Yes, you can calculate the theoretical critical roll over angle, but it's a PITA and not very useful in practice.
First you need to calculate the height of the center of mass (gravity) for your vehicle. Here's a short article from Car and Driver describing how to do that:
https://www.caranddriver.com/news/a18201745/explained-how-to-measure-center-of-gravity-height/
Then you draw a right triangle with the center of mass height as the side of the triangle, and one-half the width of your vehicle, measured between the mid-line of the tires as the base of the triangle. Use trigonometry to calculate the adjacent angle and that is your critical roll over angle. Simple right?
Couple of limitations to this (actually many limitations but I'll just mention two).
First, the calculation assumes the center of mass is exactly centered left to right. If not, the roll over angle will be different depending on which side of your truck is the high side.
Second, as mentioned above, this is a static angle. If you're driving on a side-slope and hit a rock, the rebound on your suspension and/or tires can easily push you past the critical angle.
Have fun, let us know what angle you come up with.