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PhysX NxSphericalJoint orientation?

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Hi the NxRevoluteJoint has a method getAngle(), which I use to construct a matrix in DX using the various D3DXMatrixRotationX/Y/Z functions. I use the constructed matrix here to properly orient the rigid body. Apparently, I'm looking something similar in NxSphericalJoint so I can properly orient the rigid body as well. Here's the header file for NxSphericalJoint - if you would like to see. Perhaps if i can extract a correct quaternion then I can use D3DXMatrixRotationQuaternion to construct a proper rotation matrix I can use for correct orientation. Thanks.

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