diff --git a/server/core/src/main/java/dev/slimevr/posestreamer/BVHFileStream.java b/server/core/src/main/java/dev/slimevr/posestreamer/BVHFileStream.java
index 6b7b431fa..bd257989b 100644
--- a/server/core/src/main/java/dev/slimevr/posestreamer/BVHFileStream.java
+++ b/server/core/src/main/java/dev/slimevr/posestreamer/BVHFileStream.java
@@ -3,6 +3,8 @@ package dev.slimevr.posestreamer;
 import com.jme3.math.FastMath;
 import dev.slimevr.tracking.processor.Bone;
 import dev.slimevr.tracking.processor.skeleton.HumanSkeleton;
+import io.github.axisangles.ktmath.EulerAngles;
+import io.github.axisangles.ktmath.EulerOrder;
 import io.github.axisangles.ktmath.Quaternion;
 import io.github.axisangles.ktmath.Vector3;
 import org.apache.commons.lang3.StringUtils;
@@ -19,8 +21,6 @@ public class BVHFileStream extends PoseDataStream {
 	private long frameCount = 0;
 	private long frameCountOffset;
 
-	private float[] angleBuf = new float[3];
-
 	public BVHFileStream(OutputStream outputStream) {
 		super(outputStream);
 		writer = new BufferedWriter(new OutputStreamWriter(outputStream), 4096);
@@ -174,41 +174,6 @@ public class BVHFileStream extends PoseDataStream {
 		writer.write("Frame Time: " + (streamer.getFrameInterval() / 1000d) + "\n");
 	}
 
-	// Roughly based off code from
-	// https://github.com/TrackLab/ViRe/blob/50a987eff4db31036b2ebaeb5a28983cd473f267/Assets/Scripts/BVH/BVHRecorder.cs
-	private float[] quatToXyzAngles(Quaternion q, float[] angles) {
-		if (angles == null) {
-			angles = new float[3];
-		} else if (angles.length != 3) {
-			throw new IllegalArgumentException("Angles array must have three elements");
-		}
-
-		float x = q.getX();
-		float y = q.getY();
-		float z = q.getZ();
-		float w = q.getW();
-
-		// Roll (X)
-		float sinrCosp = -2f * (x * y - w * z);
-		float cosrCosp = w * w - x * x + y * y - z * z;
-		angles[0] = FastMath.atan2(sinrCosp, cosrCosp);
-
-		// Pitch (Y)
-		float sinp = 2f * (y * z + w * x);
-		// Use 90 degrees if out of range
-		angles[1] = FastMath.abs(sinp) >= 1f
-			? FastMath.copysign(FastMath.PI / 2f, sinp)
-			: FastMath
-				.asin(sinp);
-
-		// Yaw (Z)
-		float sinyCosp = -2f * (x * z - w * y);
-		float cosyCosp = w * w - x * x - y * y + z * z;
-		angles[2] = FastMath.atan2(sinyCosp, cosyCosp);
-
-		return angles;
-	}
-
 	private void writeBoneHierarchyRotation(Bone bone, Quaternion inverseRootRot)
 		throws IOException {
 		Quaternion rot = bone.getGlobalRotation();
@@ -218,19 +183,17 @@ public class BVHFileStream extends PoseDataStream {
 			rot = inverseRootRot.times(rot);
 		}
 
-		// Roll (X), pitch (Y), yaw (Z) (intrinsic)
-		// TODO: `quatToXyzAngles` should no longer be needed, this should be
-		// changed to use `Quaternion.toEulerAngles()` instead
-		angleBuf = quatToXyzAngles(rot.unit(), angleBuf);
+		// Pitch (X), Yaw (Y), Roll (Z)
+		EulerAngles angles = rot.toEulerAngles(EulerOrder.ZXY);
 
 		// Output in order of roll (Z), pitch (X), yaw (Y) (extrinsic)
 		writer
 			.write(
-				angleBuf[0] * FastMath.RAD_TO_DEG
+				angles.getZ() * FastMath.RAD_TO_DEG
 					+ " "
-					+ angleBuf[1] * FastMath.RAD_TO_DEG
+					+ angles.getX() * FastMath.RAD_TO_DEG
 					+ " "
-					+ angleBuf[2] * FastMath.RAD_TO_DEG
+					+ angles.getY() * FastMath.RAD_TO_DEG
 			);
 
 		// Get inverse rotation for child local rotations