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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/>.
- *
- */
- #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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