Is there a way to rotate the camera in 3d space?

In processing, the camera() function takes 9 arguments: 3 for positioning in 3d space, 3 for the direction the camera is facing, and 3 for the upward vector in relation to the camera. It looks like there are only 3 parameters in the p5.js version, and I haven't been able to figure out a way to rotate the camera. Am I missing something?

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