Intrusive igneous rocks are formed from magma that cools and solidifies within the crust of a planet, surrounded by pre-existing rock (called country rock); the magma cools slowly and, as a result, these rocks are coarse grained.The mineral grains in such rocks can generally be identified with the naked eye.ntrusive igneous rocks are formed from magma that cools and solidifies within the crust of a planet, surrounded by pre-existing rock (called country rock); the magma cools slowly and, as a result, these rocks are coarse grained.