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diff --git a/Marlin/src/libs/vector_3.h b/Marlin/src/libs/vector_3.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * vector_3.cpp - Vector library for bed leveling
+ * Copyright (c) 2012 Lars Brubaker.  All right reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "../core/types.h"
+
+class matrix_3x3;
+
+struct vector_3 : xyz_float_t {
+
+  vector_3(const float &_x, const float &_y, const float &_z) { set(_x, _y, _z); }
+  vector_3(const xy_float_t   &in) { set(in.x, in.y); }
+  vector_3(const xyz_float_t  &in) { set(in.x, in.y, in.z); }
+  vector_3(const xyze_float_t &in) { set(in.x, in.y, in.z); }
+  vector_3() { reset(); }
+
+  // Factory method
+  static vector_3 cross(const vector_3 &a, const vector_3 &b);
+
+  // Modifiers
+  void normalize();
+  void apply_rotation(const matrix_3x3 &matrix);
+
+  // Accessors
+  float get_length() const;
+  vector_3 get_normal() const;
+
+  // Operators
+  FORCE_INLINE vector_3 operator+(const vector_3 &v) const { vector_3 o = *this; o += v; return o; }
+  FORCE_INLINE vector_3 operator-(const vector_3 &v) const { vector_3 o = *this; o -= v; return o; }
+  FORCE_INLINE vector_3 operator*(const float    &v) const { vector_3 o = *this; o *= v; return o; }
+
+  void debug(PGM_P const title);
+};
+
+struct matrix_3x3 {
+  abc_float_t vectors[3];
+
+  // Factory methods
+  static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
+  static matrix_3x3 create_look_at(const vector_3 &target);
+  static matrix_3x3 transpose(const matrix_3x3 &original);
+
+  void set_to_identity();
+
+  void debug(PGM_P const title);
+};
+
+void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, float &x, float &y, float &z);
+FORCE_INLINE void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, xyz_pos_t &pos) {
+  apply_rotation_xyz(rotationMatrix, pos.x, pos.y, pos.z);
+}