Defining Rotation for Bodies in SimMechanics using Euler Angles or Quaternions

In the first generation of SimMechanics Bodies, there was this feature of defining rotation for bodies using Euler Angles, Quaternions or Rotation Matrix.

However, in the Second Generation of SimMechanics blocks, this feature is not there. Even the Rigid Transformation blocks do not provide this feature. Is it possible somehow to define rotations using either of the above mentioned methods? I'm surprised that the developers didn't include a way to define rotations using Euler Angles or Quaternions.