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139 lines
4.5 KiB
139 lines
4.5 KiB
/*
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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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#include <math.h>
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#include "Marlin.h"
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#ifdef ENABLE_AUTO_BED_LEVELING
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#include "vector_3.h"
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vector_3::vector_3() : x(0), y(0), z(0) { }
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vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
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vector_3 vector_3::cross(vector_3 left, vector_3 right) {
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return vector_3(left.y * right.z - left.z * right.y,
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left.z * right.x - left.x * right.z,
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left.x * right.y - left.y * right.x);
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}
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vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
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vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
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vector_3 vector_3::get_normal() {
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vector_3 normalized = vector_3(x, y, z);
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normalized.normalize();
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return normalized;
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}
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float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
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void vector_3::normalize() {
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float length = get_length();
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x /= length;
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y /= length;
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z /= length;
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}
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void vector_3::apply_rotation(matrix_3x3 matrix) {
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float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0];
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float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1];
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float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2];
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x = resultX;
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y = resultY;
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z = resultZ;
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}
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void vector_3::debug(const char title[]) {
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SERIAL_PROTOCOL(title);
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SERIAL_PROTOCOLPGM(" x: ");
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SERIAL_PROTOCOL_F(x, 6);
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SERIAL_PROTOCOLPGM(" y: ");
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SERIAL_PROTOCOL_F(y, 6);
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SERIAL_PROTOCOLPGM(" z: ");
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SERIAL_PROTOCOL_F(z, 6);
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SERIAL_EOL;
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}
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void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z) {
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vector_3 vector = vector_3(x, y, z);
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vector.apply_rotation(matrix);
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x = vector.x;
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y = vector.y;
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z = vector.z;
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}
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matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) {
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//row_0.debug("row_0");
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//row_1.debug("row_1");
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//row_2.debug("row_2");
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matrix_3x3 new_matrix;
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new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
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new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
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new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
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//new_matrix.debug("new_matrix");
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return new_matrix;
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}
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void matrix_3x3::set_to_identity() {
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matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
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matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
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matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
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}
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matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
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vector_3 z_row = target.get_normal();
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vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
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vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
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// x_row.debug("x_row");
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// y_row.debug("y_row");
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// z_row.debug("z_row");
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// create the matrix already correctly transposed
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matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
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// rot.debug("rot");
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return rot;
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}
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matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
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matrix_3x3 new_matrix;
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new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
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new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
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new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8];
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return new_matrix;
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}
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void matrix_3x3::debug(const char title[]) {
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SERIAL_PROTOCOLLN(title);
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int count = 0;
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for(int i=0; i<3; i++) {
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for(int j=0; j<3; j++) {
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if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+');
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SERIAL_PROTOCOL_F(matrix[count], 6);
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SERIAL_PROTOCOLCHAR(' ');
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count++;
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}
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SERIAL_EOL;
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}
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}
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#endif // ENABLE_AUTO_BED_LEVELING
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