MATLAB: Drive the Rotation on a body in Virtual Reality from a simulink model signal

Hi, I have a model of a dynamic system (a car) which define 7 DoF (the 4 vertical motion of the wheels + Heave, Pitch and Roll of the body of the car). The car is positioned on 4 pads which are used to provide vertical inputs to the car (similar to a 4-Post rig shaker) The model works fine without the virtual reality.
I realized a virtual reality version of my system (4 wheels + a block for the body + 4 pads)
The virtual reality works fine when only the linear motions are driven
Now I am having problem with driving the "rotation" field of the body.
I tried using a bus creator but this does not work.
I suppose the rotation is a vector(3) with rotation around x,y and z respectively. am I right/
Any help on this is very appreciated
Thanks
G

R(psi, theta, phi) = R1(phi)R2(theta)R3(psi),
R3(psi)   = [ cos(psi) sin(psi) 0;              -sin(psi) cos(psi) 0;                      0        0 1]R2(theta) = [cos(theta) 0 -sin(theta);                      0  1           0;              sin(theta) 0  cos(theta)]R1(phi)   = [1        0          0;              0  cos(phi)  sin(phi);             0 -sin(phi)  cos(phi)]