/* 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(const 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(const char title[]); }; void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float& y, float& z); #endif // ENABLE_AUTO_BED_LEVELING #endif // VECTOR_3_H