Subversion Repositories MK-Marlin

/**

 * Marlin 3D Printer Firmware

 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]

 *

 * Based on Sprinter and grbl.

 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm

 *

 * 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 "MarlinConfig.h"

#if ABL_PLANAR || (HAS_BED_PROBE && ENABLED(AUTO_BED_LEVELING_UBL))

#include "vector_3.h"

#include "serial.h"

#include <math.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(sq(x) + sq(y) + sq(z)); }

void vector_3::normalize() {

  const float inv_length = RSQRT(sq(x) + sq(y) + sq(z));

  x *= inv_length;

  y *= inv_length;

  z *= inv_length;

}

void vector_3::apply_rotation(matrix_3x3 matrix) {

  const float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0],

              resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1],

              resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];

  x = resultX;

  y = resultY;

  z = resultZ;

}

void vector_3::debug(const char * const title) {

  serialprintPGM(title);

  SERIAL_PROTOCOLPGM(" x: ");

  SERIAL_PROTOCOL_F(x, 6);

  SERIAL_PROTOCOLPGM(" y: ");

  SERIAL_PROTOCOL_F(y, 6);

  SERIAL_PROTOCOLPGM(" z: ");

  SERIAL_PROTOCOL_F(z, 6);

  SERIAL_EOL();

}

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(PSTR("row_0"));

  //row_1.debug(PSTR("row_1"));

  //row_2.debug(PSTR("row_2"));

  matrix_3x3 new_matrix;

  new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;

  new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;

  new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;

  //new_matrix.debug(PSTR("new_matrix"));

  return new_matrix;

}

void matrix_3x3::set_to_identity() {

  matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;

  matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;

  matrix[6] = 0; matrix[7] = 0; matrix[8] = 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(PSTR("x_row"));

  // y_row.debug(PSTR("y_row"));

  // z_row.debug(PSTR("z_row"));

  // create the matrix already correctly transposed

  matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);

  // rot.debug(PSTR("rot"));

  return rot;

}

matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {

  matrix_3x3 new_matrix;

  new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];

  new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];

  new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8];

  return new_matrix;

}

void matrix_3x3::debug(const char * const title) {

  if (title != NULL) {

    serialprintPGM(title);

    SERIAL_EOL();

  }

  uint8_t count = 0;

  for (uint8_t i = 0; i < 3; i++) {

    for (uint8_t j = 0; j < 3; j++) {

      if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+');

      SERIAL_PROTOCOL_F(matrix[count], 6);

      SERIAL_PROTOCOLCHAR(' ');

      count++;

    }

    SERIAL_EOL();

  }

}

#endif // HAS_ABL