diff --git a/LivePlotter.vcxproj b/LivePlotter.vcxproj
index 4030fce..1e30ef5 100644
--- a/LivePlotter.vcxproj
+++ b/LivePlotter.vcxproj
@@ -140,7 +140,6 @@
     <ClCompile Include="src\glad.c" />
     <ClCompile Include="src\main.cpp" />
     <ClCompile Include="src\shaders.cpp" />
-    <ClCompile Include="src\tcp_server.cpp" />
     <ClCompile Include="src\util.cpp" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
diff --git a/LivePlotter.vcxproj.filters b/LivePlotter.vcxproj.filters
index 8e596b3..23a472a 100644
--- a/LivePlotter.vcxproj.filters
+++ b/LivePlotter.vcxproj.filters
@@ -30,8 +30,5 @@
     <ClCompile Include="src\body.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="src\tcp_server.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index fe2112c..0d8694e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,3 +1,4 @@
+#include <cstring>
 #include <glad/glad.h>
 #include <GLFW/glfw3.h>
 #include <glm/ext/matrix_clip_space.hpp>
@@ -9,6 +10,7 @@
 #include <stdlib.h>
 #include <pthread.h>
 #include <string>
+#include <tuple>
 
 #include "util.hpp"
 #include "shaders.hpp"
@@ -28,31 +30,58 @@ void process_input() {
         glfwSetWindowShouldClose(window, true);
 }
 
+static uint shader;
+body create_new_sphere() {
+    body b;
+    assert(load_body(&b, "Icosphere.obj"));
+    b.shader = shader;
+    b.pose = glm::translate(b.pose, glm::vec3(0, 0, 0));
+    return b;
+}
+
 static bool stop = false;
 static pthread_mutex_t lock = PTHREAD_MUTEX_INITIALIZER;
-static std::map<char*, std::pair<body, int>> camera_name_to_bodies;
+const float max_hp = 10; // Number of scans (without a particular barcode) for which the sphere will still be visible
+array<std::tuple<char*, body, float>> camera_bodies;
 
-enum class LineParserState {
-    NAME,
-    X,
-    Y,
-    Z
-};
-// name x y z\n
-void process_cin(void* args) { 
-    size_t len = 256;
-    std::string line;
-    while (true) {
-        std::getline(std::cin, line);
-        array<char*> words = split_str(line.c_str());
-        assert(words.len == 4);
-        pthread_mutex_lock(&lock);
-        for (int i = 0; i < words.len; i++) {
-            if (camera_name_to_bodies.find(words
-        }
-        pthread_mutex_unlock(&lock);
-    }
-}
+//void process_cin(void* args) { 
+//    size_t len = 256;
+//    std::string line;
+//    while (true) {
+//        std::getline(std::cin, line);
+//        array<char*> words = split_str(line.c_str());
+//        assert(words.len == 4);
+//        printf("Received: %s, %s, %s, %s\n", words[0], words[1], words[2], words[3]); // echo for debugging
+//        pthread_mutex_lock(&lock);
+//        float x = atof(words[1]);
+//        float y = atof(words[2]);
+//        float z = atof(words[3]);
+//        glm::vec3 new_loc = glm::vec3(x, y, z);
+//        bool found_match = false;
+//        for (int i = 0; i < camera_bodies.len; i++) {
+//            if (strcmp(words[0], std::get<0>(camera_bodies[i])) == 0) {
+//                glm::vec4 &transl = std::get<1>(camera_bodies[i]).pose[4];
+//                transl = 0.9f*transl + 0.1f*glm::vec4(new_loc, 1); // filter
+//
+//                std::get<1>(camera_bodies[i]).color = glm::vec4(i&0x4, i&0x2, i&0x1, 1);
+//                std::get<2>(camera_bodies[i]) = max_hp;
+//                found_match = true;
+//            } else {
+//                float &cur_hp = std::get<2>(camera_bodies[i]);
+//                if (cur_hp > 0) cur_hp -= 1;
+//                std::get<1>(camera_bodies[i]).color = glm::vec4(i&0x4, i&0x2, i&0x1, cur_hp/max_hp);
+//            }
+//        }
+//        if (!found_match) {
+//            body b = create_new_sphere();
+//            int i = camera_bodies.len;
+//            b.color = glm::vec4(i&0x4, i&0x2, i&0x1, max_hp);
+//            auto t = std::make_tuple(words[0], b, max_hp); 
+//            append(camera_bodies, t);
+//        }
+//        pthread_mutex_unlock(&lock);
+//    }
+//}
 
 static bool mouse_pressed = false;
 static bool scroll_pressed = false;
@@ -109,7 +138,7 @@ void scroll_callback(GLFWwindow* window, double xoffset, double yoffset) {
     glm::vec4 k = camera_t[2];
     float d = yoffset;
 
-    camera_loc += k * (d / 10 * max(glm::length(camera_loc), 1.0f));
+    camera_loc += k * (d / 10 * glm::max(glm::length(camera_loc), 1.0f));
 
     camera_t = glm::lookAt(camera_loc, focal_point, up);
 }
@@ -148,7 +177,6 @@ int main() {
     width = 800;
     height = 800;
 
-    uint shader;
     const char* vertex_filepath = "src/shaders/vertex.glsl";
     const char* fragment_filepath = "src/shaders/fragment.glsl";
     if (!load_shader(&shader, vertex_filepath, fragment_filepath))
@@ -161,18 +189,7 @@ int main() {
     glfwSwapBuffers(window); // front buffer is now back
     glClear(GL_COLOR_BUFFER_BIT); // Write to back buffer again (former front buf)
 
-    body b;
-    if (!load_body(&b, "Icosphere.obj"))
-        return -1;
-    b.shader = shader;
-    b.pose = glm::translate(b.pose, glm::vec3(0, 0, 0));
-    b.color = glm::vec4(0.5, 0, 0, 1);
-
-    body b2;
-    if (!load_body(&b2, "Icosphere.obj"))
-        return -1;
-    b2.shader = shader;
-    b2.pose = glm::translate(b.pose, glm::vec3(2, 0, 0));
+    body b2 = create_new_sphere();
     b2.color = glm::vec4(0, 0.5, 0, 1);
 
     // glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
@@ -188,12 +205,10 @@ int main() {
 
     while (!glfwWindowShouldClose(window)) {
         process_input();
-        process_cin();
         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
         set_uniform(shader, "camera_t", camera_t);
         set_uniform(shader, "projection_t", projection_t);
 
-        draw_body(b);
         draw_body(b2);
 
         glfwSwapBuffers(window);