Thanks for the response! I’ll file an enhancement request.
Crew Expendable
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I believe ARMeshGeometry is supposed to represent the real world geometry as determined from the lidar (and maybe camera?) data. It’s not a replacement for SCNGeometry because they do different things.
It seems that there is not currently a way to add custom shaders according to this. https://developer.apple.com/forums/thread/131858
I had a similar thought, but the “What’s New in RealityKit” video says that real world objects should be treated as if they are static with infinite mass. So a moving hand would be treated more like its “teleporting” around every frame rather than an object with velocity and momentum that can apply a force.