How would one go about rotating/flipping a cube with the physics of jBullet?

Here is my Draw method for my cube object:

    public void  Draw() {   
    // center point posX, posY, posZ
    float radius = .25f;//size / 2;

    glPushMatrix();
    glBegin(GL_QUADS);
        //top
        {
            glColor3f(5.0f,1.0f,5.0f); // white
            glVertex3f(posX + radius, posY + radius, posZ - radius);
            glVertex3f(posX - radius, posY + radius, posZ - radius);
            glVertex3f(posX - radius, posY + radius, posZ + radius);
            glVertex3f(posX + radius, posY + radius, posZ + radius);
        }

        //bottom
        {
            glColor3f(1.0f,1.0f,0.0f); // ?? color
            glVertex3f(posX + radius, posY - radius, posZ + radius);
            glVertex3f(posX - radius, posY - radius, posZ + radius);
            glVertex3f(posX - radius, posY - radius, posZ - radius);
            glVertex3f(posX + radius, posY - radius, posZ - radius);
        }

        //right side
        {
            glColor3f(1.0f,0.0f,1.0f); // ?? color
            glVertex3f(posX + radius, posY + radius, posZ + radius);
            glVertex3f(posX + radius, posY - radius, posZ + radius);
            glVertex3f(posX + radius, posY - radius, posZ - radius);
            glVertex3f(posX + radius, posY + radius, posZ - radius);
        }

        //left side
        {
            glColor3f(0.0f,1.0f,1.0f); // ?? color
            glVertex3f(posX - radius, posY + radius, posZ - radius);
            glVertex3f(posX - radius, posY - radius, posZ - radius);
            glVertex3f(posX - radius, posY - radius, posZ + radius);
            glVertex3f(posX - radius, posY + radius, posZ + radius);
        }

        //front side 
        {
            glColor3f(0.0f,0.0f,1.0f); // blue 
            glVertex3f(posX + radius, posY + radius, posZ + radius);
            glVertex3f(posX - radius, posY + radius, posZ + radius);
            glVertex3f(posX - radius, posY - radius, posZ + radius);
            glVertex3f(posX + radius, posY - radius, posZ + radius);
        }

        //back side
        {
            glColor3f(0.0f,1.0f,0.0f); // green
            glVertex3f(posX + radius, posY - radius, posZ - radius);
            glVertex3f(posX - radius, posY - radius, posZ - radius);
            glVertex3f(posX - radius, posY + radius, posZ - radius);
            glVertex3f(posX + radius, posY + radius, posZ - radius);
        }
    glEnd();
    glPopMatrix();

    Update();
}

This is my update method for the cube position:

    public void Update() {
    Transform trans = new Transform();
    cubeRigidBody.getMotionState().getWorldTransform(trans);

    posX = trans.origin.x;
    posY = trans.origin.y;
    posZ = trans.origin.z;

    Quat4f outRot = new Quat4f();
    trans.getRotation(outRot);
    rotX = outRot.x;
    rotY = outRot.y;
    rotZ = outRot.z;
    rotW = outRot.w;
}

I am assuming I need to use glrotatef, but it does not seem to work at all when I try that..

this is how I have tried to rotate the cubes:

    GL11.glRotatef(rotW, rotX, 0.0f, 0.0f);
    GL11.glRotatef(rotW, 0.0f, rotY, 0.0f);
    GL11.glRotatef(rotW, 0.0f, 0.0f, rotZ);