void update() {
Transformation transformation = rigidBody.getTransformation();
topGroup.setTransformation(transformation);
double s = 1.5 * shaft.getSizeZ();
double[] vec = topGroup.toSpaceFrame(new double[] {0, 0, 1});
orientation.setSizeXYZ(s * vec[0], s * vec[1], s * vec[2]);
orientationTrace.addPoint(s * vec[0], s * vec[1], s * vec[2]);
frame.render();
}
