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Problem: If I get the movement to work correctly, then the collision meshes are not detected. If I get the collision meshes detected, then the movement doesn't work correctly.

Brief summary of project: I have a 3D environment with non-moveable objects (with collider meshes) and a moveable gameobject (rigid body with x2 box colliders) that I am controlling using haptic devices (basically a 3D joystick) through a UDP connection in an C++ app that I have put together and is running while the Unity application runs. The communication between the haptic devices and unity is perfectly fine. I am using the position information passed from the haptic device as my variables for moving my gameobject. Again, The position data arrives to Unity just fine; the method for using the position data with appropriate conditions and functions within Unity is where I am currently stuck.

Things I've tried: If I use transform.localPosition (hapticDevicePosition); then the movement is great, but it ignores the colliders and passes through everything. I read online and understand that transform.localPosition will basically move my object on top of other objects without regards to physics. I also read that I may be able to introduce a ray that is like 0.000001 in front of my object such that it prevents movement if the ray interacts with any other object. This might be a way to still be able to use transform.localPosition? I'm not sure and I've never used rays so it would be difficult for me to set that script up correctly.

I've tried AddForce. This behaves very oddly. It only gives me 2 force outputs instead of 3...i.e., I can only move in 2 of the 3 axis. I don't understand why its behaving this way. The colliders are detected, however.

I've tried rb.MovePosition (rb.position + posX + posY + posZ) and various combinations of *Time.timeDelay and *speed as well. This also doesn't work correctly. The colliders are detected, but the movement either doesn't work at all, or is not working correctly.

Conclusion: I've played with my script for the last 4 hours and some (not all) of the things that I attempted are commented out so they are still visible (please see code attached below). I will be reading more online explanations and trying out different code and update here if I work out a solution. If anyone has some pointers or suggestions, in the meantime, I would greatly appreciate it.

Thanks!