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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 {
- union {
- struct { float x, y, z; };
- float pos[3];
- };
- vector_3(const_float_t _x, const_float_t _y, const_float_t _z) : x(_x), y(_y), z(_z) {}
- vector_3(const xy_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); }
- vector_3(const xyz_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
- vector_3(const xyze_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
- vector_3() { x = y = z = 0; }
-
- // 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 magnitude() const;
- vector_3 get_normal() const;
-
- // Operators
- float& operator[](const int n) { return pos[n]; }
- const float& operator[](const int n) const { return pos[n]; }
-
- vector_3& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
- vector_3 operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); }
- vector_3 operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); }
- vector_3 operator*(const float &v) { return vector_3(x * v, y * v, z * v); }
-
- operator xy_float_t() { return xy_float_t({ x OPTARG(HAS_Y_AXIS, y) }); }
- operator xyz_float_t() { return xyz_float_t({ x OPTARG(HAS_Y_AXIS, y) OPTARG(HAS_Z_AXIS, z) }); }
-
- void debug(FSTR_P const title);
- };
-
- struct matrix_3x3 {
- vector_3 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(FSTR_P const title);
-
- void apply_rotation_xyz(float &x, float &y, float &z);
- };
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