Bressenham's Line Algorithm

A project log for Motion Controller

An update to "not GRBL" but using an ISR.

Bressenham's Line Algorithm

Best to have a look at https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm for details of Bressenham's line algorithm. My version is just an optimised version of that code.

Testing the Code

Here is some test code for my version of Bressenham's line algorithm:

```/*
3D Bresenham's algorithm
========================
Written by Alan Cooper (agp.cooper@gmail.com)
This means you are free to copy and share the code (but not to sell it).

Original Bressenham algorithm source:
https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
*/
// Include libraries
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <stdbool.h>
#include "/usr/include/graphics.h"
// Other Linker Options: -lXbgi -lX11 -lm

void line3d(int xOld,int yOld,int zOld,int xNew,int yNew,int zNew) {
int i,n;
int dx,dy,dz;
int ax,ay,az;
int sx,sy,sz;
int mx,my,mz;
int xStep,yStep,zStep;

dx=xNew-xOld;
dy=yNew-yOld;
dz=zNew-zOld;
ax=abs(dx);
ay=abs(dy);
az=abs(dz);
// Sign function
sx=dx<0?-1:dx>0?1:0;
sy=dy<0?-1:dy>0?1:0;
sz=dz<0?-1:dz>0?1:0;
if ((ax>=ay)&&(ax>=az)) {
mx=0;
my=ay-(ax>>1);
mz=az-(ax>>1);
n=ax;
} else if ((ay>=ax)&&(ay>=az)) {
mx=ax-(ay>>1);
my=0;
mz=az-(ay>>1);
n=ay;
} else {
mx=ax-(az>>1);
my=ay-(az>>1);
mz=0;
n=az;
}

for (i=1;i<=n;i++) {
xStep=0;
yStep=0;
zStep=0;
if ((ax>=ay)&&(ax>=az)) {
if (my>=0) {
my-=ax;
yStep=sy;
}
if (mz>=0) {
mz-=ax;
zStep=sz;
}
my+=ay;
mz+=az;
xStep=sx;
} else if ((ay>=ax)&&(ay>=az)) {
if (mx>=0) {
mx-=ay;
xStep=sx;
}
if (mz>=0) {
mz-=ay;
zStep=sz;
}
mx+=ax;
mz+=az;
yStep=sy;
} else {
if (mx>=0) {
mx-=az;
xStep=sx;
}
if (my>=0) {
my-=az;
yStep=sy;
}
mx+=ax;
my+=ay;
zStep=sz;
}
putpixel(xOld,yOld,BLACK);
xOld+=xStep;
yOld+=yStep;
zOld+=zStep;
putpixel(xOld,yOld,BLACK);
}
}

int main(void)
{
// Display results
initwindow(900,700);
setbkcolor(WHITE);
cleardevice();
setcolor(BLACK);
setlinestyle(SOLID_LINE,EMPTY_FILL,NORM_WIDTH);
setfillstyle(SOLID_FILL,WHITE);

// Units are pixels
setcolor(RED);
line(200,700-100,600,700-100);
line(600,700-100,600,700-500);
line(600,700-500,200,700-500);
line(200,700-500,200,700-100);
setcolor(BLACK);

// Overlay my version on line
line3d(200,700-100,0,600,700-100,0);
line3d(600,700-100,0,600,700-500,0);
line3d(600,700-500,0,200,700-500,0);
line3d(200,700-500,0,200,700-100,0);

printf("Done - Enter to exit");
getchar();
closegraph();

return(0);
}
```

The program first draws a box in RED using the Xbgi line() routine and then over-draws with my Line3d() routine in BLACK. If no RED shows then tat means it works. I have actually done a lot more testing than this!

To compile  the code (under linux) you need to install the Xbgi library and add to your "Other Linker Options":

`-lXbgi -lX11 -lm`

The BGI graphics library is also available for Windows (but it is not 100% compatible) but I leave you to find and install it.

I have added  "xbgi-quickref.pdf" to my files area.

AlanX