/** * 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 */ #include <math.h> #include "Marlin.h" #if HAS_ABL #include "vector_3.h" vector_3::vector_3() : x(0), y(0), z(0) { } vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { } vector_3 vector_3::cross(vector_3 left, vector_3 right) { return vector_3(left.y * right.z - left.z * right.y, left.z * right.x - left.x * right.z, left.x * right.y - left.y * right.x); } vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); } vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); } vector_3 vector_3::get_normal() { vector_3 normalized = vector_3(x, y, z); normalized.normalize(); return normalized; } float vector_3::get_length() { return sqrt(sq(x) + sq(y) + sq(z)); } void vector_3::normalize() { const float inv_length = 1.0 / get_length(); x *= inv_length; y *= inv_length; z *= inv_length; } void vector_3::apply_rotation(matrix_3x3 matrix) { const float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0], resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1], resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2]; x = resultX; y = resultY; z = resultZ; } void vector_3::debug(const char * const title) { serialprintPGM(title); SERIAL_PROTOCOLPGM(" x: "); SERIAL_PROTOCOL_F(x, 6); SERIAL_PROTOCOLPGM(" y: "); SERIAL_PROTOCOL_F(y, 6); SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOL_F(z, 6); SERIAL_EOL; } void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) { vector_3 vector = vector_3(x, y, z); vector.apply_rotation(matrix); x = vector.x; y = vector.y; z = vector.z; } matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, 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.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z; new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z; new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z; //new_matrix.debug(PSTR("new_matrix")); return new_matrix; } void matrix_3x3::set_to_identity() { matrix[0] = 1; matrix[1] = 0; matrix[2] = 0; matrix[3] = 0; matrix[4] = 1; matrix[5] = 0; matrix[6] = 0; matrix[7] = 0; matrix[8] = 1; } matrix_3x3 matrix_3x3::create_look_at(vector_3 target) { vector_3 z_row = target.get_normal(); vector_3 x_row = vector_3(1, 0, -target.x / target.z).get_normal(); vector_3 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; } matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) { matrix_3x3 new_matrix; new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6]; new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7]; new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8]; return new_matrix; } void matrix_3x3::debug(const char * const title) { serialprintPGM(title); uint8_t count = 0; for (uint8_t i = 0; i < 3; i++) { for (uint8_t j = 0; j < 3; j++) { if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+'); SERIAL_PROTOCOL_F(matrix[count], 6); SERIAL_PROTOCOLCHAR(' '); count++; } SERIAL_EOL; } } #endif // HAS_ABL