diff --git a/Marlin/src/libs/vector_3.cpp b/Marlin/src/libs/vector_3.cpp
index e4fe0afaac06377b502086ed3cadad47a6d349cd..dfed6820e29a9e624270e875fbb1574c95b3e811 100644
--- a/Marlin/src/libs/vector_3.cpp
+++ b/Marlin/src/libs/vector_3.cpp
@@ -51,22 +51,22 @@ vector_3::vector_3() : x(0), y(0), z(0) { }
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
-vector_3 vector_3::cross(vector_3 left, vector_3 right) {
+vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x);
}
-vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
-vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
+vector_3 vector_3::operator+(const vector_3 &v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
+vector_3 vector_3::operator-(const vector_3 &v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
-vector_3 vector_3::get_normal() {
+vector_3 vector_3::get_normal() const {
vector_3 normalized = vector_3(x, y, z);
normalized.normalize();
return normalized;
}
-float vector_3::get_length() { return SQRT(sq(x) + sq(y) + sq(z)); }
+float vector_3::get_length() const { return SQRT(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() {
const float inv_length = RSQRT(sq(x) + sq(y) + sq(z));
@@ -75,13 +75,11 @@ void vector_3::normalize() {
z *= inv_length;
}
-void vector_3::apply_rotation(matrix_3x3 matrix) {
- const float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0],
- resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1],
- resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
- x = resultX;
- y = resultY;
- z = resultZ;
+void vector_3::apply_rotation(const matrix_3x3 &matrix) {
+ const float _x = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0],
+ _y = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1],
+ _z = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
+ x = _x; y = _y; z = _z;
}
void vector_3::debug(const char * const title) {
@@ -95,7 +93,7 @@ void vector_3::debug(const char * const title) {
SERIAL_EOL();
}
-void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) {
+void apply_rotation_xyz(const matrix_3x3 &matrix, float &x, float &y, float &z) {
vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix);
x = vector.x;
@@ -103,7 +101,7 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) {
z = vector.z;
}
-matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) {
+matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2) {
//row_0.debug(PSTR("row_0"));
//row_1.debug(PSTR("row_1"));
//row_2.debug(PSTR("row_2"));
@@ -121,10 +119,10 @@ void matrix_3x3::set_to_identity() {
matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
}
-matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
- vector_3 z_row = target.get_normal();
- vector_3 x_row = vector_3(1, 0, -target.x / target.z).get_normal();
- vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
+matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
+ vector_3 z_row = target.get_normal(),
+ x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
+ y_row = vector_3::cross(z_row, x_row).get_normal();
// x_row.debug(PSTR("x_row"));
// y_row.debug(PSTR("y_row"));
@@ -137,7 +135,7 @@ matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
return rot;
}
-matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
+matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
matrix_3x3 new_matrix;
new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
diff --git a/Marlin/src/libs/vector_3.h b/Marlin/src/libs/vector_3.h
index aed4364b915a8dcd37f3cf78814216d20563d75d..2922ea707ea752727598e52b3f557a37ca7155ae 100644
--- a/Marlin/src/libs/vector_3.h
+++ b/Marlin/src/libs/vector_3.h
@@ -39,8 +39,7 @@
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
-#ifndef VECTOR_3_H
-#define VECTOR_3_H
+#pragma once
class matrix_3x3;
@@ -50,25 +49,24 @@ struct vector_3 {
vector_3();
vector_3(float x, float y, float z);
- static vector_3 cross(vector_3 a, vector_3 b);
+ static vector_3 cross(const vector_3 &a, const vector_3 &b);
- vector_3 operator+(vector_3 v);
- vector_3 operator-(vector_3 v);
+ vector_3 operator+(const vector_3 &v);
+ vector_3 operator-(const vector_3 &v);
void normalize();
- float get_length();
- vector_3 get_normal();
+ float get_length() const;
+ vector_3 get_normal() const;
void debug(const char * const title);
-
- void apply_rotation(matrix_3x3 matrix);
+ void apply_rotation(const 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);
+ static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
+ static matrix_3x3 create_look_at(const vector_3 &target);
+ static matrix_3x3 transpose(const matrix_3x3 &original);
void set_to_identity();
@@ -76,6 +74,5 @@ struct matrix_3x3 {
};
-void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float &y, float &z);
+void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, float &x, float &y, float &z);
-#endif // VECTOR_3_H