fixup! any pseudo-pyramid

Author: jtimon

src/Movement/Kinematics/HangprinterKinematics.cpp

@@ -419,22 +419,26 @@ static bool isSameSide(float const v0[3], float const v1[3], float const v2[3],
 	return dot0*dot1 > 0.0F;
 }
 
-// For each triangle side in a pyramid, check if the point is inside the pyramid. Plus check the base too
-// Precondition: all the base anchors belong to the same plane,
-// except the top (last) anchor which is above that plane with respect to the bed
+// For each triangle side in a pseudo-pyramid, check if the point is inside the pyramid (Except for the base)
+// Also check that any point below the line between two exterior anchors (all anchors are exterior except for the last one)
+// is in the "inside part" all the way down to min_Z, however low it may be.
+// To further limit the movements in the X and Y axes one can simply set a smaller print radius.
 bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
 {
 	float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
 	bool reachable = true;
 
-	// First we check is above the base plane
-	reachable = isSameSide(anchors[0], anchors[1], anchors[2], anchors[HANGPRINTER_AXES - 1], coords);
-
 	// Check all the planes defined by triangle sides in the pyramid
 	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - 1; ++i) {
 		reachable = isSameSide(anchors[i], anchors[(i+1) % (HANGPRINTER_AXES - 1)], anchors[HANGPRINTER_AXES - 1], anchors[(i+2) % (HANGPRINTER_AXES - 1)], coords);
 	}
 
+	// For each side of the base, check the plane formed by side and another point bellow them in z.
+	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - 1; ++i) {
+		float const lower_point[3] = {anchors[i][0], anchors[i][1], anchors[i][2] - 1};
+		reachable = isSameSide(anchors[i], anchors[(i+1) % (HANGPRINTER_AXES - 1)], lower_point, anchors[(i+2) % (HANGPRINTER_AXES - 1)], coords);
+	}
+
 	return reachable;
 }