neither did i, im self tought. My mother has always been an artist in many differnt things but i do differnt stuff to her and my farther has his own....art. But im self tought, never learned from a book or person. When i have looked at these recent "learn to draw manga" books and stuff they are really quite crap, but thats my oppinion.

I am familular with warhammer, the best way for you to draw like that is to copy the figures. Eventually through practise you will develop your own style and thats what people are looking for in artists.