Joss Whedon and the cast of "Firefly" publicly mourned the loss of co-star Ron Glass, who died Saturday at age 71. His agent confirmed the cause of death as respiratory failure.

A veteran television actor whose breakout role came on the 1970s sitcom "Barney Miller," Glass was beloved by sci-fi fans as Shepherd Derrial Book, the soft-spoken pastor with a mysterious past, on the cult series "Firefly" and its subsequent feature film "Serenity." The show's creator and stars took to social media Saturday to remember Glass as, in Alan Tudyk's words, "a leaf on the wind."

"He was the kind of person that remembered the details, that asked about your family's well-being," remembered Jewel Staite. "He hugged hard and often. He would laugh till he cried at a sick joke and top it with a worse one."

 

He got there with grace, humor & enormous heart. He was, among so many other things, my Shepherd. Raise, appropriately, a glass. Rest, Ron. pic.twitter.com/yzPly7TmgE

— Joss Whedon (@joss) November 26, 2016

Ron Glass. What an honor it was to know you, to work beside you and to have called you my friend. You will be missed. I love you sir.

— Sean Maher (@Sean_M_Maher) November 26, 2016

 

"Shepard, don't move." "Won't go far." We love you, Ron Glass. Don't go far.

A photo posted by Nathan Fillion (@natefillion) on

 

Ron Glass was one of the greatest actors to work with. His laugh was beyond infectious and his generosity was ever present. #ripronglass

— alan tudyk (@AlanTudyk) November 26, 2016

Ron Glass was also a sassy smart ass and I prize that very much. A leaf on the wind. #ripronglass

— alan tudyk (@AlanTudyk) November 26, 2016

Happy rebirth, dear Ron Glass.

Among the kindest and gentlest souls to have walked this earth with us.https://t.co/rF1bDPxeRa

— Adam Baldwin (@AdamBaldwin) November 26, 2016

This is me acting like an idiot just so I could hear Ron Glass laugh. He was the kind of person that remembered the details, that asked about your family's well-being. He hugged hard and often. He would laugh till he cried at a sick joke and top it with a worse one. He loved a Grey Goose crantini and spilled one on my white jeans in the heat of telling a story, and then just said, "Girl, those were ugly pants anyway." I adored him. Everybody did. I love you, Ron. Can't wait to see you again. "I don't care what you believe. Just believe it."

A photo posted by Jewel Staite (@jewelstaite) on