diff --git a/Client.cs b/Client.cs
index c5ca156..8464ce8 100644
--- a/Client.cs
+++ b/Client.cs
@@ -3,21 +3,28 @@ using System.Collections.Concurrent;
 using System.Net.Sockets;
 using System.IO;
 
-namespace Passer.Control {
+namespace Passer.Control
+{
 
-    public class Client {
+    public class Client
+    {
         //public ConnectionMethod connection;
         public UdpClient udpClient;
         public string ipAddress;
+        public string broadcastIpAddress = "255.255.255.255";
         public int port;
         public Stream dataStream;
 
+        public byte[] buffer = new byte[256];
+
         public byte networkId = 0;
 
         public readonly ConcurrentQueue<IMessage> messageQueue = new();
 
-        public static Client GetClient(string ipAddress, int port) {
-            foreach (Client c in clients) {
+        public static Client GetClient(string ipAddress, int port)
+        {
+            foreach (Client c in clients)
+            {
                 if (c.ipAddress == ipAddress && c.port == port)
                     return c;
             }
@@ -25,7 +32,8 @@ namespace Passer.Control {
         }
         static public List<Client> clients = new List<Client>();
 
-        public Client(UdpClient udpClient, int port) {
+        public Client(UdpClient udpClient, int port)
+        {
             this.udpClient = udpClient;
             this.ipAddress = null;
             this.port = port;
@@ -33,13 +41,35 @@ namespace Passer.Control {
             clients.Add(this);
         }
 
-        public virtual void ProcessMessages() {
-            while (this.messageQueue.TryDequeue(out IMessage msg))
-                ProcessMessage(msg);            
+        public bool SendBuffer()
+        {
+            if (this.ipAddress == null)
+                return false;
+
+            //UnityEngine.Debug.Log($"Send msg {buffer[0]} to {ipAddress}");
+            this.udpClient.Send(this.buffer, this.buffer.Length, this.ipAddress, this.port);
+            return true;
         }
 
-        public void ProcessMessage(IMessage msg) {
-            switch (msg) {
+        public bool PublishBuffer()
+        {
+            if (this.broadcastIpAddress == null)
+                return false;
+
+            this.udpClient.Send(this.buffer, this.buffer.Length, this.broadcastIpAddress, this.port);
+            return true;
+        }
+
+        public virtual void ProcessMessages()
+        {
+            while (this.messageQueue.TryDequeue(out IMessage msg))
+                ProcessMessage(msg);
+        }
+
+        public void ProcessMessage(IMessage msg)
+        {
+            switch (msg)
+            {
                 case ClientMsg clientMsg:
                     ProcessClient(clientMsg);
                     break;
@@ -97,8 +127,10 @@ namespace Passer.Control {
 
         protected virtual void ProcessDestroy(DestroyMsg destroy) { }
 
-        private void ForwardMessage(IMessage msg) {
-            foreach (Client client in Client.clients) {
+        private void ForwardMessage(IMessage msg)
+        {
+            foreach (Client client in Client.clients)
+            {
                 if (client == this)
                     continue;
                 //UnityEngine.Debug.Log($"---> {client.ipAddress}");
diff --git a/LowLevelMessages.cs b/LowLevelMessages.cs
index abeef3a..ad6dbe6 100644
--- a/LowLevelMessages.cs
+++ b/LowLevelMessages.cs
@@ -1,14 +1,17 @@
-using Passer;
+using Passer.LinearAlgebra;
 
-public class LowLevelMessages {
+public class LowLevelMessages
+{
 
-    public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v) {
+    public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v)
+    {
         SendAngle8(buffer, ref ix, v.horizontal);
         SendAngle8(buffer, ref ix, v.vertical);
         SendFloat16(buffer, ref ix, new float16(v.distance));
     }
 
-    public static Spherical ReceiveSpherical(byte[] data, ref byte ix) {
+    public static Spherical ReceiveSpherical(byte[] data, ref byte ix)
+    {
         float horizontal = ReceiveAngle8(data, ref ix);
         float vertical = ReceiveAngle8(data, ref ix);
         float distance = ReceiveFloat16(data, ref ix);
@@ -16,12 +19,14 @@ public class LowLevelMessages {
         return v;
     }
 
-    public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q) {
+    public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q)
+    {
         int qx = (int)(q.x * 127 + 128);
         int qy = (int)(q.y * 127 + 128);
         int qz = (int)(q.z * 127 + 128);
         int qw = (int)(q.w * 255);
-        if (q.w < 0) {
+        if (q.w < 0)
+        {
             qx = -qx;
             qy = -qy;
             qz = -qz;
@@ -33,7 +38,8 @@ public class LowLevelMessages {
         buffer[ix++] = (byte)qz;
         buffer[ix++] = (byte)qw;
     }
-    public static Quat32 ReceiveQuat32(byte[] data, ref byte ix) {
+    public static Quat32 ReceiveQuat32(byte[] data, ref byte ix)
+    {
         Quat32 q = new(
             (data[ix++] - 128.0F) / 127.0F,
             (data[ix++] - 128.0F) / 127.0F,
@@ -42,7 +48,8 @@ public class LowLevelMessages {
         return q;
     }
 
-    public static void SendAngle8(byte[] buffer, ref byte ix, float angle) {
+    public static void SendAngle8(byte[] buffer, ref byte ix, float angle)
+    {
         // Normalize angle
         while (angle >= 180)
             angle -= 360;
@@ -51,18 +58,21 @@ public class LowLevelMessages {
         buffer[ix++] = (byte)((angle / 360.0f) * 256.0f);
     }
 
-    public static float ReceiveAngle8(byte[] data, ref byte ix) {
+    public static float ReceiveAngle8(byte[] data, ref byte ix)
+    {
         float value = (data[ix++] * 180) / 128.0F;
         return value;
     }
 
-    public static void SendFloat16(byte[] data, ref byte ix, float16 f) {
+    public static void SendFloat16(byte[] data, ref byte ix, float16 f)
+    {
         ushort binary = f.GetBinary();
         data[ix++] = (byte)(binary >> 8);
         data[ix++] = (byte)(binary & 255);
     }
 
-    public static float ReceiveFloat16(byte[] data, ref byte ix) {
+    public static float ReceiveFloat16(byte[] data, ref byte ix)
+    {
         ushort value = (ushort)(data[ix++] << 8 | data[ix++]);
         float16 f16 = new();
         f16.SetBinary(value);
diff --git a/Messages.cs b/Messages.cs
index c49ac02..b499da3 100644
--- a/Messages.cs
+++ b/Messages.cs
@@ -1,44 +1,39 @@
 using System.IO;
 using System.Threading.Tasks;
 
-namespace Passer.Control {
+using Passer.LinearAlgebra;
+namespace Passer.Control
+{
 
-    public class IMessage {
+    public class IMessage
+    {
         public IMessage() { }
-        public IMessage(byte[] buffer) {
+        public IMessage(byte[] buffer)
+        {
             Deserialize(buffer);
         }
 
-        public virtual byte[] Serialize() { return null; }
+        public virtual byte Serialize(ref byte[] buffer) { return 0; }
         public virtual void Deserialize(byte[] buffer) { }
 
-        public static bool SendMsg(Client client, IMessage msg) {
-            return SendMsg(client, msg.Serialize());
-        }
-        public static bool SendMsg(Client client, byte[] buffer) {
-            if (client == null || client.ipAddress == null)
-                return false;
-
-            //UnityEngine.Debug.Log($"Send msg {buffer[0]} to {client.ipAddress}");
-            client.udpClient.Send(buffer, buffer.Length, client.ipAddress, client.port);
-            return true;
+        public static bool SendMsg(Client client, IMessage msg)
+        {
+            msg.Serialize(ref client.buffer);
+            return client.SendBuffer();
         }
 
-        public static bool PublishMsg(Client client, IMessage msg) {
-            return PublishMsg(client, msg.Serialize());
-        }
-        public static bool PublishMsg(Client client, byte[] buffer) {
-            if (client == null)
-                return false;
-
-            client.udpClient.Send(buffer, buffer.Length, "127.0.0.1", client.port);
-            return true;
+        public static bool PublishMsg(Client client, IMessage msg)
+        {
+            msg.Serialize(ref client.buffer);
+            return client.PublishBuffer();
         }
 
-        public static async Task<byte[]> Receive(Stream dataStream, byte packetSize) {
+        public static async Task<byte[]> Receive(Stream dataStream, byte packetSize)
+        {
             byte[] buffer = new byte[packetSize - 1]; //  without msgId
             int byteCount = dataStream.Read(buffer, 0, packetSize - 1);
-            while (byteCount < packetSize - 1) {
+            while (byteCount < packetSize - 1)
+            {
                 // not all bytes have been read, wait and try again
                 await Task.Delay(1);
                 byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount);
@@ -49,49 +44,58 @@ namespace Passer.Control {
 
     #region Client
 
-    public class ClientMsg : IMessage {
+    public class ClientMsg : IMessage
+    {
         public const byte Id = 0xA0;
         public const byte length = 2;
         public byte networkId;
 
-        public ClientMsg(byte networkId) {
+        public ClientMsg(byte networkId)
+        {
             this.networkId = networkId;
         }
         public ClientMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[ClientMsg.length];
-            buffer[0] = ClientMsg.Id;
-            buffer[1] = networkId;
-            return buffer;
+        public override byte Serialize(ref byte[] buffer)
+        {
+            byte ix = 0;
+            buffer[ix++] = ClientMsg.Id;
+            buffer[ix++] = networkId;
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             base.Deserialize(buffer);
             uint ix = 0;
             networkId = buffer[ix];
         }
 
-        public static bool Send(Client client, byte networkId) {
+        public static bool Send(Client client, byte networkId)
+        {
             ClientMsg msg = new(networkId);
             return SendMsg(client, msg);
         }
-        public static bool Publish(Client client, byte networkId) {
+        public static bool Publish(Client client, byte networkId)
+        {
             ClientMsg msg = new(networkId);
             return PublishMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             if (packetSize != length)
                 return false;
 
             byte[] buffer = await Receive(dataStream, packetSize);
             ClientMsg msg = new(buffer);
 
-            if (client.networkId == 0) {
+            if (client.networkId == 0)
+            {
                 client.networkId = (byte)(Client.clients.Count);
                 NetworkIdMsg.Send(client, client.networkId);
                 client.messageQueue.Enqueue(msg);
             }
-            else if (msg.networkId == 0) {
+            else if (msg.networkId == 0)
+            {
                 NetworkIdMsg.Send(client, client.networkId);
                 client.messageQueue.Enqueue(msg);
             }
@@ -104,32 +108,38 @@ namespace Passer.Control {
 
     #region Network Id
 
-    public class NetworkIdMsg : IMessage {
+    public class NetworkIdMsg : IMessage
+    {
         public const byte Id = 0xA1;
         public const byte length = 2;
         public byte networkId;
 
-        NetworkIdMsg(byte networkId) {
+        NetworkIdMsg(byte networkId)
+        {
             this.networkId = networkId;
         }
         NetworkIdMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[NetworkIdMsg.length];
-            buffer[0] = NetworkIdMsg.Id;
-            buffer[1] = this.networkId;
-            return buffer;
+        public override byte Serialize(ref byte[] buffer)
+        {
+            byte ix = 0;
+            buffer[ix++] = NetworkIdMsg.Id;
+            buffer[ix++] = this.networkId;
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             uint ix = 0;
             this.networkId = buffer[ix];
         }
 
-        public static bool Send(Client client, byte networkId) {
+        public static bool Send(Client client, byte networkId)
+        {
             NetworkIdMsg msg = new(networkId);
             return SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             if (packetSize != length)
                 return false;
 
@@ -144,37 +154,41 @@ namespace Passer.Control {
 
     #region Investigate
 
-    public class InvestigateMsg : IMessage {
+    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) {
+        public InvestigateMsg(byte networkId, byte thingId)
+        {
             this.networkId = networkId;
             this.thingId = thingId;
         }
         public InvestigateMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[InvestigateMsg.length];
-            buffer[0] = InvestigateMsg.Id;
-            buffer[1] = this.networkId;
-            buffer[2] = this.thingId;
-            return 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) {
+        public override void Deserialize(byte[] buffer)
+        {
             uint ix = 0;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
         }
 
-        public static bool Send(Client client, byte networkId, byte thingId) {
-            InvestigateMsg msg = new(networkId, thingId);
-            //UnityEngine.Debug.Log($"Send investigate [{msg.networkId}/{msg.thingId}]");
+        public static bool Send(Client client, CoreThing thing) {
+            InvestigateMsg msg = new(thing.networkId, thing.id);
             return SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             if (packetSize != length)
                 return false;
 
@@ -192,7 +206,8 @@ namespace Passer.Control {
 
     #region Thing
 
-    public class ThingMsg : IMessage {
+    public class ThingMsg : IMessage
+    {
         public const byte length = 5;
         public const byte Id = 0x80;
         public byte networkId;
@@ -200,7 +215,8 @@ namespace Passer.Control {
         public byte thingType;
         public byte parentId;
 
-        public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId) {
+        public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId)
+        {
             this.networkId = networkId;
             this.thingId = thingId;
             this.thingType = thingType;
@@ -208,17 +224,18 @@ namespace Passer.Control {
         }
         public ThingMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[ThingMsg.length];
+        public override byte Serialize(ref byte[] buffer)
+        {
             byte ix = 0;
             buffer[ix++] = ThingMsg.Id;
             buffer[ix++] = this.networkId;
             buffer[ix++] = this.thingId;
             buffer[ix++] = this.thingType;
-            buffer[ix] = this.parentId;
-            return buffer;
+            buffer[ix++] = this.parentId;
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             uint ix = 0;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
@@ -226,12 +243,18 @@ namespace Passer.Control {
             this.parentId = buffer[ix];
         }
 
-        public static bool Send(Client client, byte networkId, byte thingId, byte thingType, byte parentId) {
-            ThingMsg msg = new(networkId, thingId, thingType, parentId);
-            //UnityEngine.Debug.Log($"Send thing [{msg.networkId}/{msg.thingId}]");
+        public static bool Send(Client client, CoreThing thing) {
+            ThingMsg msg = new(thing.networkId, thing.id, thing.type, thing.parent.id);
             return SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        //public static bool Send(Client client, byte networkId, byte thingId, byte thingType, byte parentId)
+        //{
+        //    ThingMsg msg = new(networkId, thingId, thingType, parentId);
+        //    //UnityEngine.Debug.Log($"Send thing [{msg.networkId}/{msg.thingId}]");
+        //    return SendMsg(client, msg);
+        //}
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             if (packetSize != length)
                 return false;
 
@@ -252,7 +275,8 @@ namespace Passer.Control {
 
     #region Name
 
-    public class NameMsg : IMessage {
+    public class NameMsg : IMessage
+    {
         public const byte Id = 0x91; // 145
         public const byte length = 4;
         public byte networkId;
@@ -260,25 +284,27 @@ namespace Passer.Control {
         public byte len;
         public string name;
 
-        public NameMsg(byte networkId, byte thingId, string name) {
+        public NameMsg(byte networkId, byte thingId, string name)
+        {
             this.networkId = networkId;
             this.thingId = thingId;
             this.name = name;
         }
         public NameMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[length + this.name.Length];
+        public override byte Serialize(ref byte[] buffer)
+        {
             byte ix = 0;
             buffer[ix++] = NameMsg.Id;
             buffer[ix++] = this.networkId;
             buffer[ix++] = this.thingId;
             buffer[ix++] = (byte)this.name.Length;
-            for (int nameIx = 0; nameIx < this.name.Length; nameIx++, ix++)
-                buffer[ix] = (byte)this.name[nameIx];
-            return buffer;
+            for (int nameIx = 0; nameIx < this.name.Length; nameIx++)
+                buffer[ix++] = (byte)this.name[nameIx];
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             byte ix = 0;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
@@ -286,11 +312,20 @@ namespace Passer.Control {
             this.name = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
         }
 
-        public static bool Send(Client client, byte networkId, byte thingId, string name) {
-            NameMsg msg = new(networkId, thingId, name);
+        public static bool Send(Client client, CoreThing thing) {
+            if (string.IsNullOrEmpty(thing.name))
+                return true; // nothing sent, but still a success!
+
+            NameMsg msg = new(thing.networkId, thing.id, thing.name);
             return SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        //public static bool Send(Client client, byte networkId, byte thingId, string name)
+        //{
+        //    NameMsg msg = new(networkId, thingId, name);
+        //    return SendMsg(client, msg);
+        //}
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             byte[] buffer = await Receive(dataStream, packetSize);
             NameMsg msg = new(buffer);
 
@@ -303,7 +338,8 @@ namespace Passer.Control {
 
     #region Model URL
 
-    public class ModelUrlMsg : IMessage {
+    public class ModelUrlMsg : IMessage
+    {
         public const byte Id = 0x90; // (144) Model URL
         public byte networkId;
         public byte thingId;
@@ -311,7 +347,8 @@ namespace Passer.Control {
         public float scale;
         public string url;
 
-        public ModelUrlMsg(byte networkId, byte thingId, string url, float scale = 1) {
+        public ModelUrlMsg(byte networkId, byte thingId, string url, float scale = 1)
+        {
             this.networkId = networkId;
             this.thingId = thingId;
             this.url = url;
@@ -320,8 +357,8 @@ namespace Passer.Control {
         }
         public ModelUrlMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[this.url.Length + 6];
+        public override byte Serialize(ref byte[] buffer)
+        {
             byte ix = 0;
             buffer[ix++] = ModelUrlMsg.Id;
             buffer[ix++] = this.networkId;
@@ -329,11 +366,12 @@ namespace Passer.Control {
             LowLevelMessages.SendFloat16(buffer, ref ix, new float16(1.0f));
 
             buffer[ix++] = (byte)url.Length;
-            for (int urlIx = 0; urlIx < this.url.Length; urlIx++, ix++)
-                buffer[ix] = (byte)url[urlIx];
-            return buffer;
+            for (int urlIx = 0; urlIx < this.url.Length; urlIx++)
+                buffer[ix++] = (byte)url[urlIx];
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             byte ix = 0;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
@@ -342,11 +380,23 @@ namespace Passer.Control {
             url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
         }
 
-        public static bool Send(Client client, byte networkId, byte thingId, string modelUrl) {
+        public static bool Send(Client client, CoreThing thing) {
+            if (string.IsNullOrEmpty(thing.modelUrl))
+                return true; // nothing sent, but still a success!
+
+            ModelUrlMsg msg = new(thing.networkId, thing.id, thing.modelUrl);
+            return SendMsg(client, msg);
+        }
+        public static bool Send(Client client, byte networkId, byte thingId, string modelUrl)
+        {
+            if (string.IsNullOrEmpty(modelUrl))
+                return true; // nothing sent, but still a success!
+
             ModelUrlMsg msg = new(networkId, thingId, modelUrl);
             return SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             byte[] buffer = await Receive(dataStream, packetSize);
             ModelUrlMsg msg = new(buffer);
             client.messageQueue.Enqueue(msg);
@@ -358,7 +408,8 @@ namespace Passer.Control {
 
     #region Pose
 
-    public class PoseMsg : IMessage {
+    public class PoseMsg : IMessage
+    {
         public const byte Id = 0x10;
         public const byte length = 4 + 4 + 4;
         public byte networkId;
@@ -371,7 +422,8 @@ namespace Passer.Control {
         public Spherical position;
         public Quat32 orientation;
 
-        public PoseMsg(byte networkId, byte thingId, Spherical position, Quat32 orientation) {
+        public PoseMsg(byte networkId, byte thingId, Spherical position, Quat32 orientation)
+        {
             this.networkId = networkId;
             this.thingId = thingId;
             this.position = position;
@@ -388,8 +440,8 @@ namespace Passer.Control {
         }
         public PoseMsg(byte[] buffer) : base(buffer) { }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[PoseMsg.length];
+        public override byte Serialize(ref byte[] buffer)
+        {
             byte ix = 0;
             buffer[ix++] = PoseMsg.Id;
             buffer[ix++] = this.networkId;
@@ -398,9 +450,10 @@ namespace Passer.Control {
 
             LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
             LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
-            return buffer;
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             byte ix = 0;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
@@ -412,11 +465,13 @@ namespace Passer.Control {
             this.orientation = LowLevelMessages.ReceiveQuat32(buffer, ref ix);
         }
 
-        public static bool Send(Client client, byte thingId, Spherical position, Quat32 orientation) {
+        public static bool Send(Client client, byte thingId, Spherical position, Quat32 orientation)
+        {
             PoseMsg msg = new(client.networkId, thingId, position, orientation);
             return SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             if (packetSize != length)
                 return false;
 
@@ -436,21 +491,23 @@ namespace Passer.Control {
 
     #region Custom
 
-    public class CustomMsg : IMessage {
+    public class CustomMsg : IMessage
+    {
         public const byte Id = 0xB1;
         public byte networkId;
         public byte thingId;
         public byte[] bytes;
 
         public CustomMsg(byte[] buffer) : base(buffer) { }
-        public CustomMsg(byte networkId, byte thingId, byte[] bytes) : base() {
+        public CustomMsg(byte networkId, byte thingId, byte[] bytes) : base()
+        {
             this.networkId = networkId;
             this.thingId = thingId;
             this.bytes = bytes;
         }
 
-        public override byte[] Serialize() {
-            byte[] buffer = new byte[3 + this.bytes.Length];
+        public override byte Serialize(ref byte[] buffer)
+        {
             byte ix = 0;
             buffer[ix++] = CustomMsg.Id;
             buffer[ix++] = this.networkId;
@@ -459,9 +516,10 @@ namespace Passer.Control {
             foreach (byte b in bytes)
                 buffer[ix++] = b;
 
-            return buffer;
+            return ix;
         }
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             byte ix = 0;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
@@ -471,11 +529,13 @@ namespace Passer.Control {
                 this.bytes[bytesIx] = buffer[ix++];
         }
 
-        public static void Send(Client client, byte thingId, byte[] bytes) {
+        public static void Send(Client client, byte thingId, byte[] bytes)
+        {
             CustomMsg msg = new(client.networkId, thingId, bytes);
             SendMsg(client, msg);
         }
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             byte[] buffer = await Receive(dataStream, packetSize);
             CustomMsg msg = new(buffer);
             client.messageQueue.Enqueue(msg);
@@ -487,18 +547,21 @@ namespace Passer.Control {
 
     #region Text
 
-    public class TextMsg : IMessage {
+    public class TextMsg : IMessage
+    {
         public const byte Id = 0xB0;
         public string text;
 
         public TextMsg(byte[] buffer) : base(buffer) { }
-        public override void Deserialize(byte[] 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, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             byte[] buffer = await Receive(dataStream, packetSize);
             TextMsg msg = new(buffer);
 
@@ -511,7 +574,8 @@ namespace Passer.Control {
 
     #region Destroy
 
-    public class DestroyMsg : IMessage {
+    public class DestroyMsg : IMessage
+    {
         public const byte Id = 0x20;
         public const byte length = 2;
         public byte networkId;
@@ -519,12 +583,14 @@ namespace Passer.Control {
 
         public DestroyMsg(byte[] buffer) : base(buffer) { }
 
-        public override void Deserialize(byte[] buffer) {
+        public override void Deserialize(byte[] buffer)
+        {
             this.networkId = buffer[0];
             this.thingId = buffer[1];
         }
 
-        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
+        public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
+        {
             if (packetSize != length)
                 return false;
 
diff --git a/Quat32.cs b/Quat32.cs
index dc6cbc4..1f41a99 100644
--- a/Quat32.cs
+++ b/Quat32.cs
@@ -1,15 +1,18 @@
-namespace Passer {
-    public class Quat32 {
+namespace Passer.LinearAlgebra
+{
+    public class Quat32
+    {
         public float x;
         public float y;
         public float z;
         public float w;
 
-        public Quat32(float x, float y, float z, float w) {
+        public Quat32(float x, float y, float z, float w)
+        {
             this.x = x;
             this.y = y;
             this.z = z;
             this.w = w;
-        }   
+        }
     }
 }
\ No newline at end of file
diff --git a/Spherical.cs b/Spherical.cs
index 3ecb663..0ba8933 100644
--- a/Spherical.cs
+++ b/Spherical.cs
@@ -1,12 +1,15 @@
-namespace Passer {
-    public class Spherical {
+namespace Passer.LinearAlgebra
+{
+    public class Spherical
+    {
         public float distance;
         public float horizontal;
         public float vertical;
 
         public static Spherical zero = new(0, 0, 0);
 
-        public Spherical(float distance, float horizontal, float vertical) {
+        public Spherical(float distance, float horizontal, float vertical)
+        {
             this.distance = distance;
             this.horizontal = horizontal;
             this.vertical = vertical;
diff --git a/Thing.cs b/Thing.cs
new file mode 100644
index 0000000..cf6cbea
--- /dev/null
+++ b/Thing.cs
@@ -0,0 +1,40 @@
+using System.Collections.Generic;
+
+namespace Passer.Control
+{
+
+    public class CoreThing
+    {
+        public Client client;
+        public byte networkId;
+        public byte id;
+        public CoreThing parent;
+        public byte type;
+        public string name;
+        public string modelUrl;
+        //protected Sensor sensor;
+
+        protected virtual void Init()
+        {
+        }
+
+        public CoreThing(Client client, byte networkId, byte thingId, byte thingType = 0)
+        {
+            this.client = client;
+            this.id = thingId;
+            this.type = thingType;
+            this.networkId = networkId;
+            this.Init();
+            allThings.Add(this);
+        }
+
+        private static readonly List<CoreThing> allThings = new();
+
+        public static CoreThing Get(byte networkId, byte thingId)
+        {
+            CoreThing thing = allThings.Find(aThing => aThing.networkId == networkId && aThing.id == thingId);
+            return thing;
+        }
+
+    }
+}
diff --git a/Thing.cs.meta b/Thing.cs.meta
new file mode 100644
index 0000000..84adfb3
--- /dev/null
+++ b/Thing.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0e8b48bc91446304eaaccbfdde4cc4af
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: