So here’s what I’ve just discovered - the earth is always rotating! It’s just that the camera is also rotating with it (I guess that’s why it took us so long to discover it rotated in the first place).
To see it move, you’ll have to transform the camera to a fixed position every frame. So something like:
var icrfToFixed = Cesium.Transforms.computeIcrfToFixedMatrix(time);
if (Cesium.defined(icrfToFixed)) {
var camera = viewer.camera;
var offset = Cesium.Cartesian3.clone(camera.position);
var transform = Cesium.Matrix4.fromRotationTranslation(icrfToFixed);