marlin/Marlin/vector_3.h

/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 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
*/
#ifndef VECTOR_3_H
#define VECTOR_3_H

#if HAS_ABL

class matrix_3x3;

struct vector_3 {
  float x, y, z;

  vector_3();
  vector_3(float x, float y, float z);

  static vector_3 cross(vector_3 a, vector_3 b);

  vector_3 operator+(vector_3 v);
  vector_3 operator-(vector_3 v);
  void normalize();
  float get_length();
  vector_3 get_normal();

  void debug(const char * const title);

  void apply_rotation(matrix_3x3 matrix);
};

struct matrix_3x3 {
  float matrix[9];

  static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2);
  static matrix_3x3 create_look_at(vector_3 target);
  static matrix_3x3 transpose(matrix_3x3 original);

  void set_to_identity();

  void debug(const char * const title);
};


void apply_rotation_xyz(matrix_3x3 rotationMatrix, float& x, float& y, float& z);

#endif // HAS_ABL
#endif // VECTOR_3_H