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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 <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * 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 "../inc/MarlinConfig.h"
-
- #if ABL_PLANAR || ENABLED(AUTO_BED_LEVELING_UBL)
-
- #include "vector_3.h"
-
- #include <math.h>
-
- /**
- * vector_3
- */
-
- vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
- const xyz_float_t &lv = left, &rv = right;
- return vector_3(lv.y * rv.z - lv.z * rv.y, // YZ cross
- lv.z * rv.x - lv.x * rv.z, // ZX cross
- lv.x * rv.y - lv.y * rv.x); // XY cross
- }
-
- vector_3 vector_3::get_normal() const {
- vector_3 normalized = *this;
- normalized.normalize();
- return normalized;
- }
-
- void vector_3::normalize() {
- *this *= RSQRT(sq(x) + sq(y) + sq(z));
- }
-
- // Apply a rotation to the matrix
- void vector_3::apply_rotation(const matrix_3x3 &matrix) {
- const float _x = x, _y = y, _z = z;
- *this = { matrix.vectors[0][0] * _x + matrix.vectors[1][0] * _y + matrix.vectors[2][0] * _z,
- matrix.vectors[0][1] * _x + matrix.vectors[1][1] * _y + matrix.vectors[2][1] * _z,
- matrix.vectors[0][2] * _x + matrix.vectors[1][2] * _y + matrix.vectors[2][2] * _z };
- }
-
- extern const char SP_X_STR[], SP_Y_STR[], SP_Z_STR[];
-
- void vector_3::debug(PGM_P const title) {
- serialprintPGM(title);
- SERIAL_ECHOPAIR_F_P(SP_X_STR, x, 6);
- SERIAL_ECHOPAIR_F_P(SP_Y_STR, y, 6);
- SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z, 6);
- }
-
- /**
- * matrix_3x3
- */
-
- void apply_rotation_xyz(const matrix_3x3 &matrix, float &_x, float &_y, float &_z) {
- vector_3 vec = vector_3(_x, _y, _z); vec.apply_rotation(matrix);
- _x = vec.x; _y = vec.y; _z = vec.z;
- }
-
- // Reset to identity. No rotate or translate.
- void matrix_3x3::set_to_identity() {
- LOOP_L_N(i, 3)
- LOOP_L_N(j, 3)
- vectors[i][j] = float(i == j);
- }
-
- // Create a matrix from 3 vector_3 inputs
- matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2) {
- //row_0.debug(PSTR("row_0"));
- //row_1.debug(PSTR("row_1"));
- //row_2.debug(PSTR("row_2"));
- matrix_3x3 new_matrix;
- new_matrix.vectors[0] = row_0;
- new_matrix.vectors[1] = row_1;
- new_matrix.vectors[2] = row_2;
- //new_matrix.debug(PSTR("new_matrix"));
- return new_matrix;
- }
-
- // Create a matrix rotated to point towards a target
- matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
- const vector_3 z_row = target.get_normal(),
- x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
- y_row = vector_3::cross(z_row, x_row).get_normal();
-
- // x_row.debug(PSTR("x_row"));
- // y_row.debug(PSTR("y_row"));
- // z_row.debug(PSTR("z_row"));
-
- // create the matrix already correctly transposed
- matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
-
- // rot.debug(PSTR("rot"));
- return rot;
- }
-
- // Get a transposed copy of the matrix
- matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
- matrix_3x3 new_matrix;
- LOOP_L_N(i, 3)
- LOOP_L_N(j, 3)
- new_matrix.vectors[i][j] = original.vectors[j][i];
- return new_matrix;
- }
-
- void matrix_3x3::debug(PGM_P const title) {
- if (title != nullptr) {
- serialprintPGM(title);
- SERIAL_EOL();
- }
- LOOP_L_N(i, 3) {
- LOOP_L_N(j, 3) {
- if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
- SERIAL_ECHO_F(vectors[i][j], 6);
- SERIAL_CHAR(' ');
- }
- SERIAL_EOL();
- }
- }
-
- #endif // HAS_ABL_OR_UBL
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