Stories are embedded in the dances of Gregory Maqoma, the South African choreographer and dancer whose work, “Broken Chord,” is currently at the Brooklyn Academy of Music’s Harvey Theater. In both “Broken Chord” and “Cion: Requiem of Ravel’s Boléro,” which came recently to the Joyce Theater, the human voice, danced rhythm, and the material of the stage itself become essential ingredients in the expression of a deep emotional truth. That truth, in turn, is based in history and experience. The whole body is involved, as are the senses: sound, vision, the audience’s and the performers’ inner vibrations. In the case of “Broken Chord,” even our sense of smell is affected through the use of a censer that emits billowing clouds of fragrant incense.