double h2 = jointRadius2 * cosTheta;
double r1 = jointRadius1 * sinTheta;
double r2 = jointRadius2 * sinTheta;
TransformableGeometry segment = new TransformableGeometry(
new TaperedCylinderGeometry(h1, r1, length + h2, r2, false));
Vector3 v = previous.center().vectorTo(sphere.center());
Basis3 basis = Basis3.fromV(v);
AffineMatrix3 T = AffineMatrix3.fromColumns(basis.u(), basis.v(), basis.w(), previous.center());