This is a example taken from a simple NPC class in my (soon to be released) eki-one integration example project :
void npc::update(void)
{
UpdateController(m_NPCController,m_fAngleOfForce,(m_fForce),0,0,15000,1,0);
Animate(m_entNPCModel, fmodf(AppTime()/40.0f, (float) m_iCurrentAnimationLength), 1.0f, m_iCurrentSequenceId);
PositionEntity(m_entNPCModel, EntityPosition(m_NPCController,1),1);
RotateEntity(m_entNPCModel,Vec3(0,getFacingAngle(),0),1);
}
In this case m_fAngleOfForce and m_fForce are derived elsewhere from a velocity vector passed from the EKI One AI engine (path finding) and the getFacingAngle() function returns the angle the NPC is currently facing; again from the AI engine.
In your case you would substitute these values with your own calculated (desired) values.