/** * 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 */ #include "../../base.h" #if ENABLED(AUTO_BED_LEVELING_FEATURE) #include <math.h> #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((x * x) + (y * y) + (z * z)); } void vector_3::normalize() { float length = get_length(); x /= length; y /= length; z /= length; } void vector_3::apply_rotation(matrix_3x3 matrix) { float resultX = x * matrix.matrix[0][0] + y * matrix.matrix[1][0] + z * matrix.matrix[2][0]; float resultY = x * matrix.matrix[0][1] + y * matrix.matrix[1][1] + z * matrix.matrix[2][1]; float resultZ = x * matrix.matrix[0][2] + y * matrix.matrix[1][2] + z * matrix.matrix[2][2]; x = resultX; y = resultY; z = resultZ; } void vector_3::debug(const char title[]) { ECHO_ST(DB, title); ECHO_MV(" x: ", x, 6); ECHO_MV(" y: ", y, 6); ECHO_EMV(" z: ", z, 6); } 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("row_0"); //row_1.debug("row_1"); //row_2.debug("row_2"); matrix_3x3 new_matrix; new_matrix.matrix[0][0] = row_0.x; new_matrix.matrix[0][1] = row_0.y; new_matrix.matrix[0][2] = row_0.z; new_matrix.matrix[1][0] = row_1.x; new_matrix.matrix[1][1] = row_1.y; new_matrix.matrix[1][2] = row_1.z; new_matrix.matrix[2][0] = row_2.x; new_matrix.matrix[2][1] = row_2.y; new_matrix.matrix[2][2] = row_2.z; //new_matrix.debug("new_matrix"); return new_matrix; } void matrix_3x3::set_to_identity() { matrix[0][0] = 1; matrix[0][1] = 0; matrix[0][2] = 0; matrix[1][0] = 0; matrix[1][1] = 1; matrix[1][2] = 0; matrix[2][0] = 0; matrix[2][1] = 0; matrix[2][2] = 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("x_row"); // y_row.debug("y_row"); // z_row.debug("z_row"); // create the matrix already correctly transposed matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row); // rot.debug("rot"); return rot; } matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) { matrix_3x3 new_matrix; new_matrix.matrix[0][0] = original.matrix[0][0]; new_matrix.matrix[0][1] = original.matrix[1][0]; new_matrix.matrix[0][2] = original.matrix[2][0]; new_matrix.matrix[1][0] = original.matrix[0][1]; new_matrix.matrix[1][1] = original.matrix[1][1]; new_matrix.matrix[1][2] = original.matrix[2][1]; new_matrix.matrix[2][0] = original.matrix[0][2]; new_matrix.matrix[2][1] = original.matrix[1][2]; new_matrix.matrix[2][2] = original.matrix[2][2]; return new_matrix; } void matrix_3x3::debug(const char title[]) { ECHO_LT(DB, title); for (uint8_t i = 0; i < 3; i++) { ECHO_S(DB); for (uint8_t j = 0; j < 3; j++) { if (matrix[i][j] >= 0.0) ECHO_C('+'); ECHO_V(matrix[i][j], 6); ECHO_C(' '); } ECHO_E; } } #endif // AUTO_BED_LEVELING_FEATURE