157 lines
4.9 KiB
C++
157 lines
4.9 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 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 "../inc/MarlinConfig.h"
|
|
|
|
#if ABL_PLANAR || ENABLED(AUTO_BED_LEVELING_UBL)
|
|
|
|
#include "vector_3.h"
|
|
|
|
#include <math.h>
|
|
|
|
/**
|
|
* vector_3
|
|
*/
|
|
|
|
vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
|
|
const xyz_float_t &lv = left, &rv = right;
|
|
return vector_3(lv.y * rv.z - lv.z * rv.y, // YZ cross
|
|
lv.z * rv.x - lv.x * rv.z, // ZX cross
|
|
lv.x * rv.y - lv.y * rv.x); // XY cross
|
|
}
|
|
|
|
vector_3 vector_3::get_normal() const {
|
|
vector_3 normalized = *this;
|
|
normalized.normalize();
|
|
return normalized;
|
|
}
|
|
|
|
void vector_3::normalize() {
|
|
*this *= RSQRT(sq(x) + sq(y) + sq(z));
|
|
}
|
|
|
|
// Apply a rotation to the matrix
|
|
void vector_3::apply_rotation(const matrix_3x3 &matrix) {
|
|
const float _x = x, _y = y, _z = z;
|
|
*this = { matrix.vectors[0][0] * _x + matrix.vectors[1][0] * _y + matrix.vectors[2][0] * _z,
|
|
matrix.vectors[0][1] * _x + matrix.vectors[1][1] * _y + matrix.vectors[2][1] * _z,
|
|
matrix.vectors[0][2] * _x + matrix.vectors[1][2] * _y + matrix.vectors[2][2] * _z };
|
|
}
|
|
|
|
void vector_3::debug(PGM_P const title) {
|
|
serialprintPGM(title);
|
|
SERIAL_ECHOPAIR_F_P(SP_X_STR, x, 6);
|
|
SERIAL_ECHOPAIR_F_P(SP_Y_STR, y, 6);
|
|
SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z, 6);
|
|
}
|
|
|
|
/**
|
|
* matrix_3x3
|
|
*/
|
|
|
|
void apply_rotation_xyz(const matrix_3x3 &matrix, float &_x, float &_y, float &_z) {
|
|
vector_3 vec = vector_3(_x, _y, _z); vec.apply_rotation(matrix);
|
|
_x = vec.x; _y = vec.y; _z = vec.z;
|
|
}
|
|
|
|
// Reset to identity. No rotate or translate.
|
|
void matrix_3x3::set_to_identity() {
|
|
for (uint8_t i = 0; i < 3; i++)
|
|
for (uint8_t j = 0; j < 3; j++)
|
|
vectors[i][j] = float(i == j);
|
|
}
|
|
|
|
// Create a matrix from 3 vector_3 inputs
|
|
matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const 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.vectors[0] = row_0;
|
|
new_matrix.vectors[1] = row_1;
|
|
new_matrix.vectors[2] = row_2;
|
|
//new_matrix.debug(PSTR("new_matrix"));
|
|
return new_matrix;
|
|
}
|
|
|
|
// Create a matrix rotated to point towards a target
|
|
matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
|
|
const vector_3 z_row = target.get_normal(),
|
|
x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
|
|
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;
|
|
}
|
|
|
|
// Get a transposed copy of the matrix
|
|
matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
|
|
matrix_3x3 new_matrix;
|
|
for (uint8_t i = 0; i < 3; i++)
|
|
for (uint8_t j = 0; j < 3; j++)
|
|
new_matrix.vectors[i][j] = original.vectors[j][i];
|
|
return new_matrix;
|
|
}
|
|
|
|
void matrix_3x3::debug(PGM_P const title) {
|
|
if (title != nullptr) {
|
|
serialprintPGM(title);
|
|
SERIAL_EOL();
|
|
}
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
for (uint8_t j = 0; j < 3; j++) {
|
|
if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
|
|
SERIAL_ECHO_F(vectors[i][j], 6);
|
|
SERIAL_CHAR(' ');
|
|
}
|
|
SERIAL_EOL();
|
|
}
|
|
}
|
|
|
|
#endif // HAS_ABL_OR_UBL
|