react-three-rapier scene query

castShapeDown.js

import { Quaternion, Euler } from 'three'

// Reusuable objects to save on GC
const quaternion = new Quaternion()
const euler = new Euler()

// TODO: Do we need to do this or will Rapier just accept a Three quaternion?
const rotationToQuaternion = (rotation) => {
  const { w, x, y, z } = quaternion.setFromEuler(euler.set(...rotation))
  return { w, x, y, z }
}

// Cast downward ray from origin & get list of pieces (sorted by Y position)
// TODO: If we make direction a prop can this be used to castShape in any direction?
export const castShapeDown = (
  { world },
  { shape, position, rotation, distance = 10000 },
  predicate
) =>
  world.raw().castShape(
    { x: position[0], y: distance, z: position[2] },
    rotationToQuaternion(rotation), // quaternion.setFromEuler(euler.set(...rotation))
    { x: 0, y: -1, z: 0 },
    shape,
    distance + 1, // TODO: is it necessary to do +1?
    false, // firstHitOnly
    undefined,
    undefined,
    undefined,
    undefined,
    (...args) => predicate(...args)
  )

scenequery.js

  const rapier = useRapier()
  
    const hit = castShapeDown(
      rapier,
      {
        shape: new rapier.rapier.Cuboid(1, 1, 1),
        position,
        rotation
      },
      (match) => {
        const id = rapier.rigidBodyStates.get(match.handle)?.object?.userData
          ?.pieceId
        if (!id) return false
        console.log('shapeCast', id, match)
        return true
      }
    )


<Physics gravity={[0, 0, 0]}>
      <RigidBody
        key={id}
        userData={{ pieceId: id }}
        transformState={false}
        type="fixed"
        position={position}
        rotation={rotation}>
        <mesh />
      </RigidBody>
      ...
</Physics>