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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);
}
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