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b64661070e
Removed the calculation of the inverse matrix since the rotation matrix is orthogonal, therefore inverted == transposed. Much simpler and mathematically robust.
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
/*
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vector_3.cpp - Vector library for bed leveling
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Copyright (c) 2012 Lars Brubaker. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifndef VECTOR_3_H
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#define VECTOR_3_H
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#ifdef ENABLE_AUTO_BED_LEVELING
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class matrix_3x3;
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struct vector_3
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{
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float x, y, z;
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vector_3();
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vector_3(float x, float y, float z);
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static vector_3 cross(vector_3 a, vector_3 b);
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vector_3 operator+(vector_3 v);
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vector_3 operator-(vector_3 v);
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void normalize();
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float get_length();
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vector_3 get_normal();
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void debug(char* title);
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void apply_rotation(matrix_3x3 matrix);
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};
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struct matrix_3x3
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{
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float matrix[9];
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static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2);
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static matrix_3x3 create_look_at(vector_3 target);
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static matrix_3x3 transpose(matrix_3x3 original);
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void set_to_identity();
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void debug(char* title);
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};
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void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float& y, float& z);
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#endif // ENABLE_AUTO_BED_LEVELING
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#endif // VECTOR_3_H
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