Getting proper rotations from a rigid body for directx 10

[Dr.Shepherd]

if you want to get the rotation:

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btQuaternion btRigidBody::getOrientation	(		 ) 	 const

if you want to get the angular velocity:

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const btVector3& btRigidBody::getAngularVelocity	(		 ) 	 const

You may 'wikipedia' about how to use Quaternion to express the rotation. Or you may check the following function in Class btQuaternion:

btScalar btQuaternion::getAngle ( ) const [inline]
Return the angle of rotation represented by this quaternion.

Check the documentation. Although it is simple, it contains the most essential information.