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97 lines
3.5 KiB
97 lines
3.5 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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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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*
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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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*
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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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*
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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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#include "../core/types.h"
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class matrix_3x3;
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struct vector_3 {
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union {
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struct { float x, y, z; };
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float pos[3];
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};
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vector_3(const_float_t _x, const_float_t _y, const_float_t _z) : x(_x), y(_y), z(_z) {}
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vector_3(const xy_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); }
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vector_3(const xyz_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
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vector_3(const xyze_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
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vector_3() { x = y = z = 0; }
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// Factory method
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static vector_3 cross(const vector_3 &a, const vector_3 &b);
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// Modifiers
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void normalize();
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void apply_rotation(const matrix_3x3 &matrix);
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// Accessors
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float magnitude() const;
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vector_3 get_normal() const;
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// Operators
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float& operator[](const int n) { return pos[n]; }
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const float& operator[](const int n) const { return pos[n]; }
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vector_3& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
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vector_3 operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); }
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vector_3 operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); }
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vector_3 operator*(const float &v) { return vector_3(x * v, y * v, z * v); }
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operator xy_float_t() { return xy_float_t({ x, y }); }
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operator xyz_float_t() { return xyz_float_t({ x, y, z }); }
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void debug(FSTR_P const title);
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};
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struct matrix_3x3 {
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vector_3 vectors[3];
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// Factory methods
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static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
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static matrix_3x3 create_look_at(const vector_3 &target);
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static matrix_3x3 transpose(const matrix_3x3 &original);
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void set_to_identity();
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void debug(FSTR_P const title);
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void apply_rotation_xyz(float &x, float &y, float &z);
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};
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