import math

import pytest

from matrixmania.compute import matmul, rot_2D, rot_3D, transpose


def assert_matrix_close(actual, expected):
    """Vergleicht zwei Matrizen elementweise mit Toleranz."""
    assert len(actual) == len(expected)
    for row_a, row_e in zip(actual, expected):
        assert row_a == pytest.approx(row_e, abs=1e-9)


# ---------- rot_2D ----------

def test_rot_2D_zero():
    assert_matrix_close(rot_2D(0), [[1, 0], [0, 1]])


def test_rot_2D_90_degree():
    assert_matrix_close(rot_2D(math.pi / 2), [[0, -1], [1, 0]])


def test_rot_2D_invalid_input():
    with pytest.raises(TypeError):
        rot_2D("abc")


# ---------- rot_3D ----------

@pytest.mark.parametrize("axis", ["x", "y", "z"])
def test_rot_3D_zero_is_identity(axis):
    assert_matrix_close(rot_3D(0, axis), [[1, 0, 0], [0, 1, 0], [0, 0, 1]])


@pytest.mark.parametrize(
    "axis, expected",
    [
        ("x", [[1, 0, 0], [0, 0, -1], [0, 1, 0]]),
        ("y", [[0, 0, 1], [0, 1, 0], [-1, 0, 0]]),
        ("z", [[0, -1, 0], [1, 0, 0], [0, 0, 1]]),
    ],
)
def test_rot_3D_90_degree(axis, expected):
    assert_matrix_close(rot_3D(math.pi / 2, axis), expected)


@pytest.mark.parametrize("axis", ["x", "y", "z"])
def test_rot_3D_is_orthogonal(axis):
    r = rot_3D(1.0, axis)
    assert_matrix_close(matmul(r, transpose(r)), [[1, 0, 0], [0, 1, 0], [0, 0, 1]])


@pytest.mark.parametrize("axis", ["w", "X", "", "xy"])
def test_rot_3D_invalid_axis(axis):
    with pytest.raises(ValueError):
        rot_3D(1.0, axis)