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/*
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
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