Peasycam does not have a library for Processing.js. There's not much that can be done about that unless the original author or someone else (hint: you) wants to write one.
You have the option of using ArcBall which has a JS version that you can include with your projects.
You can see an example of how it works here: http://www.math.tamu.edu/~romwell/arcball_js/index.html
And see the ArcBall.pde here: https://github.com/motionbank/deborah-hay-processing/blob/master/marker-analysis/scene-probability/backbone_01/arcball.pde
If you don't want to worry about ArcBall then I suggest you learn about Quaternions and write your own code to handle 3D scenes.