vector_3.h

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