Plot box with rotation

Hi,

How do I plot a cube/box in 3D an specify the rotation (yaw pitch and roll), similar to this code but with angles
http://www.mathworks.com/matlabcentral/fileexchange/15161-plotcube

As far as I know MuPAD has implemented it
http://www.mathworks.com/help/symbolic/mupad_ref/plot-box.html

thank you