Dan Ebberts has helped me solve it with this:
u = fromWorldVec([1,0,0]);
v = fromWorldVec([0,1,0]);
w = fromWorldVec([0,0,1]);
sinb = clamp(w[0],-1,1);
b = Math.asin(sinb);
cosb = Math.cos(b);
if (Math.abs(cosb) > .0005){
c = -Math.atan2(v[0],u[0]);
a = -Math.atan2(w[1],w[2]);
}else{
a = (sinb < 0 ? -1 : 1)*Math.atan2(u[1],v[1]);
c = 0;
}
[radiansToDegrees(a),radiansToDegrees(b),radiansToDegrees(c)]
Thank you all!