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Move apply_rotation_xyz into matrix_3x3

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Scott Lahteine 2021-03-30 23:16:29 -05:00 committed by Scott Lahteine
parent 8d083eb248
commit be775ed72d
5 changed files with 10 additions and 12 deletions
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2
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
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@ -1592,7 +1592,7 @@ void unified_bed_leveling::smart_fill_mesh() {
DEBUG_DELAY(20); DEBUG_DELAY(20);
} }
apply_rotation_xyz(rotation, mx, my, mz); rotation.apply_rotation_xyz(mx, my, mz);
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("after rotation = [", mx, 7); DEBUG_ECHOPAIR_F("after rotation = [", mx, 7);

2
Marlin/src/gcode/bedlevel/abl/G29.cpp
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@ -794,7 +794,7 @@ G29_TYPE GcodeSuite::G29() {
const int ind = abl.indexIntoAB[xx][yy]; const int ind = abl.indexIntoAB[xx][yy];
xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points], xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points],
abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 }; abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 };
apply_rotation_xyz(planner.bed_level_matrix, tmp); planner.bed_level_matrix.apply_rotation_xyz(tmp);
if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z); if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z);
const float subval = get_min ? abl.mean : tmp.z + min_diff, const float subval = get_min ? abl.mean : tmp.z + min_diff,
diff = abl.eqnBVector[ind] - subval; diff = abl.eqnBVector[ind] - subval;

4
Marlin/src/libs/vector_3.cpp
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@ -87,8 +87,8 @@ void vector_3::debug(PGM_P const title) {
* matrix_3x3 * matrix_3x3
*/ */
void apply_rotation_xyz(const matrix_3x3 &matrix, float &_x, float &_y, float &_z) { void matrix_3x3::apply_rotation_xyz(float &_x, float &_y, float &_z) {
vector_3 vec = vector_3(_x, _y, _z); vec.apply_rotation(matrix); vector_3 vec = vector_3(_x, _y, _z); vec.apply_rotation(*this);
_x = vec.x; _y = vec.y; _z = vec.z; _x = vec.x; _y = vec.y; _z = vec.z;
} }

10
Marlin/src/libs/vector_3.h
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@ -45,7 +45,6 @@
class matrix_3x3; class matrix_3x3;
struct vector_3 : xyz_float_t { struct vector_3 : xyz_float_t {
vector_3(const float &_x, const float &_y, const float &_z) { set(_x, _y, _z); } vector_3(const float &_x, const float &_y, const float &_z) { set(_x, _y, _z); }
vector_3(const xy_float_t &in) { set(in.x, in.y); } vector_3(const xy_float_t &in) { set(in.x, in.y); }
vector_3(const xyz_float_t &in) { set(in.x, in.y, in.z); } vector_3(const xyz_float_t &in) { set(in.x, in.y, in.z); }
@ -82,9 +81,8 @@ struct matrix_3x3 {
void set_to_identity(); void set_to_identity();
void debug(PGM_P const title); void debug(PGM_P const title);
};
void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, float &x, float &y, float &z); void apply_rotation_xyz(float &x, float &y, float &z);
FORCE_INLINE void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, xyz_pos_t &pos) {
apply_rotation_xyz(rotationMatrix, pos.x, pos.y, pos.z); FORCE_INLINE void apply_rotation_xyz(xyz_pos_t &pos) { apply_rotation_xyz(pos.x, pos.y, pos.z); }
} };

4
Marlin/src/module/planner.cpp
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@ -1534,7 +1534,7 @@ void Planner::check_axes_activity() {
#if ABL_PLANAR #if ABL_PLANAR
xy_pos_t d = raw - level_fulcrum; xy_pos_t d = raw - level_fulcrum;
apply_rotation_xyz(bed_level_matrix, d.x, d.y, raw.z); bed_level_matrix.apply_rotation_xyz(d.x, d.y, raw.z);
raw = d + level_fulcrum; raw = d + level_fulcrum;
#elif HAS_MESH #elif HAS_MESH
@ -1571,7 +1571,7 @@ void Planner::check_axes_activity() {
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix); matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
xy_pos_t d = raw - level_fulcrum; xy_pos_t d = raw - level_fulcrum;
apply_rotation_xyz(inverse, d.x, d.y, raw.z); inverse.apply_rotation_xyz(d.x, d.y, raw.z);
raw = d + level_fulcrum; raw = d + level_fulcrum;
#elif HAS_MESH #elif HAS_MESH