rotation of globe using yaw, pitch, roll

I’m using leap motion controller to try to rotate a globe. I got the plugin for leap to work, but I need only the globe to move and don’t want the other functionality, so coding the rotation on my own.

I’ve got the yaw and can rotate the globe about the yAxis :

var yaw= hands[0].yaw();
if(yaw<= 0){


                  } else if(yaw> 0){




I know there are functions for rotateUp and rotateDown where I can get the pitch and rotate it around the xAxis. How do I rotate the globe around the zAxis using the roll angle?

I couldn’t find functions related to that rotation. Is there a better way to do this using a transform , I have the rotation matrix for the globe.


I’m trying to achieve something like this :

I figured out a way to do it differently :
var rotationMat=hands[0]._rotation;
i.transform = Cesium.Matrix4.fromRotationTranslation(rotationMat, Cesium.Cartesian3.ZERO);