152 lines
4.7 KiB
C++
152 lines
4.7 KiB
C++
/**
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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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/**
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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 "../inc/MarlinConfig.h"
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#if ABL_PLANAR || ENABLED(AUTO_BED_LEVELING_UBL)
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#include "vector_3.h"
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#include <math.h>
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/**
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* vector_3
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*/
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vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
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return vector_3(left.y * right.z - left.z * right.y, // YZ cross
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left.z * right.x - left.x * right.z, // ZX cross
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left.x * right.y - left.y * right.x); // XY cross
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}
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vector_3 vector_3::get_normal() const {
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vector_3 normalized = *this;
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normalized.normalize();
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return normalized;
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}
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float vector_3::magnitude() const { return SQRT(sq(x) + sq(y) + sq(z)); }
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void vector_3::normalize() { *this *= RSQRT(sq(x) + sq(y) + sq(z)); }
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// Apply a rotation to the matrix
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void vector_3::apply_rotation(const matrix_3x3 &matrix) {
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const float _x = x, _y = y, _z = z;
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*this = { matrix.vectors[0].x * _x + matrix.vectors[1].x * _y + matrix.vectors[2].x * _z,
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matrix.vectors[0].y * _x + matrix.vectors[1].y * _y + matrix.vectors[2].y * _z,
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matrix.vectors[0].z * _x + matrix.vectors[1].z * _y + matrix.vectors[2].z * _z };
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}
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void vector_3::debug(FSTR_P const title) {
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SERIAL_ECHOF(title);
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SERIAL_ECHOPAIR_F_P(SP_X_STR, x, 6);
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SERIAL_ECHOPAIR_F_P(SP_Y_STR, y, 6);
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SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z, 6);
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}
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/**
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* matrix_3x3
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*/
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void matrix_3x3::apply_rotation_xyz(float &_x, float &_y, float &_z) {
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vector_3 vec = vector_3(_x, _y, _z); vec.apply_rotation(*this);
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_x = vec.x; _y = vec.y; _z = vec.z;
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}
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// Reset to identity. No rotate or translate.
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void matrix_3x3::set_to_identity() {
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LOOP_L_N(i, 3)
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LOOP_L_N(j, 3)
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vectors[i][j] = float(i == j);
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}
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// Create a matrix from 3 vector_3 inputs
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matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2) {
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//row_0.debug(F("row_0"));
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//row_1.debug(F("row_1"));
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//row_2.debug(F("row_2"));
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matrix_3x3 new_matrix;
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new_matrix.vectors[0] = row_0;
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new_matrix.vectors[1] = row_1;
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new_matrix.vectors[2] = row_2;
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//new_matrix.debug(F("new_matrix"));
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return new_matrix;
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}
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// Create a matrix rotated to point towards a target
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matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
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const vector_3 z_row = target.get_normal(),
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x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
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y_row = vector_3::cross(z_row, x_row).get_normal();
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// x_row.debug(F("x_row"));
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// y_row.debug(F("y_row"));
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// z_row.debug(F("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(F("rot"));
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return rot;
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}
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// Get a transposed copy of the matrix
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matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
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matrix_3x3 new_matrix;
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LOOP_L_N(i, 3)
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LOOP_L_N(j, 3)
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new_matrix.vectors[i][j] = original.vectors[j][i];
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return new_matrix;
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}
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void matrix_3x3::debug(FSTR_P const title) {
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if (title) SERIAL_ECHOLNF(title);
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LOOP_L_N(i, 3) {
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LOOP_L_N(j, 3) {
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serial_offset(vectors[i][j], 2);
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SERIAL_CHAR(' ');
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}
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SERIAL_EOL();
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}
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}
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#endif // HAS_ABL_OR_UBL
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