So as I slowly build a tool set for my engine I was wondering how to implement 3D Manipulators, if your confused about what I mean the image attached should help. Basically I want my engine to make it easier to move objects around with the standard 3 axis manipulators that are used in programs like 3DSMax or Maya so if anybody could explain their approach to it that would be great. :)

What you are looking for is called 'Direct Manipulation'. I liked this resource: http://www.codeproject.com/Articles/35139/Interactive-Techniques-in-Three-dimensional-Scenes

There was also a Sigraph course 2002: https://www.siggraph.org/s2002/conference/courses/crs20.html

It was downloadable, but I cannot find it anymore. Maybe your Google-Fu is better than mine. Otherwise PM me and I send you the PDF

Thanks everyone for the help, the code project article and the github sample were particularly helpful. I think I can now make a start on this :)