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Assets/Prefabs/bike.prefab.meta

@@ -0,0 +1,7 @@
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+guid: 564d69a76b836eb4aa8660e317b67313
+PrefabImporter:
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/ANT+/PowerMeterReceiver.cs

@@ -23,6 +23,7 @@ public class PowerMeterReceiver
 
     private int instantaneousPower; // the instantaneous power in watt
     private int instantaneousCadence; // crank cadence in RPM if available ( 255 indicates invalid)
+    private float crankTorque;
 
     private AntChannel backgroundScanChannel;
     private AntChannel deviceChannel;
@@ -37,6 +38,8 @@ public class PowerMeterReceiver
 
     public int InstantaneousCadence => instantaneousCadence;
 
+    public float CrankTorque => crankTorque;
+
     private byte[] pageToSend;
 
     public PowerMeterReceiver()
@@ -109,33 +112,65 @@ public class PowerMeterReceiver
         deviceChannel.hideRXFAIL = true;
     }
 
-    int update_event_count = 0;
+    private readonly Dictionary<int, int> updateEventCount = new Dictionary<int, int> {{0x10, 0}, {0x12, 0}};
+
+    private readonly Dictionary<int, int> sameEventCounter = new Dictionary<int, int> {{0x10, 0}, {0x12, 0}};
 
-    int sameEventCounter = 0;
+    private int previousAccumulatedTorqueValue = 0;
+    private int previousTorqueEventCount = 0;
 
     //Deal with the received Data
     private void Data(Byte[] data)
     {
-        if (data[0] == 0x10)
+        if (data[0] == 0x10) // Standard Power-Only Main Data Page
         {
-            if (data[1] == update_event_count)
-                sameEventCounter++;
+            if (data[1] == updateEventCount[0x10])
+                sameEventCounter[0x10]++;
             else
-                sameEventCounter = 0;
+                sameEventCounter[0x10] = 0;
 
-            update_event_count = data[1];
+            updateEventCount[0x10] = data[1];
 
-            if (sameEventCounter > 3)
+            if (sameEventCounter[0x10] > 3)
             {
                 instantaneousPower = 0;
                 instantaneousCadence = 0;
             }
             else
             {
-                instantaneousPower = (data[6]) | data[7] << 8;
+                instantaneousPower = data[6] | data[7] << 8;
                 instantaneousCadence = data[3];
             }
         }
+
+        if (data[0] == 0x12) // Standard Crank Torque Main Data Page
+        {
+            Debug.Log($"Torque Data {data}");
+            if (data[1] == updateEventCount[0x12])
+                sameEventCounter[0x12]++;
+            else
+                sameEventCounter[0x12] = 0;
+
+            updateEventCount[0x12] = data[1];
+
+            if (sameEventCounter[0x12] > 3)
+            {
+                crankTorque = 0;
+            }
+            else
+            {
+                int accumulatedTorque = data[6] | data[7] << 8;
+                float divisor = (32 * (updateEventCount[0x12] - previousTorqueEventCount));
+                if (divisor > 0)
+                {
+                    crankTorque =  (accumulatedTorque - previousAccumulatedTorqueValue) / divisor;
+                }
+                
+                Debug.Log($"instantaneousCrankTorque = {crankTorque}");
+                previousAccumulatedTorqueValue = accumulatedTorque;
+                previousTorqueEventCount = updateEventCount[0x12];
+            }
+        }
     }
 
 

Assets/Scripts/BicyleController/AntSetup.cs

@@ -11,6 +11,7 @@ public class AntSetup : MonoBehaviour
     public int powerMeterId = 0;
     public TextMeshProUGUI powerDisplay;
     public TextMeshProUGUI cadenceDisplay;
+    public TextMeshProUGUI torqueDisplay;
 
     private SpeedSensorReceiver speedSensorReceiver;
     private PowerMeterReceiver powerMeterReceiver;
@@ -18,6 +19,7 @@ public class AntSetup : MonoBehaviour
     private bool speedDisplayAvailable;
     private bool powerDisplayAvailable;
     private bool cadenceDisplayAvailable;
+    private bool torqueDisplayAvailable;
 
     private BicycleController bicycleController;
 
@@ -27,6 +29,7 @@ public class AntSetup : MonoBehaviour
         bicycleController = GetComponent<BicycleController>();
         speedDisplayAvailable = speedDisplay != null;
         powerDisplayAvailable = powerDisplay != null;
+        torqueDisplayAvailable = torqueDisplay != null;
         cadenceDisplayAvailable = cadenceDisplay != null;
         speedSensorReceiver = new SpeedSensorReceiver(speedSensorId, wheelCircumference);
         powerMeterReceiver = new PowerMeterReceiver(powerMeterId);
@@ -39,6 +42,7 @@ public class AntSetup : MonoBehaviour
     {
         //transform.Translate(Vector3.forward * (Time.deltaTime * (speedSensorReceiver?.Speed ?? 0)));
         bicycleController.SetSpeed(speedSensorReceiver?.Speed ?? 0);
+        bicycleController.SetTorque(powerMeterReceiver?.CrankTorque ?? 0); //TODO crank to wheel torque;
         if (speedDisplayAvailable)
         {
             speedDisplay.text = $"{(speedSensorReceiver?.SpeedKmh ?? 0f):n2} km/h";
@@ -53,5 +57,10 @@ public class AntSetup : MonoBehaviour
         {
             cadenceDisplay.text = $"{(powerMeterReceiver?.InstantaneousCadence ?? 0f):0} rpm";
         }
+
+        if (torqueDisplayAvailable)
+        {
+            torqueDisplay.text = $"{(powerMeterReceiver?.CrankTorque ?? 0f):F2} Nm";
+        }
     }
 }

Assets/Scripts/BicyleController/BicycleController.cs

@@ -2,25 +2,34 @@
 using System.Collections.Generic;
 using UnityEngine;
 
+public enum VelocityMode
+{
+    ApplySpeedToRigidBody,
+    ApplyTorqueToWheelCollider,
+    ApplySpeedToWheelCollider
+}
+
 public class BicycleController : MonoBehaviour
 {
-    [Header ("GameObjects")]
-    //public GameObject rearWheel;
+    [Header("GameObjects")] public GameObject rearWheel;
     public GameObject frontWheel;
-    //public GameObject crank;
+    public GameObject crank;
+
+    public GameObject bike;
+
     //public GameObject pedalL;
     //public GameObject pedalR;
-    //public GameObject fork;
+    public GameObject fork;
     public Transform centerOfMass;
-    
-    [Header("Values")]
-    public float oneRotationSpeed = 2.7f;
+
+    [Header("Configuration")] public VelocityMode velocityMode = VelocityMode.ApplyTorqueToWheelCollider;
+
+    [Header("Values")] public float oneRotationSpeed = 2.7f;
     public float crankMultiplier = 2f;
     public List<AxleInfo> axleInfos; // the information about each individual axle
     public float maxMotorTorque = 12f; // maximum torque the motor can apply to wheel
     public float maxSteeringAngle = 5f; // maximum steer angle the wheel can have
-    [Range(0,1)]
-    public float relativeLeanAmount = 0.01f;
+    [Range(0, 1)] public float relativeLeanAmount = 0.01f;
     public Transform leftWheels;
     public Transform rightWheels;
 
@@ -45,73 +54,78 @@ public class BicycleController : MonoBehaviour
         for (int i = 0; i < axleInfos.Count; i++)
         {
             wheelPositions[i] = axleInfos[i].wheel.center;
-            
         }
     }
 
     // Update is called once per frame
     void Update()
     {
-        RotateMeshes();
+        //RotateMeshes();
         //RotateFork();
-        Debug.Log("rotation: " + currentSteerAngle); 
+        Debug.Log("rotation: " + currentSteerAngle);
     }
-    
+
 
     public void FixedUpdate()
     {
-  
         ApplyWheelForce();
         Lean();
         //RotateStraight();
-
     }
 
     void RotateMeshes()
     {
-        //RotateObject(crank, 1);
+        RotateObject(crank, 1);
         //RotateObject(pedalL, -1);
         //RotateObject(pedalR, -1);
-        //RotateObject(rearWheel, crankMultiplier);
+        RotateObject(rearWheel, crankMultiplier);
         RotateObject(frontWheel, crankMultiplier);
     }
 
-    /*void RotateFork()
+    void RotateFork()
     {
         fork.transform.localRotation = startForkRot;
-        fork.transform.RotateAround(fork.transform.position, fork.transform.up, maxSteeringAngle * rotationValue);
-    }*/
+        fork.transform.RotateAround(fork.transform.position, fork.transform.up, maxSteeringAngle * currentSteerAngle);
+    }
 
     void Lean()
     {
-        upDirection = Vector3.Normalize(Vector3.up + transform.right * (maxSteeringAngle * relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude) / 100);
+        upDirection = Vector3.Normalize(Vector3.up + transform.right *
+            (maxSteeringAngle * relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude) / 100);
     }
-    
+
 
     void ApplyWheelForce()
     {
         float motor = maxMotorTorque;
         float steering = maxSteeringAngle * currentSteerAngle;
 
-        leftWheels.localPosition = - Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude);
+        leftWheels.localPosition = -Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude);
         rightWheels.localPosition = Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude);
 
-        //rb.velocity = new Vector3(currentSpeed, rb.velocity.y, rb.velocity.z);
-        
+        if (velocityMode == VelocityMode.ApplySpeedToRigidBody)
+        {
+            //TODO: figure out what to do when going upwards?
+            rb.velocity = bike.transform.forward * currentSpeed;
+        }
+
         foreach (AxleInfo axleInfo in axleInfos)
         {
-            
             if (axleInfo.steering)
             {
                 axleInfo.wheel.steerAngle = steering;
             }
-            if (axleInfo.motor && rb.velocity.magnitude < currentSpeed)
-            {
-                axleInfo.wheel.motorTorque = motor;
-            }
-            else if(axleInfo.motor)
+
+            if (velocityMode == VelocityMode.ApplySpeedToWheelCollider)
             {
-                axleInfo.wheel.motorTorque = 0;
+                if (axleInfo.motor && rb.velocity.magnitude < currentSpeed)
+                {
+                    axleInfo.wheel.motorTorque = motor;
+                }
+                else if (axleInfo.motor)
+                {
+                    axleInfo.wheel.motorTorque = 0;
+                }
             }
         }
     }
@@ -131,22 +145,34 @@ public class BicycleController : MonoBehaviour
     {
         currentSteerAngle = angle;
     }
-    
+
     //rotates the meshes
     void RotateObject(GameObject obj, float multiplier)
     {
         obj.transform.Rotate(Time.deltaTime * rb.velocity.magnitude * (360f / oneRotationSpeed) * multiplier, 0, 0);
         //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
     }
-}
-
 
+    public void SetTorque(float crankTorque)
+    {
+        foreach (AxleInfo axleInfo in axleInfos)
+        {
+            if (velocityMode == VelocityMode.ApplyTorqueToWheelCollider) ;
+            {
+                if (axleInfo.motor)
+                {
+                    axleInfo.wheel.motorTorque = crankTorque;
+                }
+            }
+        }
+    }
 
-[System.Serializable]
-public class AxleInfo
-{
-    public WheelCollider wheel;
-    public bool motor; // is this wheel attached to motor?
-    public bool steering; // does this wheel apply steer angle?
-}
 
+    [System.Serializable]
+    public class AxleInfo
+    {
+        public WheelCollider wheel;
+        public bool motor; // is this wheel attached to motor?
+        public bool steering; // does this wheel apply steer angle?
+    }
+}

Library/CurrentLayout-default.dwlt

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   m_RootView: {fileID: 2}
-  m_MinSize: {x: 875, y: 392}
+  m_MinSize: {x: 875, y: 542}
   m_MaxSize: {x: 10000, y: 10000}
   m_Maximized: 1
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@@ -46,7 +46,7 @@ MonoBehaviour:
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     width: 1920
     height: 1117
-  m_MinSize: {x: 875, y: 300}
+  m_MinSize: {x: 875, y: 542}
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     width: 1920
     height: 1067
-  m_MinSize: {x: 678, y: 342}
-  m_MaxSize: {x: 12003, y: 8042}
+  m_MinSize: {x: 679, y: 492}
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   vertical: 0
-  controlID: 175
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     width: 1385
     height: 1067
-  m_MinSize: {x: 403, y: 342}
-  m_MaxSize: {x: 8003, y: 8042}
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   vertical: 1
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+  m_MaxSize: {x: 4001, y: 4021}
+  m_ActualView: {fileID: 15}
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+  - {fileID: 16}
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+    m_IgnoreScrollWheelUntilClicked: 0
+    m_EnableMouseInput: 0
+    m_EnableSliderZoomHorizontal: 0
+    m_EnableSliderZoomVertical: 0
+    m_UniformScale: 1
+    m_UpDirection: 1
+    m_DrawArea:
+      serializedVersion: 2
+      x: 0
+      y: 21
+      width: 991
+      height: 754
+    m_Scale: {x: 1, y: 1}
+    m_Translation: {x: 495.5, y: 377}
+    m_MarginLeft: 0
+    m_MarginRight: 0
+    m_MarginTop: 0
+    m_MarginBottom: 0
+    m_LastShownAreaInsideMargins:
+      serializedVersion: 2
+      x: -495.5
+      y: -377
+      width: 991
+      height: 754
+    m_MinimalGUI: 1
+  m_defaultScale: 1
+  m_LastWindowPixelSize: {x: 991, y: 775}
+  m_ClearInEditMode: 1
+  m_NoCameraWarning: 1
+  m_LowResolutionForAspectRatios: 01000000000000000000
+  m_XRRenderMode: 0
+  m_RenderTexture: {fileID: 0}
+--- !u!114 &13
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -301,7 +394,7 @@ MonoBehaviour:
     width: 1074
     height: 785
   m_ViewDataDictionary: {fileID: 0}
---- !u!114 &13
+--- !u!114 &14
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -365,7 +458,7 @@ MonoBehaviour:
   m_CurrentEditor: 1
   m_LayerEditor:
     m_SelectedLayerIndex: 0
---- !u!114 &14
+--- !u!114 &15
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -394,23 +487,23 @@ MonoBehaviour:
   m_SceneHierarchy:
     m_TreeViewState:
       scrollPos: {x: 0, y: 0}
-      m_SelectedIDs: 004f0000
-      m_LastClickedID: 20224
-      m_ExpandedIDs: 267dffff467fffff68fbffff1845000080450000fa480000ba4c0000fa4c0000244d0000404d0000004f0000
+      m_SelectedIDs: 
+      m_LastClickedID: 0
+      m_ExpandedIDs: 367dffffb07dffff127effff1e7effff68fbfffffa4c0000fc4e0000
       m_RenameOverlay:
         m_UserAcceptedRename: 0
-        m_Name: 
-        m_OriginalName: 
+        m_Name: Cube_001
+        m_OriginalName: Cube_001
         m_EditFieldRect:
           serializedVersion: 2
           x: 0
           y: 0
           width: 0
           height: 0
-        m_UserData: 0
+        m_UserData: -33352
         m_IsWaitingForDelay: 0
         m_IsRenaming: 0
-        m_OriginalEventType: 11
+        m_OriginalEventType: 0
         m_IsRenamingFilename: 0
         m_ClientGUIView: {fileID: 8}
       m_SearchString: 
@@ -420,7 +513,7 @@ MonoBehaviour:
       m_IsLocked: 0
     m_CurrentSortingName: TransformSorting
   m_WindowGUID: 46b7a0fefa812c44ca6fda42b4d7b176
---- !u!114 &15
+--- !u!114 &16
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -460,7 +553,7 @@ MonoBehaviour:
     xOffset: 0
   m_TestTypeToolbarIndex: 1
   m_PlayModeTestListGUI:
-    m_Window: {fileID: 15}
+    m_Window: {fileID: 16}
     newResultList:
     - id: 1010
       uniqueId: '[Uebung01][suite]'
@@ -511,7 +604,7 @@ MonoBehaviour:
       availableCategories:
       - Uncategorized
   m_EditModeTestListGUI:
-    m_Window: {fileID: 15}
+    m_Window: {fileID: 16}
     newResultList:
     - id: 1000
       uniqueId: '[Uebung02][suite]'
@@ -561,7 +654,7 @@ MonoBehaviour:
       selectedCategoryMask: 0
       availableCategories:
       - Uncategorized
---- !u!114 &16
+--- !u!114 &17
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -597,9 +690,9 @@ MonoBehaviour:
   m_PlayAudio: 0
   m_AudioPlay: 0
   m_Position:
-    m_Target: {x: 3.9211264, y: -0.3500105, z: 2.9479597}
+    m_Target: {x: 3.75349, y: 0.24018145, z: 3.7283833}
     speed: 2
-    m_Value: {x: 3.9211264, y: -0.3500105, z: 2.9479597}
+    m_Value: {x: 3.75349, y: 0.24018145, z: 3.7283833}
   m_RenderMode: 0
   m_CameraMode:
     drawMode: 0
@@ -645,13 +738,13 @@ MonoBehaviour:
     m_GridAxis: 1
     m_gridOpacity: 0.5
   m_Rotation:
-    m_Target: {x: 0.26004428, y: 0.047773395, z: -0.012882854, w: 0.96432835}
+    m_Target: {x: 0.16356854, y: -0.1356733, z: 0.022716671, w: 0.97689384}
     speed: 2
-    m_Value: {x: 0.26004422, y: 0.047773384, z: -0.012882851, w: 0.9643281}
+    m_Value: {x: 0.15933223, y: -0.12843828, z: 0.020911526, w: 0.97861105}
   m_Size:
-    m_Target: 3.1297338
+    m_Target: 3.5287242
     speed: 2
-    m_Value: 3.1297338
+    m_Value: 3.5287242
   m_Ortho:
     m_Target: 0
     speed: 2
@@ -676,7 +769,7 @@ MonoBehaviour:
   m_SceneVisActive: 1
   m_LastLockedObject: {fileID: 0}
   m_ViewIsLockedToObject: 0
---- !u!114 &17
+--- !u!114 &18
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -725,10 +818,10 @@ MonoBehaviour:
   m_LockTracker:
     m_IsLocked: 0
   m_FolderTreeState:
-    scrollPos: {x: 0, y: 66}
-    m_SelectedIDs: 16780000
-    m_LastClickedID: 30742
-    m_ExpandedIDs: 0000000012430000b4620000b6620000dc62000000ca9a3b
+    scrollPos: {x: 0, y: 54}
+    m_SelectedIDs: 2a690000
+    m_LastClickedID: 26922
+    m_ExpandedIDs: 00000000124300009c6200009e6200001c69000000ca9a3b
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -756,7 +849,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 0}
     m_SelectedIDs: 
     m_LastClickedID: 0
-    m_ExpandedIDs: 0000000012430000b4620000b6620000
+    m_ExpandedIDs: 00000000124300009c6200009e620000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -781,24 +874,24 @@ MonoBehaviour:
       m_Icon: {fileID: 0}
       m_ResourceFile: 
   m_ListAreaState:
-    m_SelectedInstanceIDs: fa4c0000
-    m_LastClickedInstanceID: 19706
+    m_SelectedInstanceIDs: 
+    m_LastClickedInstanceID: 0
     m_HadKeyboardFocusLastEvent: 1
     m_ExpandedInstanceIDs: c6230000523b0000943b00001e3c00000000000026680000286800005c3c0000786f0000ac7e0000aa7e00002e6100000a7c0000b8f500000c990000a2a6000088f70000d2f70000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
-      m_Name: BicyleController
-      m_OriginalName: BicyleController
+      m_Name: 
+      m_OriginalName: 
       m_EditFieldRect:
         serializedVersion: 2
         x: 0
         y: 0
         width: 0
         height: 0
-      m_UserData: 30742
+      m_UserData: 0
       m_IsWaitingForDelay: 0
       m_IsRenaming: 0
-      m_OriginalEventType: 0
+      m_OriginalEventType: 11
       m_IsRenamingFilename: 1
       m_ClientGUIView: {fileID: 10}
     m_CreateAssetUtility:
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     m_GridSize: 16
   m_SkipHiddenPackages: 0
   m_DirectoriesAreaWidth: 199
---- !u!114 &18
+--- !u!114 &19
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -838,7 +931,7 @@ MonoBehaviour:
     width: 1384
     height: 250
   m_ViewDataDictionary: {fileID: 0}
---- !u!114 &19
+--- !u!114 &20
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -876,7 +969,7 @@ MonoBehaviour:
   m_PreviewWindow: {fileID: 0}
   m_LastInspectedObjectInstanceID: -1
   m_LastVerticalScrollValue: 0
---- !u!114 &20
+--- !u!114 &21
 MonoBehaviour:
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   m_CorrespondingSourceObject: {fileID: 0}

Library/StateCache/Hierarchy/46b7a0-mainStage.json

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-{"m_ExpandedPrefabGameObjectFileIDs":[],"m_ExpandedSceneGameObjectInstanceIDs":[],"m_ScrollY":0.0,"m_LastClickedFileID":0,"m_LastClickedInstanceID":0}
+{"m_ExpandedPrefabGameObjectFileIDs":[],"m_ExpandedSceneGameObjectInstanceIDs":[-1176,17874,19030,19658,19700,19728,20098,20134],"m_ScrollY":0.0,"m_LastClickedFileID":0,"m_LastClickedInstanceID":19658}

Library/StateCache/SceneView/d69a67-mainStage.json

@@ -1 +1 @@
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+{"cameraMode":{"drawMode":0,"name":"Shaded","section":"Shading Mode"},"sceneLighting":true,"audioPlay":false,"sceneViewState":{"showFog":true,"showMaterialUpdate":false,"showSkybox":true,"showFlares":true,"showImageEffects":true,"showParticleSystems":true},"in2DMode":false,"pivot":{"x":5.3403825759887699,"y":-1.3675246238708497,"z":3.601231098175049},"rotation":{"x":0.16356854140758515,"y":-0.13567329943180085,"z":0.022716671228408815,"w":0.9768938422203064},"size":5.511752605438232,"orthographic":false}