Help with drone fly controls

[DavidBachmann]

Hello!

I'm playing around with this tremendous tool trying to make a drone fly half-realistically.
When I apply torque (to pitch and roll the drone), it is always applied in the same direction. How would I make api.applyTorque() aware of the current rotation?

In this video I show how pitching only works when going straight:
https://user-images.githubusercontent.com/8494120/210118249-7be0322b-3d9f-4dbc-b0a8-c6225efa77ea.mp4

      // Lift
      api.applyLocalForce([0, lift.current, 0], [0, 0, 0]);

     // Yaw
      api.angularVelocity.set(0, yaw.current, 0);
   
     // Pitch and roll
      api.applyTorque([
        pitch.current,
        0, // Using angular velocity for yaw
        roll.current,
      ]);

Edit: Solved below

[DavidBachmann]

Sometimes all you need is a good night's sleep.

1. Subscribe to the entity's rotation (getting a Quad)
2. Make a THREE.Quaternion from that Quad.
3. Use a THREE.Vector3 to represent torque and apply the Quaternion to it before passing it to the API.

const unitVector = new THREE.Vector3();
const unitQuaternion = new THREE.Quaternion();
const quaternion = useRef<Quad>([0, 0, 0, 1]);
api.quaternion.subscribe((val) => (quaternion.current = val));

const qc = quaternion.current;
const q = unitQuaternion.set(qc[0], qc[1], qc[2], qc[3]);
const v = unitVector.set(
  pitch.current * torqueScale, 0,roll.current * torqueScale
);

v.applyQuaternion(q);
api.applyTorque(v.toArray());