void initialize() {
double dx = 1 / Math.sqrt(rigidBody.I1); // dimension of ellipsoid is inverse to inertia
double dy = 1 / Math.sqrt(rigidBody.I2);
double dz = 1 / Math.sqrt(rigidBody.I3);
double scale = Math.max(Math.max(4 * dx, 4 * dy), 4 * dz); // bounding dimension
frame.setPreferredMinMax(-scale, scale, -scale, scale, -scale, scale);
orientationTrace.clear();
update();
}
