Click-to-Select

Implement body selection with raycasting and highlights

A common interaction pattern: double-click a body to select it, highlight the selected body, and use the selection for further actions. This combines R3F raycasting with the library’s useSelectionHighlight hook.

The Pattern

1. A hook listens for double-clicks and raycasts to find the clicked body
2. The useSelectionHighlight hook applies a visual highlight to the selected body

import { useState, useCallback } from "react";
import { useThree } from "@react-three/fiber";
import { useSelectionHighlight } from "mujoco-react";

function useClickSelect(): number | null {
  const [selectedBodyId, setSelectedBodyId] = useState<number | null>(null);
  const { scene, camera, gl } = useThree();

  const handleDoubleClick = useCallback((event: MouseEvent) => {
    const rect = gl.domElement.getBoundingClientRect();
    const mouse = new THREE.Vector2(
      ((event.clientX - rect.left) / rect.width) * 2 - 1,
      -((event.clientY - rect.top) / rect.height) * 2 + 1
    );

    const raycaster = new THREE.Raycaster();
    raycaster.setFromCamera(mouse, camera);
    const intersects = raycaster.intersectObjects(scene.children, true);

    for (const hit of intersects) {
      let obj = hit.object;
      while (obj) {
        if (obj.userData?.bodyID != null) {
          setSelectedBodyId(obj.userData.bodyID);
          return;
        }
        obj = obj.parent!;
      }
    }
    setSelectedBodyId(null);
  }, [scene, camera, gl]);

  useEffect(() => {
    gl.domElement.addEventListener("dblclick", handleDoubleClick);
    return () => gl.domElement.removeEventListener("dblclick", handleDoubleClick);
  }, [gl, handleDoubleClick]);

  return selectedBodyId;
}

Composing with useSelectionHighlight

function ClickSelectOverlay() {
  const selectedBodyId = useClickSelect();
  useSelectionHighlight(selectedBodyId);
  return null;
}

Then drop it into your scene:

<MujocoCanvas config={config}>
  <ClickSelectOverlay />
</MujocoCanvas>

Using the onSelection Callback

<MujocoCanvas> also has a built-in onSelection callback that fires on double-click:

function SelectionHandler({ bodyId }: { bodyId: number | null }) {
  useSelectionHighlight(bodyId);
  return null;
}

function App() {
  const [selectedBodyId, setSelectedBodyId] = useState<number | null>(null);

  return (
    <MujocoCanvas
      config={config}
      onSelection={(bodyId, name) => {
        console.log(`Selected body ${name} (id: ${bodyId})`);
        setSelectedBodyId(bodyId);
      }}
    >
      <SelectionHandler bodyId={selectedBodyId} />
    </MujocoCanvas>
  );
}

How SceneRenderer Stores Body IDs

<SceneRenderer /> sets userData.bodyID on every mesh it creates. When raycasting, walk up the object tree with obj.parent until you find a node with userData.bodyID — child meshes (e.g. geom sub-meshes) don’t have it directly, but their parent body group does.

useSelectionHighlight Options

Option	Type	Default	Description
bodyId (first argument)	number | null	—	Body to highlight, or null to clear
options.color	string	'#ff4444'	Emissive highlight color
options.emissiveIntensity	number	0.3	Strength of the emissive glow

For more advanced selection visuals (outlines, postprocessing, custom shaders), use useBodyMeshes to get direct access to the body’s Three.js meshes.