How to rotate in 4th dimension

[Corylus]

I'm playing using mouse and keyboard. I figured out how to move both objects and the camera in 4 dimensions. But I can't rotate objects in the 4th dimensions and I can't rotate the camera at all.
Is there possibly even a complete lists of the keyboard controls?

[Corylus]

For example Jenn3d ( http://jenn3d.org/ ) allows rotation in the 4th dimension using the right mouse button and I think it is the most interesting operation when dealing with 4d-polytopes. Especially the torus-example would become more interesting (again, see Jenn3d. You can load a torus with model > solids > torus).
Notice that Jenn3d projects from a hypersphere and not 4d euclidian space!