Articulate Joints from Mocap

function rotateBone(rig,boneName,eulerX,eulerY,eulerZ)
{
  var boneInfo= m_armat.get_bone_tsr_rel(rig, boneName);
  var boneInfoInv= m_tsr.invert(m_armat.get_bone_tsr_rel(rig, boneName),m_tsr.create());
  var boneQuat = m_tsr.get_quat_view(boneInfo);
  var boneQuatInv = m_tsr.get_quat_view(boneInfoInv);


  var rotQuatBone=m_util.euler_to_quat([eulerY,eulerX,eulerZ],m_quat.create());
  var finalQuatBone=m_quat.multiply(boneQuatInv,boneQuat,m_quat.create());
  m_quat.multiply(rotQuatBone ,finalQuatBone,finalQuatBone);

  m_tsr.set_quat(finalQuatBone, boneInfo);
  m_armat.set_bone_tsr_rel(rig, boneName,boneInfo);

}