diff --git a/sources/reactphysics3d/body/BodyState.cpp b/sources/reactphysics3d/body/BodyState.cpp
index 31d08962..cbb0865a 100644
--- a/sources/reactphysics3d/body/BodyState.cpp
+++ b/sources/reactphysics3d/body/BodyState.cpp
@@ -26,9 +26,8 @@
  using namespace reactphysics3d;
 
  // Constructor
- BodyState::BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse)
-           : position(position), orientation(Quaternion(0,1,0, 0.0)), inertiaTensorInverse(inertiaTensorInverse), massInverse(massInverse) {
-    // TODO : orientation will be initialized in another way
+ BodyState::BodyState(const Vector3D& position, const Quaternion& orientation, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse)
+           : position(position), orientation(orientation), inertiaTensorInverse(inertiaTensorInverse), massInverse(massInverse) {
 
     // Recalculate the secondary values from the primary values
     recalculate();
@@ -92,5 +91,5 @@ Vector3D BodyState::computeForce(Time time) const {
 // Return the torque on the body at time
 Vector3D BodyState::computeTorque(Time time) const {
     // TODO : Implement this method
-    return force + Vector3D(0.0, 0.0 ,0.0);
+    return Vector3D(0.0, 0.0 ,0.0);
 }
diff --git a/sources/reactphysics3d/body/BodyState.h b/sources/reactphysics3d/body/BodyState.h
index b03081ca..4f197f72 100644
--- a/sources/reactphysics3d/body/BodyState.h
+++ b/sources/reactphysics3d/body/BodyState.h
@@ -49,12 +49,12 @@ class BodyState {
 
         // Constants
         Matrix3x3 inertiaTensorInverse;         // Inverse of the inertia tensor of the body
-        Kilogram massInverse;                     // Inverse of the mass of the body
+        Kilogram massInverse;                   // Inverse of the mass of the body
 
     public :
-        BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse);    // Constructor
-        BodyState(const BodyState& bodyState);                                                                      // Copy-constructor
-        virtual ~BodyState();                                                                                       // Destructor
+        BodyState(const Vector3D& position, const Quaternion& orientation, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse);     // Constructor
+        BodyState(const BodyState& bodyState);                                                                                                      // Copy-constructor
+        virtual ~BodyState();                                                                                                                       // Destructor
 
         Vector3D getPosition() const;                                           // Return the position of the body
         void setPosition(const Vector3D& position);                             // Set the position of the body
diff --git a/sources/reactphysics3d/body/OBB.cpp b/sources/reactphysics3d/body/OBB.cpp
index dfe838a1..d5d15760 100644
--- a/sources/reactphysics3d/body/OBB.cpp
+++ b/sources/reactphysics3d/body/OBB.cpp
@@ -124,7 +124,7 @@ void OBB::draw() const {
         glVertex3f(s6.getX(), s6.getY(), s6.getZ());
 
         glVertex3f(center.getX(), center.getY(), center.getZ());
-        glVertex3f(center.getX() + 8.0 * axis[1].getX(), center.getY() + 8.0 * axis[1].getY(), center.getZ() + 8.0 * axis[1].getZ());
+        glVertex3f(center.getX() + 8.0 * axis[2].getX(), center.getY() + 8.0 * axis[2].getY(), center.getZ() + 8.0 * axis[2].getZ());
 
     glEnd();
 }
diff --git a/sources/reactphysics3d/body/RigidBody.cpp b/sources/reactphysics3d/body/RigidBody.cpp
index 135ffd88..0b47f30b 100644
--- a/sources/reactphysics3d/body/RigidBody.cpp
+++ b/sources/reactphysics3d/body/RigidBody.cpp
@@ -24,16 +24,20 @@
  using namespace reactphysics3d;
 
  // Constructor
- RigidBody::RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
+ RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
            : Body(mass), inertiaTensor(inertiaTensor), obb(obb),
-             currentBodyState(position, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
-             previousBodyState(position, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
+             currentBodyState(position, orientation, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
+             previousBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
+
         isMotionEnabled = true;
         isCollisionEnabled = true;
         interpolationFactor = 0.0;
 
         // Set the body pointer to the OBB
         this->obb.setBodyPointer(this);
+
+        // Update the orientation of the OBB according to the orientation of the rigid body
+        this->update();
  }
 
  // Copy-constructor
diff --git a/sources/reactphysics3d/body/RigidBody.h b/sources/reactphysics3d/body/RigidBody.h
index 6d552499..d82f2e39 100644
--- a/sources/reactphysics3d/body/RigidBody.h
+++ b/sources/reactphysics3d/body/RigidBody.h
@@ -49,9 +49,9 @@ class RigidBody : public Body {
         OBB obb;                                    // Oriented bounding box that contains the rigid body
 
     public :
-        RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb);  // Constructor
-        RigidBody(const RigidBody& rigidBody);                                                                      // Copy-constructor
-        virtual ~RigidBody();                                                                                       // Destructor
+        RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb);   // Constructor
+        RigidBody(const RigidBody& rigidBody);                                                                                                      // Copy-constructor
+        virtual ~RigidBody();                                                                                                                       // Destructor
 
         Matrix3x3 getInertiaTensor() const;                             // Return the inertia tensor of the body
         void setInertiaTensor(const Matrix3x3& inertiaTensor);          // Set the inertia tensor of the body