/**
 * MK & MK4due 3D Printer Firmware
 *
 * Based on Marlin, Sprinter and grbl
 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
 * Copyright (C) 2013 - 2016 Alberto Cotronei @MagoKimbra
 *
 * 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 ENABLED(AUTO_BED_LEVELING_FEATURE)
    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 title[]);

      void apply_rotation(matrix_3x3 matrix);
    };

    struct matrix_3x3 {
      float matrix[3][3];

      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 title[]);
    };

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

  #endif // AUTO_BED_LEVELING_FEATURE
#endif // VECTOR_3_H
