Unity/DifferentialDrive.cs

@@ -133,9 +133,9 @@ namespace RoboidControl.Unity {
                     rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
                     rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
 
-                    core.ReplacePosition(LinearAlgebra.Spherical.FromVector3(this.transform.localPosition));
-                    core.ReplaceOrientation(LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation));
-                 
+                    core.position = LinearAlgebra.Spherical.FromVector3(this.transform.localPosition);
+                    core.orientation = LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation);
+
                 }
             }
         }

Unity/Thing.cs

@@ -177,7 +177,6 @@ namespace RoboidControl.Unity {
 
 #if GLTF            
         bool loadingModel = false;
-
         private async void ProcessGltfModel(RoboidControl.Thing coreThing) {
             if (!loadingModel) {
                 loadingModel = true;
@@ -193,7 +192,7 @@ namespace RoboidControl.Unity {
                     Thing[] things = FindObjectsOfType<Thing>();
                     Thing parentThing = null;
                     foreach (Thing thing in things) {
-                        if (thing.core != null && thing.core.owner.networkId == coreThing.owner.networkId && thing.core.id == coreThing.id) {
+                        if (thing.core.owner.networkId == coreThing.owner.networkId && thing.core.id == coreThing.id) {
                             parentTransform = thing.transform;
                             parentThing = thing;
                         }
@@ -213,8 +212,7 @@ namespace RoboidControl.Unity {
                     }
                     else
                         ScanForThings(parentTransform);
-
-                    AddMeshColliders(parentTransform);                }
+                }
                 else {
                     this.transform.localScale = Vector3.one * 1;
                 }
@@ -264,15 +262,6 @@ namespace RoboidControl.Unity {
             return null;
         }
 
-        private void AddMeshColliders(Transform rootTransform) {
-            MeshRenderer[] meshRenderers = rootTransform.GetComponentsInChildren<MeshRenderer>();
-            foreach (MeshRenderer meshRenderer in meshRenderers) {
-                MeshFilter meshFilter = meshRenderer.GetComponent<MeshFilter>();
-                MeshCollider meshCollider = meshRenderer.gameObject.AddComponent<MeshCollider>();
-                meshCollider.sharedMesh = meshFilter.sharedMesh;
-                meshCollider.convex = true;
-            }
-        }
 
         /// <summary>
         /// Handle a Pose event

src/Thing.cs

@@ -316,10 +316,6 @@ namespace RoboidControl {
         /// </summary>
         public bool positionUpdated = false;
 
-        public void ReplacePosition(Spherical newPosition) {
-            this._position = newPosition;
-        }
-
         private SwingTwist _orientation = SwingTwist.zero;
         /// <summary>
         /// The orientation of the thing in local space
@@ -340,10 +336,6 @@ namespace RoboidControl {
         /// </summary>
         public bool orientationUpdated = false;
 
-        public void ReplaceOrientation(SwingTwist newOrientation) {
-            this._orientation = newOrientation;
-        }
-
         private Spherical _linearVelocity = Spherical.zero;
         /// <summary>
         /// The linear velocity of the thing in local space in meters per second