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🏗️ Support for up to 6 linear axes (#19112)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
2021-06-05 09:18:47 +02:00
committed by GitHub
parent 733d5fd57d
commit 7726af9c53
98 changed files with 5040 additions and 2256 deletions
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35
Marlin/src/libs/vector_3.h
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@@ -44,12 +44,16 @@
class matrix_3x3;
struct vector_3 : xyz_float_t {
vector_3(const_float_t _x, const_float_t _y, const_float_t _z) { set(_x, _y, _z); }
vector_3(const xy_float_t &in) { set(in.x, in.y); }
vector_3(const xyz_float_t &in) { set(in.x, in.y, in.z); }
vector_3(const xyze_float_t &in) { set(in.x, in.y, in.z); }
vector_3() { reset(); }
struct vector_3 {
union {
struct { float x, y, z; };
float pos[3];
};
vector_3(const_float_t _x, const_float_t _y, const_float_t _z) : x(_x), y(_y), z(_z) {}
vector_3(const xy_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); }
vector_3(const xyz_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
vector_3(const xyze_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
vector_3() { x = y = z = 0; }
// Factory method
static vector_3 cross(const vector_3 &a, const vector_3 &b);
@@ -59,19 +63,26 @@ struct vector_3 : xyz_float_t {
void apply_rotation(const matrix_3x3 &matrix);
// Accessors
float get_length() const;
float magnitude() const;
vector_3 get_normal() const;
// Operators
FORCE_INLINE vector_3 operator+(const vector_3 &v) const { vector_3 o = *this; o += v; return o; }
FORCE_INLINE vector_3 operator-(const vector_3 &v) const { vector_3 o = *this; o -= v; return o; }
FORCE_INLINE vector_3 operator*(const float &v) const { vector_3 o = *this; o *= v; return o; }
float& operator[](const int n) { return pos[n]; }
const float& operator[](const int n) const { return pos[n]; }
vector_3& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
vector_3 operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); }
vector_3 operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); }
vector_3 operator*(const float &v) { return vector_3(x * v, y * v, z * v); }
operator xy_float_t() { return xy_float_t({ x, y }); }
operator xyz_float_t() { return xyz_float_t({ x, y, z }); }
void debug(PGM_P const title);
};
struct matrix_3x3 {
abc_float_t vectors[3];
vector_3 vectors[3];
// Factory methods
static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
@@ -83,6 +94,4 @@ struct matrix_3x3 {
void debug(PGM_P const title);
void apply_rotation_xyz(float &x, float &y, float &z);
FORCE_INLINE void apply_rotation_xyz(xyz_pos_t &pos) { apply_rotation_xyz(pos.x, pos.y, pos.z); }
};