Strictly speaking above is not a quote by Marshall Rosenberg, but rather of Marshall quoting his grandmother. According to him, his grandmother was a natural-born nonviolent or compassionate communication practitioner:. "She thought in terms of what people feel and what they need", feeding those that were hungry and offering shelter to those without a roof.
It seems that by practicing that connection with the deepest human needs Marshall's grandmother was able to to choose to dance joyously through life.
It is not what we have or have not that fills us and make us joyful, rather it is how we choose to take it and what we do with it. We all can choose to dance and live from the energy of joy.