b64661070e
Removed the calculation of the inverse matrix since the rotation matrix is orthogonal, therefore inverted == transposed. Much simpler and mathematically robust.
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
/*
|
|
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
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
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(char* title);
|
|
|
|
void apply_rotation(matrix_3x3 matrix);
|
|
};
|
|
|
|
struct matrix_3x3
|
|
{
|
|
float matrix[9];
|
|
|
|
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(char* title);
|
|
};
|
|
|
|
|
|
void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float& y, float& z);
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
#endif // VECTOR_3_H
|