react-three-fiber spaceship controls (hacky)

useShipControls.ts

// various tmp vars to avoid allocation in frame loop 
const frameMovement = new Vector3();
const frameRotation = new Euler();
const tempQuat = new Quaternion();
const tempQuat2 = new Quaternion();
const tempForward = new Vector3();
const tempRight = new Vector3();
const tempUp = new Vector3();

function useShipControls(api: RAPIER.RigidBody) {
  const controlStateRef = useFlightControls();

  useFrame(() => {
    // this is euler
    const rotation = api.rotation();

    // get ortho axes

    tempForward.set(0, 0, 1);
    // copy euler rotation to quaternion
    tempQuat.set(rotation.x, rotation.y, rotation.z, rotation.w);
    tempForward.applyQuaternion(tempQuat);
    tempRight.set(1, 0, 0);
    tempRight.applyQuaternion(tempQuat);
    tempUp.crossVectors(tempForward, tempRight);

    // contains up-to-date flags for directional movement input (pitch, yaw, roll) and thrust (+/-)
    const controlState = controlStateRef.current;

    // reset frame vector
    frameMovement.set(0, 0, 0);

    if (controlState.thrust) {
      frameMovement.z += THRUST_FORCE;
    }
    if (controlState.brake) {
      frameMovement.z -= THRUST_FORCE;
    }

    // already set above - uncomment if code changees so tempQuat is not rotation anymore
    // tempQuat.set(rotation.x, rotation.y, rotation.z, rotation.w);

    // rotate thrust vector to local forward
    frameMovement.applyQuaternion(tempQuat);
    api.applyForce(frameMovement, true);

    // reset frame vector
    frameRotation.set(0, 0, 0);

    if (controlState.pitchForward) {
      frameRotation.x -= ROTATE_FORCE;
    }
    if (controlState.pitchBackward) {
      frameRotation.x += ROTATE_FORCE;
    }
    if (controlState.yawLeft) {
      frameRotation.y -= ROTATE_FORCE;
    }
    if (controlState.yawRight) {
      frameRotation.y += ROTATE_FORCE;
    }
    if (controlState.rollLeft) {
      frameRotation.z -= ROTATE_FORCE;
    }
    if (controlState.rollRight) {
      frameRotation.z += ROTATE_FORCE;
    }

    // TODO: fix a lot of this guesswork...
    tempQuat.setFromAxisAngle(tempForward, frameRotation.z);
    tempQuat2.setFromAxisAngle(tempUp, -frameRotation.y);
    tempQuat.multiply(tempQuat2);
    tempQuat2.setFromAxisAngle(tempRight, -frameRotation.x);
    tempQuat.multiply(tempQuat2);
    frameRotation.setFromQuaternion(tempQuat);

    api.applyTorque(frameRotation, true);
  });
}