diff --git a/.editorconfig b/.editorconfig
index 4ee3fdb..1ec7f97 100644
--- a/.editorconfig
+++ b/.editorconfig
@@ -10,6 +10,10 @@ end_of_line = crlf
 charset = utf-8
 trim_trailing_whitespace = false
 insert_final_newline = false
+max_line_length = 80
 
 [*.cs]
-csharp_new_line_before_open_brace = none
\ No newline at end of file
+csharp_new_line_before_open_brace = none
+# Suppress warnings everywhere
+dotnet_diagnostic.IDE1006.severity = none
+dotnet_diagnostic.IDE0130.severity = none
\ No newline at end of file
diff --git a/LinearAlgebra/Angle.cs b/LinearAlgebra/Angle.cs
index 71c44a6..0c23840 100644
--- a/LinearAlgebra/Angle.cs
+++ b/LinearAlgebra/Angle.cs
@@ -1,7 +1,11 @@
 using System;
 
-class Angle
-{
-    public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
-    public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
+namespace Passer.LinearAlgebra {
+
+    public class Angle {
+        public const float pi = 3.1415927410125732421875F;
+        public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
+        public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
+    }
+
 }
\ No newline at end of file
diff --git a/LinearAlgebra/Matrix.cs b/LinearAlgebra/Matrix.cs
index c2e6334..9603048 100644
--- a/LinearAlgebra/Matrix.cs
+++ b/LinearAlgebra/Matrix.cs
@@ -1,11 +1,10 @@
 using System;
 using System.Diagnostics;
-using Vector3 = UnityEngine.Vector3;
-using Vector2 = UnityEngine.Vector2;
+using Passer.LinearAlgebra;
 
 public readonly struct Slice {
-    public int start {get;}
-    public int stop {get;}
+    public int start { get; }
+    public int stop { get; }
     public Slice(int start, int stop) {
         this.start = start;
         this.stop = stop;
@@ -50,7 +49,7 @@ public class Matrix2 {
         return new Matrix2(resultData);
     }
 
-    public static Matrix2 SkewMatrix(Vector3 v) {
+    public static Matrix2 SkewMatrix(Vector3Float v) {
         float[,] result = new float[3, 3] {
             {0, -v.z, v.y},
             {v.z, 0, -v.x},
@@ -137,12 +136,12 @@ public class Matrix2 {
         return new Matrix1(result);
     }
 
-    public static Vector3 operator *(Matrix2 A, Vector3 v) {
-        return new Vector3() {
-            x = A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
-            y = A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
-            z = A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
-        };
+    public static Vector3Float operator *(Matrix2 A, Vector3Float v) {
+        return new Vector3Float(
+            A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
+            A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
+            A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
+        );
     }
 
 
@@ -263,14 +262,14 @@ public class Matrix1 {
         return new Matrix1(magnitude);
     }
 
-    public static Matrix1 FromVector2(Vector2 v) {
+    public static Matrix1 FromVector2(Vector2Float v) {
         float[] result = new float[2];
         result[0] = v.x;
         result[1] = v.y;
         return new Matrix1(result);
     }
 
-    public static Matrix1 FromVector3(Vector3 v) {
+    public static Matrix1 FromVector3(Vector3Float v) {
         float[] result = new float[3];
         result[0] = v.x;
         result[1] = v.y;
@@ -278,18 +277,18 @@ public class Matrix1 {
         return new Matrix1(result);
     }
 
-    public Vector2 vector2 {
+    public Vector2Float vector2 {
         get {
             if (this.magnitude != 2)
                 throw new System.ArgumentException("Matrix1 must be of size 2");
-            return new Vector2(this.data[0], this.data[1]);
+            return new Vector2Float(this.data[0], this.data[1]);
         }
     }
-    public Vector3 vector3 {
+    public Vector3Float vector3 {
         get {
             if (this.magnitude != 3)
                 throw new System.ArgumentException("Matrix1 must be of size 3");
-            return new Vector3(this.data[0], this.data[1], this.data[2]);
+            return new Vector3Float(this.data[0], this.data[1], this.data[2]);
         }
     }
 
@@ -345,178 +344,179 @@ public class Matrix1 {
     }
 }
 
-public class Matrix {
-    private readonly uint rows = 0;
-    private readonly uint cols = 0;
-    private float[] data;
+// public class Matrix {
+//     private readonly uint rows = 0;
+//     private readonly uint cols = 0;
+//     private float[] data;
 
-    public Matrix(uint rows, uint cols) {
-        this.rows = rows;
-        this.cols = cols;
-    }
+//     public Matrix(uint rows, uint cols) {
+//         this.rows = rows;
+//         this.cols = cols;
+//     }
 
-    public static float[,] Diagonal(float[] v) {
-        float[,] r = new float[v.Length, v.Length];
-        for (int i = 0; i < v.Length; i++) {
-            r[i, i] = v[i];
-        }
-        return r;
-    }
+//     public static float[,] Diagonal(float[] v) {
+//         float[,] r = new float[v.Length, v.Length];
+//         for (int i = 0; i < v.Length; i++) {
+//             r[i, i] = v[i];
+//         }
+//         return r;
+//     }
 
-    public static float[,] Transpose(float[,] m) {
-        int rows = m.GetLength(0);
-        int cols = m.GetLength(1);
-        float[,] r = new float[cols, rows];
-        for (uint rowIx = 0; rowIx < rows; rowIx++) {
-            for (uint colIx = 0; colIx < cols; colIx++)
-                r[colIx, rowIx] = m[rowIx, colIx];
-        }
-        return r;
-        // double checked code
-    }
+//     public static float[,] Transpose(float[,] m) {
+//         int rows = m.GetLength(0);
+//         int cols = m.GetLength(1);
+//         float[,] r = new float[cols, rows];
+//         for (uint rowIx = 0; rowIx < rows; rowIx++) {
+//             for (uint colIx = 0; colIx < cols; colIx++)
+//                 r[colIx, rowIx] = m[rowIx, colIx];
+//         }
+//         return r;
+//         // double checked code
+//     }
 
-    public static void NegateColumn(float[,] m, uint colIx) {
-        for (uint rowIx = 0; rowIx < m.GetLength(0); rowIx++) {
-            m[rowIx, colIx] = -m[rowIx, colIx];
-        }
-    }
+//     public static void NegateColumn(float[,] m, uint colIx) {
+//         for (uint rowIx = 0; rowIx < m.GetLength(0); rowIx++) {
+//             m[rowIx, colIx] = -m[rowIx, colIx];
+//         }
+//     }
 
-    public static float Determinant(float[,] matrix) {
-        int n = matrix.GetLength(0);
-        if (n != matrix.GetLength(1))
-            throw new System.ArgumentException("Matrix must be square.");
+//     public static float Determinant(float[,] matrix) {
+//         int n = matrix.GetLength(0);
+//         if (n != matrix.GetLength(1))
+//             throw new System.ArgumentException("Matrix must be square.");
 
-        if (n == 1)
-            return matrix[0, 0]; // Base case for 1x1 matrix
+//         if (n == 1)
+//             return matrix[0, 0]; // Base case for 1x1 matrix
 
-        if (n == 2) // Base case for 2x2 matrix
-            return matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0];
+//         if (n == 2) // Base case for 2x2 matrix
+//             return matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0];
 
-        float det = 0;
-        for (int col = 0; col < n; col++)
-            det += (col % 2 == 0 ? 1 : -1) * matrix[0, col] * Determinant(Minor(matrix, 0, col));
+//         float det = 0;
+//         for (int col = 0; col < n; col++)
+//             det += (col % 2 == 0 ? 1 : -1) * matrix[0, col] * Determinant(Minor(matrix, 0, col));
 
-        return det;
-    }
+//         return det;
+//     }
 
-    // Helper function to compute the minor of a matrix
-    private static float[,] Minor(float[,] matrix, int rowToRemove, int colToRemove) {
-        int n = matrix.GetLength(0);
-        float[,] minor = new float[n - 1, n - 1];
+//     // Helper function to compute the minor of a matrix
+//     private static float[,] Minor(float[,] matrix, int rowToRemove, int colToRemove) {
+//         int n = matrix.GetLength(0);
+//         float[,] minor = new float[n - 1, n - 1];
 
-        int r = 0, c = 0;
-        for (int i = 0; i < n; i++) {
-            if (i == rowToRemove) continue;
+//         int r = 0, c = 0;
+//         for (int i = 0; i < n; i++) {
+//             if (i == rowToRemove) continue;
 
-            c = 0;
-            for (int j = 0; j < n; j++) {
-                if (j == colToRemove) continue;
+//             c = 0;
+//             for (int j = 0; j < n; j++) {
+//                 if (j == colToRemove) continue;
 
-                minor[r, c] = matrix[i, j];
-                c++;
-            }
-            r++;
-        }
+//                 minor[r, c] = matrix[i, j];
+//                 c++;
+//             }
+//             r++;
+//         }
 
-        return minor;
-    }
+//         return minor;
+//     }
 
-    public static float[,] MultiplyMatrices(float[,] A, float[,] B) {
-        int rowsA = A.GetLength(0);
-        int colsA = A.GetLength(1);
-        int rowsB = B.GetLength(0);
-        int colsB = B.GetLength(1);
+//     public static float[,] MultiplyMatrices(float[,] A, float[,] B) {
+//         int rowsA = A.GetLength(0);
+//         int colsA = A.GetLength(1);
+//         int rowsB = B.GetLength(0);
+//         int colsB = B.GetLength(1);
 
-        if (colsA != rowsB)
-            throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
+//         if (colsA != rowsB)
+//             throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
 
-        float[,] result = new float[rowsA, colsB];
+//         float[,] result = new float[rowsA, colsB];
 
-        for (int i = 0; i < rowsA; i++) {
-            for (int j = 0; j < colsB; j++) {
-                float sum = 0.0f;
-                for (int k = 0; k < colsA; k++)
-                    sum += A[i, k] * B[k, j];
+//         for (int i = 0; i < rowsA; i++) {
+//             for (int j = 0; j < colsB; j++) {
+//                 float sum = 0.0f;
+//                 for (int k = 0; k < colsA; k++)
+//                     sum += A[i, k] * B[k, j];
 
-                result[i, j] = sum;
-            }
-        }
+//                 result[i, j] = sum;
+//             }
+//         }
 
-        return result;
-        // double checked code
-    }
+//         return result;
+//         // double checked code
+//     }
 
-    public static float[] MultiplyMatrixVector(float[,] A, float[] v) {
-        int rows = A.GetLength(0);
-        int cols = A.GetLength(1);
-        float[] result = new float[rows];
+//     public static float[] MultiplyMatrixVector(float[,] A, float[] v) {
+//         int rows = A.GetLength(0);
+//         int cols = A.GetLength(1);
+//         float[] result = new float[rows];
 
-        for (int i = 0; i < rows; i++) {
-            for (int j = 0; j < cols; j++) {
-                result[i] += A[i, j] * v[j];
-            }
-        }
+//         for (int i = 0; i < rows; i++) {
+//             for (int j = 0; j < cols; j++) {
+//                 result[i] += A[i, j] * v[j];
+//             }
+//         }
 
-        return result;
-    }
+//         return result;
+//     }
 
-    // Vector-matrix multiplication
-    public static Vector3 MultiplyMatrixVector3(float[,] A, Vector3 v) {
-        return new Vector3() {
-            x = A[0, 0] * v.x + A[0, 1] * v.y + A[0, 2] * v.z,
-            y = A[1, 0] * v.x + A[1, 1] * v.y + A[1, 2] * v.z,
-            z = A[2, 0] * v.x + A[2, 1] * v.y + A[2, 2] * v.z
-        };
-    }
+//     // Vector-matrix multiplication
+//     public static Vector3Float MultiplyMatrixVector3(float[,] A, Vector3Float v) {
+//         return new Vector3Float(
+//             A[0, 0] * v.x + A[0, 1] * v.y + A[0, 2] * v.z,
+//             A[1, 0] * v.x + A[1, 1] * v.y + A[1, 2] * v.z,
+//             A[2, 0] * v.x + A[2, 1] * v.y + A[2, 2] * v.z
+//         );
+//     }
 
-    public static float[,] MultiplyMatrixScalar(float[,] A, float s) {
-        int rows = A.GetLength(0);
-        int cols = A.GetLength(1);
-        float[,] result = new float[rows, cols];
+//     public static float[,] MultiplyMatrixScalar(float[,] A, float s) {
+//         int rows = A.GetLength(0);
+//         int cols = A.GetLength(1);
+//         float[,] result = new float[rows, cols];
 
-        for (int i = 0; i < rows; i++) {
-            for (int j = 0; j < cols; j++) {
-                result[i, j] += A[i, j] * s;
-            }
-        }
+//         for (int i = 0; i < rows; i++) {
+//             for (int j = 0; j < cols; j++) {
+//                 result[i, j] += A[i, j] * s;
+//             }
+//         }
 
-        return result;
-    }
+//         return result;
+//     }
 
-    public static float[] GetColumn(float[,] M, int col) {
-        int rows = M.GetLength(0);
-        float[] column = new float[rows];
-        for (int i = 0; i < rows; i++) {
-            column[i] = M[i, col];
-        }
-        return column;
-    }
+//     public static float[] GetColumn(float[,] M, int col) {
+//         int rows = M.GetLength(0);
+//         float[] column = new float[rows];
+//         for (int i = 0; i < rows; i++) {
+//             column[i] = M[i, col];
+//         }
+//         return column;
+//     }
 
-    public static Vector3 GetRow3(float[,] M, int rowIx) {
-        int cols = M.GetLength(1);
-        Vector3 row = new();
-        row.x = M[rowIx, 0];
-        row.y = M[rowIx, 1];
-        row.z = M[rowIx, 2];
-        return row;
-    }
+//     public static Vector3Float GetRow3(float[,] M, int rowIx) {
+//         int cols = M.GetLength(1);
+//         Vector3Float row = new(
+//             M[rowIx, 0],
+//             M[rowIx, 1],
+//             M[rowIx, 2]
+//         );
+//         return row;
+//     }
 
-    public static void SetRow3(float[,] M, int rowIx, Vector3 v) {
-        M[rowIx, 0] = v.x;
-        M[rowIx, 1] = v.y;
-        M[rowIx, 2] = v.z;
-    }
+//     public static void SetRow3(float[,] M, int rowIx, Vector3Float v) {
+//         M[rowIx, 0] = v.x;
+//         M[rowIx, 1] = v.y;
+//         M[rowIx, 2] = v.z;
+//     }
 
-    public static float Dot(float[] a, float[] b) {
-        float sum = 0;
-        for (int i = 0; i < a.Length; i++) sum += a[i] * b[i];
-        return sum;
-    }
+//     public static float Dot(float[] a, float[] b) {
+//         float sum = 0;
+//         for (int i = 0; i < a.Length; i++) sum += a[i] * b[i];
+//         return sum;
+//     }
 
-    public static float[,] IdentityMatrix(int size) {
-        float[,] I = new float[size, size];
-        for (int i = 0; i < size; i++) I[i, i] = 1.0f;
-        return I;
-    }
+//     public static float[,] IdentityMatrix(int size) {
+//         float[,] I = new float[size, size];
+//         for (int i = 0; i < size; i++) I[i, i] = 1.0f;
+//         return I;
+//     }
 
-}
\ No newline at end of file
+// }
\ No newline at end of file
diff --git a/LinearAlgebra/Spherical.cs b/LinearAlgebra/Spherical.cs
index e9c2b5b..2b86a66 100644
--- a/LinearAlgebra/Spherical.cs
+++ b/LinearAlgebra/Spherical.cs
@@ -1,5 +1,3 @@
-using UnityEngine;
-
 namespace Passer.LinearAlgebra {
     public class Spherical {
         public float distance;
@@ -17,30 +15,30 @@ namespace Passer.LinearAlgebra {
             this.direction = direction;
         }
 
-        public static Spherical FromVector3(Vector3 v) {
+        public static Spherical FromVector3(Vector3Float v) {
             float distance = v.magnitude;
             if (distance == 0.0f)
                 return new Spherical(distance, 0, 0);
             else {
-                float verticalAngle = (Mathf.PI / 2 - Mathf.Acos(v.y / distance)) * Mathf.Rad2Deg;
-                float horizontalAngle = Mathf.Atan2(v.x, v.z) * Mathf.Rad2Deg;
+                float verticalAngle = (float)((Angle.pi / 2 - Math.Acos(v.y / distance)) * Angle.Rad2Deg);
+                float horizontalAngle = (float) Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
                 return new Spherical(distance, horizontalAngle, verticalAngle);
             }
         }
 
-        public Vector3 ToVector3() {
-            float verticalRad = (UnityEngine.Mathf.PI / 2) - this.direction.vertical * UnityEngine.Mathf.Deg2Rad;
-            float horizontalRad = this.direction.horizontal * UnityEngine.Mathf.Deg2Rad;
-            float cosVertical = UnityEngine.Mathf.Cos(verticalRad);
-            float sinVertical = UnityEngine.Mathf.Sin(verticalRad);
-            float cosHorizontal = UnityEngine.Mathf.Cos(horizontalRad);
-            float sinHorizontal = UnityEngine.Mathf.Sin(horizontalRad);
+        public Vector3Float ToVector3() {
+            float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;
+            float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
+            float cosVertical = (float)Math.Cos(verticalRad);
+            float sinVertical = (float)Math.Sin(verticalRad);
+            float cosHorizontal = (float)Math.Cos(horizontalRad);
+            float sinHorizontal = (float)Math.Sin(horizontalRad);
 
             float x = this.distance * sinVertical * sinHorizontal;
             float y = this.distance * cosVertical;
             float z = this.distance * sinVertical * cosHorizontal;
 
-            Vector3 v = new Vector3(x, y, z);
+            Vector3Float v = new Vector3Float(x, y, z);
             return v;
         }
     }
diff --git a/LinearAlgebra/Vector3.cs b/LinearAlgebra/Vector3.cs
index c0bc6dd..c7ab61a 100644
--- a/LinearAlgebra/Vector3.cs
+++ b/LinearAlgebra/Vector3.cs
@@ -1,3 +1,7 @@
+#if UNITY_5_3_OR_NEWER
+using Passer.LinearAlgebra.Vector3Float = UnityEngine.Vector3
+#else
+
 namespace Passer.LinearAlgebra {
 
     public class Vector3Of<T> {
@@ -10,12 +14,20 @@ namespace Passer.LinearAlgebra {
             this.y = y;
             this.z = z;
         }
+
+        // public uint magnitude {
+        //     get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+        // }
     }
 
-    public class Vector3Int : Vector3Of<int> {
-        public Vector3Int(int x, int y, int z) : base(x, y, z) { }
+    public class Vector3Int(int x, int y, int z) : Vector3Of<int>(x, y, z) {
     }
-    public class Vector3Float : Vector3Of<float> {
-        public Vector3Float(float x, float y, float z) : base(x, y, z) { }
+    public class Vector3Float(float x, float y, float z) : Vector3Of<float>(x, y, z) {
+
+        public float magnitude {
+            get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+        }
     }
-}
\ No newline at end of file
+}
+
+#endif
\ No newline at end of file
diff --git a/Messages/CustomMsg.cs b/Messages/CustomMsg.cs
index 75e4311..e3c7acb 100644
--- a/Messages/CustomMsg.cs
+++ b/Messages/CustomMsg.cs
@@ -1,3 +1,4 @@
+#nullable enable
 namespace Passer.Control.Core {
 
     public class CustomMsg : IMessage {
@@ -23,11 +24,13 @@ namespace Passer.Control.Core {
         public CustomMsg(byte networkId, Thing thing) : base() {
             this.networkId = networkId;
             this.thingId = thing.id;
+            this.bytes = [];
         }
 
         public override byte Serialize(ref byte[] buffer) {
-            if (bytes == null)
+            if (bytes.Length == 0)
                 return 0;
+                
             byte ix = 0;
             buffer[ix++] = CustomMsg.Id;
             buffer[ix++] = this.networkId;
diff --git a/Messages/DestroyMsg.cs b/Messages/DestroyMsg.cs
new file mode 100644
index 0000000..1701a53
--- /dev/null
+++ b/Messages/DestroyMsg.cs
@@ -0,0 +1,29 @@
+
+namespace Passer.Control.Core {
+
+    public class DestroyMsg : IMessage {
+        public const byte Id = 0x20;
+        public const byte length = 3;
+        public byte networkId;
+        public byte thingId;
+
+        public DestroyMsg(byte[] buffer) : base(buffer) { }
+
+        public override void Deserialize(byte[] buffer) {
+            this.networkId = buffer[0];
+            this.thingId = buffer[1];
+        }
+
+        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+            if (packetSize != length)
+                return false;
+
+            byte[] buffer = await Receive(dataStream, packetSize);
+            DestroyMsg msg = new(buffer);
+
+            client.messageQueue.Enqueue(msg);
+            return true;
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Messages/InvestigateMsg.cs b/Messages/InvestigateMsg.cs
new file mode 100644
index 0000000..7c6af47
--- /dev/null
+++ b/Messages/InvestigateMsg.cs
@@ -0,0 +1,46 @@
+namespace Passer.Control.Core {
+
+    public class InvestigateMsg : IMessage {
+        public const byte Id = 0x81;
+        public const byte length = 3;
+        public byte networkId;
+        public byte thingId;
+
+        public InvestigateMsg(byte networkId, byte thingId) {
+            this.networkId = networkId;
+            this.thingId = thingId;
+        }
+        public InvestigateMsg(byte[] buffer) : base(buffer) { }
+
+        public override byte Serialize(ref byte[] buffer) {
+            byte ix = 0;
+            buffer[ix++] = InvestigateMsg.Id;
+            buffer[ix++] = this.networkId;
+            buffer[ix++] = this.thingId;
+            return ix;
+        }
+        public override void Deserialize(byte[] buffer) {
+            uint ix = 0;
+            this.networkId = buffer[ix++];
+            this.thingId = buffer[ix++];
+        }
+
+        //public static bool Send(Participant client, CoreThing thing) {
+        //    InvestigateMsg msg = new(thing.networkId, thing.id);
+        //    return SendMsg(client, msg);
+        //}
+        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+            if (packetSize != length)
+                return false;
+
+            byte[] buffer = await Receive(dataStream, packetSize);
+            InvestigateMsg msg = new(buffer);
+            //UnityEngine.Debug.Log($"Receive investigate [{msg.networkId}/{msg.thingId}]");
+
+            client.messageQueue.Enqueue(msg);
+            return true;
+
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Messages/Messages.cs b/Messages/Messages.cs
index 83ba4e5..c07368e 100644
--- a/Messages/Messages.cs
+++ b/Messages/Messages.cs
@@ -1,7 +1,3 @@
-using System.IO;
-using System.Threading.Tasks;
-
-using Passer.LinearAlgebra;
 namespace Passer.Control.Core {
 
     public class IMessage {
@@ -40,214 +36,4 @@ namespace Passer.Control.Core {
         }
     }
 
-    #region Investigate
-
-    public class InvestigateMsg : IMessage {
-        public const byte Id = 0x81;
-        public const byte length = 3;
-        public byte networkId;
-        public byte thingId;
-
-        public InvestigateMsg(byte networkId, byte thingId) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-        }
-        public InvestigateMsg(byte[] buffer) : base(buffer) { }
-
-        public override byte Serialize(ref byte[] buffer) {
-            byte ix = 0;
-            buffer[ix++] = InvestigateMsg.Id;
-            buffer[ix++] = this.networkId;
-            buffer[ix++] = this.thingId;
-            return ix;
-        }
-        public override void Deserialize(byte[] buffer) {
-            uint ix = 0;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-        }
-
-        //public static bool Send(Participant client, CoreThing thing) {
-        //    InvestigateMsg msg = new(thing.networkId, thing.id);
-        //    return SendMsg(client, msg);
-        //}
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            if (packetSize != length)
-                return false;
-
-            byte[] buffer = await Receive(dataStream, packetSize);
-            InvestigateMsg msg = new(buffer);
-            //UnityEngine.Debug.Log($"Receive investigate [{msg.networkId}/{msg.thingId}]");
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-
-        }
-    }
-
-    #endregion Investigate
-
-    #region Pose
-
-    public class PoseMsg : IMessage {
-        public const byte Id = 0x10;
-        public const byte length = 4 + 4 + 4;
-        public byte networkId;
-        public byte thingId;
-
-        public byte poseType;
-        public const byte Pose_Position = 0x01;
-        public const byte Pose_Orientation = 0x02;
-        public const byte Pose_LinearVelocity = 0x04;
-        public const byte Pose_AngularVelocity = 0x08;
-
-        public Spherical position;
-        public SwingTwist orientation;
-        public Spherical linearVelocity;
-        public Spherical angularVelocity;
-
-        public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-            this.position = position;
-            this.orientation = orientation;
-            this.poseType = 0;
-            if (this.position != null)
-                this.poseType |= Pose_Position;
-            else
-                this.position = new Spherical(0, 0, 0);
-            if (this.orientation != null)
-                this.poseType |= Pose_Orientation;
-            else
-                this.orientation = SwingTwist.zero;
-        }
-        public PoseMsg(byte[] buffer) : base(buffer) { }
-
-        public override byte Serialize(ref byte[] buffer) {
-            byte ix = 0;
-            buffer[ix++] = PoseMsg.Id;
-            buffer[ix++] = this.networkId;
-            buffer[ix++] = this.thingId;
-            buffer[ix++] = this.poseType;
-
-            if ((poseType & Pose_Position) != 0)
-                LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
-            if ((poseType & Pose_Orientation) != 0)
-                LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
-            if ((poseType & Pose_LinearVelocity) != 0)
-                LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);
-            if ((poseType & Pose_AngularVelocity) != 0)
-                LowLevelMessages.SendSpherical(buffer, ref ix, this.angularVelocity);
-            return ix;
-        }
-        public override void Deserialize(byte[] buffer) {
-            byte ix = 0;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-            this.poseType = buffer[ix++];
-
-            if ((poseType & Pose_Position) != 0)
-                this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-            if ((poseType & Pose_Orientation) != 0)
-                this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
-            if ((poseType & Pose_LinearVelocity) != 0)
-                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-            if ((poseType & Pose_AngularVelocity) != 0)
-                this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-        }
-
-        public static bool Send(Participant client, byte thingId, Spherical position, SwingTwist orientation) {
-            PoseMsg msg = new(client.networkId, thingId, position, orientation);
-            return SendMsg(client, msg);
-        }
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            byte[] buffer = await Receive(dataStream, packetSize);
-            PoseMsg msg = new(buffer);
-
-            // Do no process poses with nwid == 0 (== local)
-            if (msg.networkId == 0)
-                return true;
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
-
-        public static bool SendTo(Participant participant, Thing thing) {
-            if (participant == null || thing == null)
-                return false;
-
-            byte ix = 0;
-            participant.buffer[ix++] = PoseMsg.Id;
-            participant.buffer[ix++] = participant.networkId;
-            participant.buffer[ix++] = thing.id;
-            participant.buffer[ix++] = thing.poseUpdated;
-
-            if ((thing.poseUpdated & Pose_Position) != 0 && thing.position != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.position);
-            if ((thing.poseUpdated & Pose_Orientation) != 0 && thing.orientation != null)
-                LowLevelMessages.SendQuat32(participant.buffer, ref ix, thing.orientation);
-            if ((thing.poseUpdated & Pose_LinearVelocity) != 0 && thing.linearVelocity != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.linearVelocity);
-            if ((thing.poseUpdated & Pose_AngularVelocity) != 0 && thing.angularVelocity != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.angularVelocity);
-
-            return participant.SendBuffer(ix);
-        }
-    }
-
-    #endregion Pose
-
-    #region Text
-
-    public class TextMsg : IMessage {
-        public const byte Id = 0xB0;
-        public string text;
-
-        public TextMsg(byte[] buffer) : base(buffer) { }
-        public override void Deserialize(byte[] buffer) {
-            uint ix = 0;
-            uint strlen = buffer[ix++];
-            this.text = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, (int)strlen);
-        }
-
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            byte[] buffer = await Receive(dataStream, packetSize);
-            TextMsg msg = new(buffer);
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
-    }
-
-    #endregion
-
-    #region Destroy
-
-    public class DestroyMsg : IMessage {
-        public const byte Id = 0x20;
-        public const byte length = 3;
-        public byte networkId;
-        public byte thingId;
-
-        public DestroyMsg(byte[] buffer) : base(buffer) { }
-
-        public override void Deserialize(byte[] buffer) {
-            this.networkId = buffer[0];
-            this.thingId = buffer[1];
-        }
-
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            if (packetSize != length)
-                return false;
-
-            byte[] buffer = await Receive(dataStream, packetSize);
-            DestroyMsg msg = new(buffer);
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
-    }
-
-
-    #endregion Destroy
 }
diff --git a/Messages/NameMsg.cs b/Messages/NameMsg.cs
index 3d99f18..cb709d2 100644
--- a/Messages/NameMsg.cs
+++ b/Messages/NameMsg.cs
@@ -8,7 +8,7 @@ namespace Passer.Control.Core {
         public byte networkId;
         public byte thingId;
         public byte len;
-        public string? name = null;
+        public string name = "";
 
         public NameMsg(byte networkId, Thing thing) {
             this.networkId = networkId;
@@ -29,7 +29,7 @@ namespace Passer.Control.Core {
         }
 
         public override byte Serialize(ref byte[] buffer) {
-            if (this.name == null)
+            if (this.name.Length == 0)
                 return 0;
 
             byte ix = 0;
diff --git a/Messages/PoseMsg.cs b/Messages/PoseMsg.cs
new file mode 100644
index 0000000..9ea0748
--- /dev/null
+++ b/Messages/PoseMsg.cs
@@ -0,0 +1,109 @@
+using Passer.LinearAlgebra;
+
+namespace Passer.Control.Core {
+
+    public class PoseMsg : IMessage {
+        public const byte Id = 0x10;
+        public const byte length = 4 + 4 + 4;
+        public byte networkId;
+        public byte thingId;
+
+        public byte poseType;
+        public const byte Pose_Position = 0x01;
+        public const byte Pose_Orientation = 0x02;
+        public const byte Pose_LinearVelocity = 0x04;
+        public const byte Pose_AngularVelocity = 0x08;
+
+        public Spherical position = Spherical.zero;
+        public SwingTwist orientation = SwingTwist.zero;
+        public Spherical linearVelocity = Spherical.zero;
+        public Spherical angularVelocity = Spherical.zero;
+
+        public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation) {
+            this.networkId = networkId;
+            this.thingId = thingId;
+
+            this.position = position;
+            this.orientation = orientation;
+
+            this.poseType = 0;
+            if (this.position != null)
+                this.poseType |= Pose_Position;
+            if (this.orientation != null)
+                this.poseType |= Pose_Orientation;
+        }
+        public PoseMsg(byte[] buffer) : base(buffer) { }
+
+        public override byte Serialize(ref byte[] buffer) {
+            byte ix = 0;
+            buffer[ix++] = PoseMsg.Id;
+            buffer[ix++] = this.networkId;
+            buffer[ix++] = this.thingId;
+            buffer[ix++] = this.poseType;
+
+            if ((poseType & Pose_Position) != 0)
+                LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
+            if ((poseType & Pose_Orientation) != 0)
+                LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
+            if ((poseType & Pose_LinearVelocity) != 0)
+                LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);
+            if ((poseType & Pose_AngularVelocity) != 0)
+                LowLevelMessages.SendSpherical(buffer, ref ix, this.angularVelocity);
+            return ix;
+        }
+        public override void Deserialize(byte[] buffer) {
+            byte ix = 0;
+            this.networkId = buffer[ix++];
+            this.thingId = buffer[ix++];
+            this.poseType = buffer[ix++];
+
+            if ((poseType & Pose_Position) != 0)
+                this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+            if ((poseType & Pose_Orientation) != 0)
+                this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
+            if ((poseType & Pose_LinearVelocity) != 0)
+                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+            if ((poseType & Pose_AngularVelocity) != 0)
+                this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+        }
+
+        public static bool Send(Participant client, byte thingId, Spherical position, SwingTwist orientation) {
+            PoseMsg msg = new(client.networkId, thingId, position, orientation);
+            return SendMsg(client, msg);
+        }
+        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+            byte[] buffer = await Receive(dataStream, packetSize);
+            PoseMsg msg = new(buffer);
+
+            // Do no process poses with nwid == 0 (== local)
+            if (msg.networkId == 0)
+                return true;
+
+            client.messageQueue.Enqueue(msg);
+            return true;
+        }
+
+        public static bool SendTo(Participant participant, Thing thing) {
+            if (participant == null || thing == null)
+                return false;
+
+            byte ix = 0;
+            participant.buffer[ix++] = PoseMsg.Id;
+            participant.buffer[ix++] = participant.networkId;
+            participant.buffer[ix++] = thing.id;
+            participant.buffer[ix++] = thing.poseUpdated;
+
+            if ((thing.poseUpdated & Pose_Position) != 0 && thing.position != null)
+                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.position);
+            if ((thing.poseUpdated & Pose_Orientation) != 0 && thing.orientation != null)
+                LowLevelMessages.SendQuat32(participant.buffer, ref ix, thing.orientation);
+            if ((thing.poseUpdated & Pose_LinearVelocity) != 0 && thing.linearVelocity != null)
+                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.linearVelocity);
+            if ((thing.poseUpdated & Pose_AngularVelocity) != 0 && thing.angularVelocity != null)
+                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.angularVelocity);
+
+            return participant.SendBuffer(ix);
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Messages/TextMsg.cs b/Messages/TextMsg.cs
new file mode 100644
index 0000000..10f14c6
--- /dev/null
+++ b/Messages/TextMsg.cs
@@ -0,0 +1,22 @@
+namespace Passer.Control.Core {
+
+    public class TextMsg(byte[] buffer) : IMessage(buffer) {
+        public const byte Id = 0xB0;
+        public string text = "";
+
+        public override void Deserialize(byte[] buffer) {
+            uint ix = 0;
+            uint strlen = buffer[ix++];
+            this.text = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, (int)strlen);
+        }
+
+        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+            byte[] buffer = await Receive(dataStream, packetSize);
+            TextMsg msg = new(buffer);
+
+            client.messageQueue.Enqueue(msg);
+            return true;
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Participant.cs b/Participant.cs
index d95d39c..2e19888 100644
--- a/Participant.cs
+++ b/Participant.cs
@@ -1,3 +1,4 @@
+#nullable enable
 using System;
 using System.Collections.Generic;
 using System.Collections.Concurrent;
@@ -13,8 +14,8 @@ namespace Passer.Control.Core {
         //public byte networkId = 0;
         public string name = "Participant";
 
-        public IPEndPoint endPoint = null;
-        public UdpClient udpClient = null;
+        public IPEndPoint? endPoint = null;
+        public UdpClient? udpClient = null;
         public string broadcastIpAddress = "255.255.255.255";
 
         public readonly ConcurrentQueue<IMessage> messageQueue = new();
@@ -64,7 +65,7 @@ namespace Passer.Control.Core {
 
         public List<RemoteParticipant> senders = new();
 
-        public RemoteParticipant GetParticipant(string ipAddress, int port) {
+        public RemoteParticipant? GetParticipant(string ipAddress, int port) {
             //Console.WriteLine($"Get Participant {ipAddress}:{port}");
             foreach (RemoteParticipant sender in senders) {
                 if (sender.ipAddress == ipAddress && sender.port == port)
@@ -81,7 +82,7 @@ namespace Passer.Control.Core {
             return participant;
         }
 
-        protected readonly Dictionary<byte, Func<byte, byte, Thing>> thingMsgProcessors = new();
+        protected readonly Dictionary<byte, Func<byte, byte, Thing?>> thingMsgProcessors = new();
 
         public delegate Thing ThingConstructor(byte networkId, byte thingId);
         public void Register(byte thingType, ThingConstructor constr) {
@@ -93,7 +94,7 @@ namespace Passer.Control.Core {
         }
 
         public void Register<ThingClass>(byte thingType) where ThingClass : Thing {
-            thingMsgProcessors[thingType] = (byte networkId, byte thingId) =>
+            thingMsgProcessors[thingType] = static (byte networkId, byte thingId) =>
                 Activator.CreateInstance(typeof(ThingClass), networkId, thingId) as ThingClass;
             Console.WriteLine($"Registering {typeof(ThingClass)} for thing type {thingType}");
         }
@@ -103,17 +104,20 @@ namespace Passer.Control.Core {
         #region Update
 
         protected void ReceiveUDP(IAsyncResult result) {
-            if (udpClient == null || this.endPoint == null)
+            if (this.udpClient == null || this.endPoint == null)
                 return;
 
-            byte[] data = udpClient.EndReceive(result, ref this.endPoint);
+            byte[] data = this.udpClient.EndReceive(result, ref this.endPoint);
             // This does not yet take multi-packet messages into account!
+            if (this.endPoint == null)
+                return;
 
             // We can receive our own publish (broadcast) packages. How do we recognize them????
             // It is hard to determine our source port
-            RemoteParticipant remoteParticipant = this.GetParticipant(endPoint.Address.ToString(), endPoint.Port);
+            string ipAddress = this.endPoint.Address.ToString();
+            RemoteParticipant? remoteParticipant = GetParticipant(ipAddress, this.endPoint.Port);
             if (remoteParticipant == null)
-                remoteParticipant = this.AddParticipant(endPoint.Address.ToString(), endPoint.Port);
+                remoteParticipant = AddParticipant(ipAddress, this.endPoint.Port);
 
             ReceiveData(data, remoteParticipant);
 
@@ -285,7 +289,7 @@ namespace Passer.Control.Core {
 
         protected virtual void Process(RemoteParticipant sender, NameMsg msg) {
             // Console.WriteLine($"Participant: Process name [{msg.networkId}/{msg.thingId}] {msg.name}");
-            Thing thing = sender.Get(msg.networkId, msg.thingId);
+            Thing? thing = sender.Get(msg.networkId, msg.thingId);
             if (thing != null)
                 thing.name = msg.name;
         }
@@ -298,7 +302,7 @@ namespace Passer.Control.Core {
 
         protected virtual void Process(RemoteParticipant sender, CustomMsg msg) {
             // Console.WriteLine($"Participant: Process binary [{msg.networkId}/{msg.thingId}]");
-            Thing thing = sender.Get(msg.networkId, msg.thingId);
+            Thing? thing = sender.Get(msg.networkId, msg.thingId);
             thing?.ProcessBinary(msg.bytes);
         }
 
diff --git a/RemoteParticipant.cs b/RemoteParticipant.cs
index 67d8b13..7dce8da 100644
--- a/RemoteParticipant.cs
+++ b/RemoteParticipant.cs
@@ -17,18 +17,19 @@ namespace Passer.Control.Core {
             this.port = port;
         }
 
-        protected readonly List<Thing> things = new();
+        protected readonly List<Thing> things = [];
 
-        public Thing Get(byte networkId, byte thingId) {
-            Thing thing = things.Find(aThing => Thing.IsThing(aThing, networkId, thingId));
-            // if (thing == null)
-            //     Console.WriteLine($"Could not find thing {ipAddress}:{port}[{networkId}/{thingId}]");
+        public Thing? Get(byte networkId, byte thingId) {
+            Thing? thing = things.Find(aThing => Thing.IsThing(aThing, networkId, thingId));
             return thing;
         }
 
+            // if (thing == null)
+            //     Console.WriteLine($"Could not find thing {ipAddress}:{port}[{networkId}/{thingId}]");
+
         public void Add(Thing thing, bool invokeEvent = true) {
             // Console.WriteLine($"added thing [{thing.networkId}/{thing.id}]"); 
-            Thing foundThing = Get(thing.networkId, thing.id);
+            Thing? foundThing = Get(thing.networkId, thing.id);
 
             if (foundThing == null) {
                 things.Add(thing);
diff --git a/Sensors/DistanceSensor.cs b/Sensors/DistanceSensor.cs
index 0845d21..b88387b 100644
--- a/Sensors/DistanceSensor.cs
+++ b/Sensors/DistanceSensor.cs
@@ -5,9 +5,9 @@ namespace Passer.Control.Core {
     public class DistanceSensor : Thing {
         public float distance = 0;
 
-        public DistanceSensor() : base(true) { }
+        public DistanceSensor(RemoteParticipant participant) : base(participant, true) { }
 
-        public DistanceSensor(byte networkId, byte thingId) : base(null, networkId, thingId, (byte)Type.TemperatureSensor) {
+        public DistanceSensor(RemoteParticipant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) {
         }
 
 #if UNITY_5_3_OR_NEWER
diff --git a/Sensors/TemperatureSensor.cs b/Sensors/TemperatureSensor.cs
index b6e61b5..4617d47 100644
--- a/Sensors/TemperatureSensor.cs
+++ b/Sensors/TemperatureSensor.cs
@@ -2,11 +2,8 @@ using System;
 
 namespace Passer.Control.Core {
 
-    public class TemperatureSensor : Thing {
+    public class TemperatureSensor(Participant participant, byte networkId, byte thingId) : Thing(participant, networkId, thingId, (byte)Type.TemperatureSensor) {
         public float temp = 0;
-        
-        public TemperatureSensor(byte networkId, byte thingId) : base(null, networkId, thingId, (byte)Type.TemperatureSensor) {
-        }
 
         public override void ProcessBinary(byte[] bytes) {
             byte ix = 0;
diff --git a/Sensors/TouchSensor.cs b/Sensors/TouchSensor.cs
index 1553ee8..6e03864 100644
--- a/Sensors/TouchSensor.cs
+++ b/Sensors/TouchSensor.cs
@@ -1,10 +1,9 @@
-
 namespace Passer.Control.Core {
     public class TouchSensor : Thing {
-        //public Thing touchedThing = null;
         public bool touchedSomething = false;
 
-        public TouchSensor(bool invokeEvent = true) : base(invokeEvent) {
+        public TouchSensor(RemoteParticipant participant, bool invokeEvent = true) : base(participant, invokeEvent) {
+            touchedSomething = false;
         }
 
 #if UNITY_5_3_OR_NEWER
diff --git a/SiteServer.cs b/SiteServer.cs
index f44916b..0fbc4a4 100644
--- a/SiteServer.cs
+++ b/SiteServer.cs
@@ -23,10 +23,10 @@ namespace Passer.Control.Core {
         }
 
         public void Close() {
-            this.udpClient.Close();
+            this.udpClient?.Close();
         }
 
-        public override void Publish() {            
+        public override void Publish() {
         }
 
         protected override void Process(RemoteParticipant sender, ClientMsg msg) {
@@ -40,13 +40,15 @@ namespace Passer.Control.Core {
 
         protected override void Process(RemoteParticipant sender, ThingMsg msg) {
             //Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
-            Thing thing = sender.Get(msg.networkId, msg.thingId);
+            Thing? thing = sender.Get(msg.networkId, msg.thingId);
             if (thing == null) {
-                Thing newThing;
-                if (thingMsgProcessors.ContainsKey(msg.thingType))
-                    newThing = thingMsgProcessors[msg.thingType](msg.networkId, msg.thingId);
-                else
-                    newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
+                Thing? newThing = null;
+                if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<byte, byte, Thing?>? value)) {
+                    if (value != null)
+                        newThing = value(msg.networkId, msg.thingId);
+                }
+                newThing ??= new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
+                
                 sender.Add(newThing);
             }
         }
diff --git a/Thing.cs b/Thing.cs
index c78851a..34e61a5 100644
--- a/Thing.cs
+++ b/Thing.cs
@@ -41,16 +41,16 @@ namespace Passer.Control.Core {
         public byte networkId;
         public byte id;
 
-        public event ChangeHandler OnParentChanged;
-        private Thing _parent;
-        public Thing parent {
+        public event ChangeHandler OnParentChanged = delegate {};
+        private Thing? _parent;
+        public Thing? parent {
             get => _parent;
             set {
                 if (_parent == value)
                     return;
 
                 if (value == null) {
-                    _parent.RemoveChild(this);
+                    _parent?.RemoveChild(this);
                     _parent = null;
                 }
                 else {
@@ -74,8 +74,8 @@ namespace Passer.Control.Core {
         public List<Thing> children = new List<Thing>();
         public byte type;
 
-        public event ChangeHandler OnNameChanged;
-        private string _name;
+        public event ChangeHandler OnNameChanged = delegate {};
+        private string _name = "";
         public virtual string name {
             get => _name;
             set {
@@ -86,11 +86,11 @@ namespace Passer.Control.Core {
             }
         }
 
-        public string modelUrl;
+        public string modelUrl = "";
 
         public byte poseUpdated = 0x00;
-        public event ChangeHandler OnPositionChanged;
-        private Spherical _position;
+        public event ChangeHandler OnPositionChanged = delegate {};
+        private Spherical _position = Spherical.zero;
         public Spherical position {
             get { return _position; }
             set {
@@ -101,8 +101,8 @@ namespace Passer.Control.Core {
             }
         }
 
-        public event ChangeHandler OnOrientationChanged;
-        private SwingTwist _orientation;
+        public event ChangeHandler OnOrientationChanged = delegate {};
+        private SwingTwist _orientation = SwingTwist.zero;
         public SwingTwist orientation {
             get { return _orientation; }
             set {
@@ -113,8 +113,8 @@ namespace Passer.Control.Core {
             }
         }
 
-        public event SphericalHandler OnLinearVelocityChanged;
-        private Spherical _linearVelocity;
+        public event SphericalHandler OnLinearVelocityChanged = delegate {};
+        private Spherical _linearVelocity = Spherical.zero;
         public Spherical linearVelocity {
             get => _linearVelocity;
             set {
@@ -124,7 +124,7 @@ namespace Passer.Control.Core {
                 }
             }
         }
-        public Spherical angularVelocity;
+        public Spherical angularVelocity = Spherical.zero;
 
 #if UNITY_5_3_OR_NEWER
         [NonSerialized]
@@ -135,12 +135,8 @@ namespace Passer.Control.Core {
 
         #region Init
 
-        // public virtual void Init(bool invokeEvent = false) {
-        //     if (invokeEvent)
-        //         InvokeNewThing(this);
-        // }
-
-        public Thing(bool invokeEvent = false) {
+        public Thing(RemoteParticipant participant, bool invokeEvent = false) {
+            this.participant = participant;
             if (invokeEvent)
                 InvokeNewThing(this);
         }
@@ -149,9 +145,6 @@ namespace Passer.Control.Core {
             this.id = thingId;
             this.type = thingType;
             this.networkId = networkId;
-            //this.Init();
-            //OnNewThing?.Invoke(this);
-            //Thing.Add(this);
         }
 
         public virtual void CreateComponent() {}
@@ -195,10 +188,10 @@ namespace Passer.Control.Core {
 
         //---------- All Things
 
-        private static readonly List<Thing> allThings = new();
+        private static readonly List<Thing> allThings = [];
 
         public delegate void ThingHandler(Thing t);
-        public static event ThingHandler OnNewThing;
+        public static event ThingHandler OnNewThing = delegate {};
         public static void InvokeNewThing(Thing thing) {
              OnNewThing?.Invoke(thing);
         }
diff --git a/test/UnitTest1.cs b/test/UnitTest1.cs
index 00fd906..51c6baa 100644
--- a/test/UnitTest1.cs
+++ b/test/UnitTest1.cs
@@ -65,7 +65,7 @@ namespace ControlCore.test {
         public void Test_ThingMsg() {
             SiteServer siteServer = new();
             Participant participant = new("127.0.0.1");
-            Thing thing = new() {
+            Thing thing = new(participant) {
                 name = "First Thing",
                 modelUrl = "https://passer.life/extras/ant.jpg"
             };