   My completed class on rotations, using Quaternions...
  Here is my completed class using Quaternions for rotations from Euler angles, Scaling, and Translation.  Any ideas to speed it up or if its of any help to those who need examples, please post yer ideas, thanks much for the help guys!----------------------------------------------------------------void Object3DClass::vDisplayXYZ(float x, float y, float z, float rx, float ry, float rz, float sx, float sy, float sz){D3DXMATRIXmatWorld,matRotation,matTranslation,matScale,matView;intmat;D3DXVECTOR3 vAxis1, vAxis2, vAxis3;D3DXQUATERNION qR;// Set default translationD3DXMatrixIdentity( &matTranslation );D3DXMatrixScaling( &matScale, sx, sy, sz );vAxis2.x = 0.0f;vAxis2.y = 1.0f;vAxis2.z = 0.0f;D3DXQuaternionNormalize(&qR, &qR;D3DXQuaternionRotationAxis( &qR, &vAxis2, ry/RADIAN_TO_DEGREES );D3DXMatrixRotationQuaternion( &matRotation, &qR );D3DXMatrixMultiply( &matTranslation, &matRotation , &matTranslation );vAxis1.x = 1.0f;vAxis1.y = 0.0f;vAxis1.z = 0.0f;D3DXQuaternionNormalize(&qR, &qR;D3DXQuaternionRotationAxis( &qR, &vAxis1, rx/RADIAN_TO_DEGREES );D3DXMatrixRotationQuaternion( &matRotation, &qR );D3DXMatrixMultiply( &matTranslation, &matRotation , &matTranslation );vAxis3.x = 0.0f;vAxis3.y = 0.0f;vAxis3.z = 1.0f;D3DXQuaternionNormalize(&qR, &qR;D3DXQuaternionRotationAxis( &qR, &vAxis3, rz/RADIAN_TO_DEGREES );D3DXMatrixRotationQuaternion( &matRotation, &qR );D3DXMatrixMultiply( &matTranslation, &matRotation , &matTranslation );  D3DXMatrixMultiply(&matTranslation, &matScale, &matTranslation);// Move to X,Y,Z coordinatesmatTranslation._41 = x;matTranslation._42 = y;matTranslation._43 = z;// Set the matrix pd3dDevice->SetTransform( D3DTS_WORLD, &matTranslation );// Display each materialfor( mat = 0 ; mat < (signed)dwNumMaterials ; mat++ ) {pd3dDevice->SetMaterial( &pMeshMaterials[mat] );// Activate the appropriate texturepd3dDevice->SetTexture( 0, pMeshTextures[mat] );// Draw the mesh subsetpMesh->DrawSubset( mat );// Turn off the texturepd3dDevice->SetTexture( 0, NULL );}} 