert a rotation matrix, appearing as a list of joint rotation data from the Osceleton Kinect input interface, into an Axis-angle format that can be used as a parameter for the jit.anim.node object for control of 3D avatars.
The code is dirty and without support for singularity at the moment. It is based on an example taken from Euclideanspace.
It has yet to be tested thoroughly, but please take it and use or make changes as you please.