203 lines
6.3 KiB
C++
203 lines
6.3 KiB
C++
/*
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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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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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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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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 <math.h>
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#include "Marlin.h"
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#ifdef ENABLE_AUTO_BED_LEVELING
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#include "vector_3.h"
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vector_3::vector_3()
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{
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this->x = 0;
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this->y = 0;
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this->z = 0;
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}
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vector_3::vector_3(float x, float y, float z)
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{
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this->x = x;
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this->y = y;
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this->z = z;
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}
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vector_3 vector_3::cross(vector_3 left, vector_3 right)
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{
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return vector_3(left.y * right.z - left.z * right.y,
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left.z * right.x - left.x * right.z,
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left.x * right.y - left.y * right.x);
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}
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vector_3 vector_3::operator+(vector_3 v)
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{
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return vector_3((x + v.x), (y + v.y), (z + v.z));
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}
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vector_3 vector_3::operator-(vector_3 v)
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{
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return vector_3((x - v.x), (y - v.y), (z - v.z));
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}
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vector_3 vector_3::get_normal()
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{
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vector_3 normalized = vector_3(x, y, z);
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normalized.normalize();
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return normalized;
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}
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float vector_3::get_length()
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{
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float length = sqrt((x * x) + (y * y) + (z * z));
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return length;
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}
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void vector_3::normalize()
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{
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float length = get_length();
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x /= length;
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y /= length;
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z /= length;
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}
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void vector_3::apply_rotation(matrix_3x3 matrix)
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{
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float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0];
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float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1];
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float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2];
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x = resultX;
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y = resultY;
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z = resultZ;
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}
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void vector_3::debug(char* title)
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{
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SERIAL_PROTOCOL(title);
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SERIAL_PROTOCOLPGM(" x: ");
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SERIAL_PROTOCOL(x);
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SERIAL_PROTOCOLPGM(" y: ");
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SERIAL_PROTOCOL(y);
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SERIAL_PROTOCOLPGM(" z: ");
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SERIAL_PROTOCOL(z);
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SERIAL_PROTOCOLPGM("\n");
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}
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void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
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{
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vector_3 vector = vector_3(x, y, z);
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vector.apply_rotation(matrix);
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x = vector.x;
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y = vector.y;
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z = vector.z;
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}
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matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2)
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{
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//row_0.debug("row_0");
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//row_1.debug("row_1");
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//row_2.debug("row_2");
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matrix_3x3 new_matrix;
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new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
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new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
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new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
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//new_matrix.debug("new_matrix");
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return new_matrix;
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}
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void matrix_3x3::set_to_identity()
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{
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matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
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matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
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matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
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}
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matrix_3x3 matrix_3x3::create_look_at(vector_3 target, vector_3 up)
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{
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// There are lots of examples of look at code on the internet that don't do all these noramize and also find the position
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// through several dot products. The problem with them is that they have a bit of error in that all the vectors arn't normal and need to be.
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vector_3 z_row = vector_3(-target.x, -target.y, -target.z).get_normal();
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vector_3 x_row = vector_3::cross(up, z_row).get_normal();
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vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
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//x_row.debug("x_row");
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//y_row.debug("y_row");
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//z_row.debug("z_row");
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matrix_3x3 rot = matrix_3x3::create_from_rows(vector_3(x_row.x, y_row.x, z_row.x),
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vector_3(x_row.y, y_row.y, z_row.y),
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vector_3(x_row.z, y_row.z, z_row.z));
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//rot.debug("rot");
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return rot;
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}
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matrix_3x3 matrix_3x3::create_inverse(matrix_3x3 original)
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{
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//original.debug("original");
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float* A = original.matrix;
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float determinant =
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+ A[0 * 3 + 0] * (A[1 * 3 + 1] * A[2 * 3 + 2] - A[2 * 3 + 1] * A[1 * 3 + 2])
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- A[0 * 3 + 1] * (A[1 * 3 + 0] * A[2 * 3 + 2] - A[1 * 3 + 2] * A[2 * 3 + 0])
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+ A[0 * 3 + 2] * (A[1 * 3 + 0] * A[2 * 3 + 1] - A[1 * 3 + 1] * A[2 * 3 + 0]);
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matrix_3x3 inverse;
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inverse.matrix[0 * 3 + 0] = +(A[1 * 3 + 1] * A[2 * 3 + 2] - A[2 * 3 + 1] * A[1 * 3 + 2]) / determinant;
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inverse.matrix[0 * 3 + 1] = -(A[0 * 3 + 1] * A[2 * 3 + 2] - A[0 * 3 + 2] * A[2 * 3 + 1]) / determinant;
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inverse.matrix[0 * 3 + 2] = +(A[0 * 3 + 1] * A[1 * 3 + 2] - A[0 * 3 + 2] * A[1 * 3 + 1]) / determinant;
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inverse.matrix[1 * 3 + 0] = -(A[1 * 3 + 0] * A[2 * 3 + 2] - A[1 * 3 + 2] * A[2 * 3 + 0]) / determinant;
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inverse.matrix[1 * 3 + 1] = +(A[0 * 3 + 0] * A[2 * 3 + 2] - A[0 * 3 + 2] * A[2 * 3 + 0]) / determinant;
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inverse.matrix[1 * 3 + 2] = -(A[0 * 3 + 0] * A[1 * 3 + 2] - A[1 * 3 + 0] * A[0 * 3 + 2]) / determinant;
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inverse.matrix[2 * 3 + 0] = +(A[1 * 3 + 0] * A[2 * 3 + 1] - A[2 * 3 + 0] * A[1 * 3 + 1]) / determinant;
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inverse.matrix[2 * 3 + 1] = -(A[0 * 3 + 0] * A[2 * 3 + 1] - A[2 * 3 + 0] * A[0 * 3 + 1]) / determinant;
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inverse.matrix[2 * 3 + 2] = +(A[0 * 3 + 0] * A[1 * 3 + 1] - A[1 * 3 + 0] * A[0 * 3 + 1]) / determinant;
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vector_3 row0 = vector_3(inverse.matrix[0 * 3 + 0], inverse.matrix[0 * 3 + 1], inverse.matrix[0 * 3 + 2]);
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vector_3 row1 = vector_3(inverse.matrix[1 * 3 + 0], inverse.matrix[1 * 3 + 1], inverse.matrix[1 * 3 + 2]);
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vector_3 row2 = vector_3(inverse.matrix[2 * 3 + 0], inverse.matrix[2 * 3 + 1], inverse.matrix[2 * 3 + 2]);
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row0.normalize();
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row1.normalize();
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row2.normalize();
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inverse = matrix_3x3::create_from_rows(row0, row1, row2);
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//inverse.debug("inverse");
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return inverse;
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}
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void matrix_3x3::debug(char* title)
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{
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SERIAL_PROTOCOL(title);
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SERIAL_PROTOCOL("\n");
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int count = 0;
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for(int i=0; i<3; i++)
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{
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for(int j=0; j<3; j++)
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{
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SERIAL_PROTOCOL(matrix[count]);
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SERIAL_PROTOCOLPGM(" ");
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count++;
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}
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SERIAL_PROTOCOLPGM("\n");
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}
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}
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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