"""
Console test: Cylindrical + Planar drag — reproduces #338.

Paste into the FreeCAD Python console (or run via exec(open(...).read())).

This test builds scenarios that trigger the quaternion hemisphere flip
during drag that causes the C++ validateNewPlacements() to reject every
step with "flipped orientation (360.0 degrees)".

Key insight: the C++ Rotation::evaluateVector() computes
    _angle = 2 * acos(w)
using the RAW w component (not |w|).  When the solver returns a
quaternion in the opposite hemisphere (w < 0), the relative rotation
  relativeRot = newRot * oldRot.inverse()
has w ≈ -1, giving angle ≈ 2*acos(-1) = 2*pi = 360 degrees.
The 91-degree threshold then rejects it.

The solver's _enforce_quat_continuity SHOULD fix this, but it skips
dragged parts.  For the non-dragged bar, the fix only works if the
pre_step_quats baseline is correct.  This test reproduces the failure
by using realistic non-identity geometry.
"""

import math

import kcsolve

_results = []


def _report(name, passed, detail=""):
    status = "PASS" if passed else "FAIL"
    msg = f"  [{status}] {name}"
    if detail:
        msg += f" -- {detail}"
    print(msg)
    _results.append((name, passed))


# ── Quaternion math ──────────────────────────────────────────────────


def _qmul(a, b):
    """Hamilton product (w, x, y, z)."""
    aw, ax, ay, az = a
    bw, bx, by, bz = b
    return (
        aw * bw - ax * bx - ay * by - az * bz,
        aw * bx + ax * bw + ay * bz - az * by,
        aw * by - ax * bz + ay * bw + az * bx,
        aw * bz + ax * by - ay * bx + az * bw,
    )


def _qconj(q):
    """Conjugate (= inverse for unit quaternion)."""
    return (q[0], -q[1], -q[2], -q[3])


def _qnorm(q):
    """Normalize quaternion."""
    n = math.sqrt(sum(c * c for c in q))
    return tuple(c / n for c in q) if n > 1e-15 else q


def _axis_angle_quat(axis, angle_rad):
    """Quaternion (w, x, y, z) for rotation about a normalized axis."""
    ax, ay, az = axis
    n = math.sqrt(ax * ax + ay * ay + az * az)
    if n < 1e-15:
        return (1.0, 0.0, 0.0, 0.0)
    ax, ay, az = ax / n, ay / n, az / n
    s = math.sin(angle_rad / 2.0)
    return (math.cos(angle_rad / 2.0), ax * s, ay * s, az * s)


def _rotation_angle_cpp(q_old, q_new):
    """Rotation angle (degrees) matching C++ validateNewPlacements().

    C++ pipeline:
        Rotation(x, y, z, w) — stores quat as (x, y, z, w)
        evaluateVector():  _angle = 2 * acos(quat[3])   // quat[3] = w
        getRawValue(axis, angle) returns _angle

    CRITICAL: C++ uses acos(w), NOT acos(|w|).
    When w < 0 (opposite hemisphere), acos(w) > pi/2, so angle > pi.
    For w ≈ -1 (identity rotation in wrong hemisphere): angle ≈ 2*pi = 360 deg.

    Note: the relative rotation quaternion is constructed via
        relativeRot = newRot * oldRot.inverse()
    which goes through Rotation::operator*() and normalize()+evaluateVector().
    """
    q_rel = _qmul(q_new, _qconj(q_old))
    q_rel = _qnorm(q_rel)

    # q_rel is in (w, x, y, z) order. FreeCAD stores (x, y, z, w), so
    # when it constructs a Rotation from (q0=x, q1=y, q2=z, q3=w),
    # evaluateVector() reads quat[3] = w.
    w = q_rel[0]
    w = max(-1.0, min(1.0, w))

    # C++ evaluateVector: checks (quat[3] > -1.0) && (quat[3] < 1.0)
    # Exact ±1 hits else-branch → angle = 0.  In practice the multiply
    # + normalize produces values like -0.99999... which still enters
    # the acos branch.  We replicate C++ exactly here.
    if w > -1.0 and w < 1.0:
        angle_rad = math.acos(w) * 2.0
    else:
        angle_rad = 0.0
    return math.degrees(angle_rad)


def _rotation_angle_abs(q_old, q_new):
    """Angle using |w| — what a CORRECT validator would use."""
    q_rel = _qmul(q_new, _qconj(q_old))
    q_rel = _qnorm(q_rel)
    w = abs(q_rel[0])
    w = min(1.0, w)
    return math.degrees(2.0 * math.acos(w))


# ── Context builders ─────────────────────────────────────────────────


def _build_ctx(
    ground_pos,
    ground_quat,
    bar_pos,
    bar_quat,
    cyl_marker_i_quat,
    cyl_marker_j_quat,
    cyl_marker_i_pos=(0, 0, 0),
    cyl_marker_j_pos=(0, 0, 0),
    planar_marker_i_quat=None,
    planar_marker_j_quat=None,
    planar_marker_i_pos=(0, 0, 0),
    planar_marker_j_pos=(0, 0, 0),
    planar_offset=0.0,
):
    """Build SolveContext with ground + bar, Cylindrical + Planar joints.

    Uses explicit marker quaternions instead of identity, so the
    constraint geometry matches realistic assemblies.
    """
    if planar_marker_i_quat is None:
        planar_marker_i_quat = cyl_marker_i_quat
    if planar_marker_j_quat is None:
        planar_marker_j_quat = cyl_marker_j_quat

    ground = kcsolve.Part()
    ground.id = "ground"
    ground.placement = kcsolve.Transform()
    ground.placement.position = list(ground_pos)
    ground.placement.quaternion = list(ground_quat)
    ground.grounded = True

    bar = kcsolve.Part()
    bar.id = "bar"
    bar.placement = kcsolve.Transform()
    bar.placement.position = list(bar_pos)
    bar.placement.quaternion = list(bar_quat)
    bar.grounded = False

    cyl = kcsolve.Constraint()
    cyl.id = "cylindrical"
    cyl.part_i = "ground"
    cyl.marker_i = kcsolve.Transform()
    cyl.marker_i.position = list(cyl_marker_i_pos)
    cyl.marker_i.quaternion = list(cyl_marker_i_quat)
    cyl.part_j = "bar"
    cyl.marker_j = kcsolve.Transform()
    cyl.marker_j.position = list(cyl_marker_j_pos)
    cyl.marker_j.quaternion = list(cyl_marker_j_quat)
    cyl.type = kcsolve.BaseJointKind.Cylindrical

    planar = kcsolve.Constraint()
    planar.id = "planar"
    planar.part_i = "ground"
    planar.marker_i = kcsolve.Transform()
    planar.marker_i.position = list(planar_marker_i_pos)
    planar.marker_i.quaternion = list(planar_marker_i_quat)
    planar.part_j = "bar"
    planar.marker_j = kcsolve.Transform()
    planar.marker_j.position = list(planar_marker_j_pos)
    planar.marker_j.quaternion = list(planar_marker_j_quat)
    planar.type = kcsolve.BaseJointKind.Planar
    planar.params = [planar_offset]

    ctx = kcsolve.SolveContext()
    ctx.parts = [ground, bar]
    ctx.constraints = [cyl, planar]
    return ctx


# ── Test 1: Validator function correctness ───────────────────────────


def test_validator_function():
    """Verify our _rotation_angle_cpp matches C++ behavior for hemisphere flips."""
    print("\n--- Test 1: Validator function correctness ---")

    # Same quaternion → 0 degrees
    q = (1.0, 0.0, 0.0, 0.0)
    angle = _rotation_angle_cpp(q, q)
    _report("same quat → 0 deg", abs(angle) < 0.1, f"{angle:.1f}")

    # Near-negated quaternion (tiny perturbation from exact -1 to avoid
    # the C++ boundary condition where |w| == 1 → angle = 0).
    # In practice the solver never returns EXACTLY -1; it returns
    # -0.999999... which enters the acos() branch and gives ~360 deg.
    q_near_neg = _qnorm((-0.99999, 0.00001, 0.0, 0.0))
    angle = _rotation_angle_cpp(q, q_near_neg)
    _report("near-negated quat → ~360 deg", angle > 350.0, f"{angle:.1f}")

    # Same test with |w| correction → should be ~0
    angle_abs = _rotation_angle_abs(q, q_near_neg)
    _report("|w|-corrected → ~0 deg", angle_abs < 1.0, f"{angle_abs:.1f}")

    # Non-trivial quaternion vs near-negated version (realistic float noise)
    q2 = _qnorm((-0.5181, -0.5181, 0.4812, -0.4812))
    # Simulate what happens: solver returns same rotation in opposite hemisphere
    q2_neg = _qnorm(tuple(-c + 1e-8 for c in q2))
    angle = _rotation_angle_cpp(q2, q2_neg)
    _report("real quat near-negated → >180 deg", angle > 180.0, f"{angle:.1f}")

    # 10-degree rotation — should be fine
    q_small = _axis_angle_quat((0, 0, 1), math.radians(10))
    angle = _rotation_angle_cpp(q, q_small)
    _report("10 deg rotation → ~10 deg", abs(angle - 10.0) < 1.0, f"{angle:.1f}")


# ── Test 2: Synthetic drag with realistic geometry ───────────────────


def test_drag_realistic():
    """Drag with non-identity markers and non-trivial bar orientation.

    This reproduces the real assembly geometry:
    - Cylindrical axis is along a diagonal (not global Z)
    - Bar starts at a complex orientation far from identity
    - Drag includes axial perturbation (rotation about constraint axis)

    The solver must re-converge the bar's orientation on each step.
    If it lands on the -q hemisphere, the C++ validator rejects.
    """
    print("\n--- Test 2: Realistic drag with non-identity geometry ---")
    solver = kcsolve.load("kindred")

    # Marker quaternion: rotates local Z to point along (1,1,0)/sqrt(2)
    # This means the cylindrical axis is diagonal in the XY plane
    marker_q = _qnorm(_axis_angle_quat((0, 1, 0), math.radians(45)))

    # Bar starts at a complex orientation (from real assembly data)
    # This is close to the actual q=(-0.5181, -0.5181, 0.4812, -0.4812)
    bar_quat_init = _qnorm((-0.5181, -0.5181, 0.4812, -0.4812))

    # Ground at a non-trivial orientation too (real assembly had q=(0.707,0,0,0.707))
    ground_quat = _qnorm((0.7071, 0.0, 0.0, 0.7071))

    # Positions far from origin (like real assembly)
    ground_pos = (100.0, 0.0, 0.0)
    bar_pos = (500.0, -500.0, 0.0)

    ctx = _build_ctx(
        ground_pos=ground_pos,
        ground_quat=ground_quat,
        bar_pos=bar_pos,
        bar_quat=bar_quat_init,
        cyl_marker_i_quat=marker_q,
        cyl_marker_j_quat=marker_q,
        # Planar uses identity markers (XY plane constraint)
        planar_marker_i_quat=(1, 0, 0, 0),
        planar_marker_j_quat=(1, 0, 0, 0),
    )

    # ── Save baseline (simulates savePlacementsForUndo) ──
    baseline_quat = bar_quat_init

    # ── pre_drag ──
    drag_result = solver.pre_drag(ctx, ["bar"])
    _report(
        "drag: pre_drag converged",
        drag_result.status == kcsolve.SolveStatus.Success,
        f"status={drag_result.status}",
    )

    # Check pre_drag result against baseline
    for pr in drag_result.placements:
        if pr.id == "bar":
            solved_quat = tuple(pr.placement.quaternion)
            angle_cpp = _rotation_angle_cpp(baseline_quat, solved_quat)
            angle_abs = _rotation_angle_abs(baseline_quat, solved_quat)
            ok = angle_cpp <= 91.0
            _report(
                "drag: pre_drag passes validator",
                ok,
                f"C++ angle={angle_cpp:.1f}, |w| angle={angle_abs:.1f}, "
                f"q=({solved_quat[0]:+.4f},{solved_quat[1]:+.4f},"
                f"{solved_quat[2]:+.4f},{solved_quat[3]:+.4f})",
            )
            if ok:
                baseline_quat = solved_quat

    # ── drag steps with axial perturbation ──
    n_steps = 40
    accepted = 0
    rejected = 0
    first_reject_step = None

    for step in range(1, n_steps + 1):
        # Drag the bar along the cylindrical axis with ROTATION perturbation
        # Each step: translate along the axis + rotate about it
        t = step / n_steps
        angle_about_axis = math.radians(step * 15.0)  # 15 deg/step, goes past 360

        # The cylindrical axis direction (marker Z in ground frame)
        # For our 45-deg-rotated marker: axis ≈ (sin45, 0, cos45) in ground-local
        # But ground is also rotated. Let's just move along a diagonal.
        slide = step * 5.0
        drag_pos = [
            bar_pos[0] + slide * 0.707,
            bar_pos[1] + slide * 0.707,
            bar_pos[2],
        ]

        # Build the dragged orientation: start from bar_quat_init,
        # apply rotation about the constraint axis
        axis_rot = _axis_angle_quat((0.707, 0.707, 0), angle_about_axis)
        drag_quat = list(_qnorm(_qmul(axis_rot, bar_quat_init)))

        pr = kcsolve.SolveResult.PartResult()
        pr.id = "bar"
        pr.placement = kcsolve.Transform()
        pr.placement.position = drag_pos
        pr.placement.quaternion = drag_quat

        result = solver.drag_step([pr])
        converged = result.status == kcsolve.SolveStatus.Success

        bar_quat_out = None
        for rpr in result.placements:
            if rpr.id == "bar":
                bar_quat_out = tuple(rpr.placement.quaternion)
                break

        if bar_quat_out is None:
            _report(f"step {step:2d}", False, "bar not in result")
            rejected += 1
            continue

        # ── Simulate validateNewPlacements() ──
        angle_cpp = _rotation_angle_cpp(baseline_quat, bar_quat_out)
        angle_abs = _rotation_angle_abs(baseline_quat, bar_quat_out)
        validator_ok = angle_cpp <= 91.0

        if validator_ok:
            baseline_quat = bar_quat_out
            accepted += 1
        else:
            rejected += 1
            if first_reject_step is None:
                first_reject_step = step

        _report(
            f"step {step:2d} ({step * 15:3d} deg)",
            validator_ok and converged,
            f"C++={angle_cpp:.1f} |w|={angle_abs:.1f} "
            f"{'ACCEPT' if validator_ok else 'REJECT'} "
            f"q=({bar_quat_out[0]:+.4f},{bar_quat_out[1]:+.4f},"
            f"{bar_quat_out[2]:+.4f},{bar_quat_out[3]:+.4f})",
        )

    solver.post_drag()

    print(f"\n  Summary: accepted={accepted}/{n_steps}, rejected={rejected}/{n_steps}")
    _report(
        "drag: all steps accepted by C++ validator",
        rejected == 0,
        f"{rejected} rejected"
        + (f", first at step {first_reject_step}" if first_reject_step else ""),
    )


# ── Test 3: Drag with NEGATED initial bar quaternion ─────────────────


def test_drag_negated_init():
    """Start the bar at -q (same rotation, opposite hemisphere from solver
    convention) to maximize the chance of hemisphere mismatch.

    The C++ side saves the FreeCAD object's current Placement.Rotation
    as the baseline.  If FreeCAD stores q but the solver internally
    prefers -q, the very first solve output can differ in hemisphere.
    """
    print("\n--- Test 3: Drag with negated initial quaternion ---")
    solver = kcsolve.load("kindred")

    # A non-trivial orientation with w < 0
    # This is a valid unit quaternion representing a real rotation
    bar_quat_neg = _qnorm((-0.5, -0.5, 0.5, -0.5))  # w < 0

    # The same rotation in the positive hemisphere
    bar_quat_pos = tuple(-c for c in bar_quat_neg)  # w > 0

    # Identity markers (simplify to isolate the hemisphere issue)
    ident = (1.0, 0.0, 0.0, 0.0)

    ctx = _build_ctx(
        ground_pos=(0, 0, 0),
        ground_quat=ident,
        bar_pos=(10, 0, 0),
        bar_quat=bar_quat_neg,  # Start in NEGATIVE hemisphere
        cyl_marker_i_quat=ident,
        cyl_marker_j_quat=ident,
    )

    # C++ baseline is saved BEFORE pre_drag — so it uses the w<0 form
    baseline_quat = bar_quat_neg

    # pre_drag: solver may normalize to positive hemisphere internally
    drag_result = solver.pre_drag(ctx, ["bar"])
    _report(
        "negated: pre_drag converged",
        drag_result.status == kcsolve.SolveStatus.Success,
    )

    for pr in drag_result.placements:
        if pr.id == "bar":
            solved = tuple(pr.placement.quaternion)
            # Did the solver flip to positive hemisphere?
            dot = sum(a * b for a, b in zip(baseline_quat, solved))

            angle_cpp = _rotation_angle_cpp(baseline_quat, solved)
            hemisphere_match = dot >= 0

            _report(
                "negated: pre_drag hemisphere match",
                hemisphere_match,
                f"dot={dot:+.4f}, C++ angle={angle_cpp:.1f} deg, "
                f"baseline w={baseline_quat[0]:+.4f}, "
                f"solved w={solved[0]:+.4f}",
            )

            validator_ok = angle_cpp <= 91.0
            _report(
                "negated: pre_drag passes C++ validator",
                validator_ok,
                f"angle={angle_cpp:.1f} deg (threshold=91)",
            )

            if validator_ok:
                baseline_quat = solved

    # Drag steps with small perturbation
    n_steps = 20
    accepted = 0
    rejected = 0
    first_reject = None

    for step in range(1, n_steps + 1):
        angle_rad = math.radians(step * 18.0)
        R = 10.0
        drag_pos = [R * math.cos(angle_rad), R * math.sin(angle_rad), 0.0]

        # Apply the drag rotation in the NEGATIVE hemisphere to match
        # how FreeCAD would track the mouse-projected placement
        z_rot = _axis_angle_quat((0, 0, 1), angle_rad)
        drag_quat = list(_qnorm(_qmul(z_rot, bar_quat_neg)))

        pr = kcsolve.SolveResult.PartResult()
        pr.id = "bar"
        pr.placement = kcsolve.Transform()
        pr.placement.position = drag_pos
        pr.placement.quaternion = drag_quat

        result = solver.drag_step([pr])

        for rpr in result.placements:
            if rpr.id == "bar":
                out_q = tuple(rpr.placement.quaternion)
                angle_cpp = _rotation_angle_cpp(baseline_quat, out_q)
                ok = angle_cpp <= 91.0
                if ok:
                    baseline_quat = out_q
                    accepted += 1
                else:
                    rejected += 1
                    if first_reject is None:
                        first_reject = step
                _report(
                    f"neg step {step:2d} ({step * 18:3d} deg)",
                    ok,
                    f"C++={angle_cpp:.1f} "
                    f"q=({out_q[0]:+.4f},{out_q[1]:+.4f},"
                    f"{out_q[2]:+.4f},{out_q[3]:+.4f})",
                )
                break

    solver.post_drag()
    print(f"\n  Summary: accepted={accepted}/{n_steps}, rejected={rejected}/{n_steps}")
    _report(
        "negated: all steps accepted",
        rejected == 0,
        f"{rejected} rejected"
        + (f", first at step {first_reject}" if first_reject else ""),
    )


# ── Test 4: Live assembly if available ───────────────────────────────


def test_live_assembly():
    """If a FreeCAD assembly is open, extract its actual geometry and run
    the drag simulation with real markers and placements."""
    print("\n--- Test 4: Live assembly introspection ---")
    try:
        import FreeCAD as App
    except ImportError:
        _report("live: FreeCAD available", False, "not running inside FreeCAD")
        return

    doc = App.ActiveDocument
    if doc is None:
        _report("live: document open", False, "no active document")
        return

    asm = None
    for obj in doc.Objects:
        if obj.TypeId == "Assembly::AssemblyObject":
            asm = obj
            break

    if asm is None:
        _report("live: assembly found", False, "no Assembly object in document")
        return

    _report("live: assembly found", True, f"'{asm.Name}'")

    # Introspect parts
    parts = []
    joints = []
    grounded = []
    for obj in asm.Group:
        if hasattr(obj, "TypeId"):
            if obj.TypeId == "Assembly::JointGroup":
                for jobj in obj.Group:
                    if hasattr(jobj, "Proxy"):
                        joints.append(jobj)
            elif hasattr(obj, "Placement"):
                parts.append(obj)

    for jobj in joints:
        proxy = getattr(jobj, "Proxy", None)
        if proxy and type(proxy).__name__ == "GroundedJoint":
            ref = getattr(jobj, "ObjectToGround", None)
            if ref:
                grounded.append(ref.Name)

    print(f"  Parts: {len(parts)}, Joints: {len(joints)}, Grounded: {grounded}")

    # Print each part's placement
    for p in parts:
        plc = p.Placement
        rot = plc.Rotation
        q = rot.Q  # FreeCAD (x, y, z, w)
        q_wxyz = (q[3], q[0], q[1], q[2])
        pos = plc.Base
        is_gnd = p.Name in grounded
        print(
            f"  {p.Label:40s} pos=({pos.x:.1f}, {pos.y:.1f}, {pos.z:.1f}) "
            f"q(wxyz)=({q_wxyz[0]:.4f}, {q_wxyz[1]:.4f}, "
            f"{q_wxyz[2]:.4f}, {q_wxyz[3]:.4f}) "
            f"{'[GROUNDED]' if is_gnd else ''}"
        )

    # Print joint details
    for jobj in joints:
        proxy = getattr(jobj, "Proxy", None)
        ptype = type(proxy).__name__ if proxy else "unknown"
        kind = getattr(jobj, "JointType", "?")
        print(f"  Joint: {jobj.Label} type={ptype} kind={kind}")

    # Check: does any non-grounded part have w < 0 in its current quaternion?
    # That alone would cause the validator to reject on the first solve.
    for p in parts:
        if p.Name in grounded:
            continue
        q = p.Placement.Rotation.Q  # (x, y, z, w)
        w = q[3]
        if w < 0:
            print(
                f"\n  ** {p.Label} has w={w:.4f} < 0 in current placement! **"
                f"\n     If the solver returns w>0, the C++ validator sees ~360 deg flip."
            )

    _report("live: assembly introspected", True)


# ── Test 5: Direct hemisphere flip reproduction ──────────────────────


def test_hemisphere_flip_direct():
    """Directly reproduce the hemisphere flip by feeding the solver
    a dragged placement where the quaternion is in the opposite
    hemisphere from what pre_drag returned.

    This simulates what happens when:
    1. FreeCAD stores Placement with q = (w<0, x, y, z) form
    2. Solver normalizes to w>0 during pre_drag
    3. Next drag_step gets mouse placement in the w<0 form
    4. Solver output may flip back to w<0
    """
    print("\n--- Test 5: Direct hemisphere flip ---")
    solver = kcsolve.load("kindred")

    # Use a quaternion representing 90-deg rotation about Z
    # In positive hemisphere: (cos45, 0, 0, sin45) = (0.707, 0, 0, 0.707)
    # In negative hemisphere: (-0.707, 0, 0, -0.707)
    q_pos = _axis_angle_quat((0, 0, 1), math.radians(90))
    q_neg = tuple(-c for c in q_pos)

    ident = (1.0, 0.0, 0.0, 0.0)

    # Build context with positive-hemisphere quaternion
    ctx = _build_ctx(
        ground_pos=(0, 0, 0),
        ground_quat=ident,
        bar_pos=(10, 0, 0),
        bar_quat=q_pos,
        cyl_marker_i_quat=ident,
        cyl_marker_j_quat=ident,
    )

    # C++ baseline saves q_pos
    baseline_quat = q_pos

    result = solver.pre_drag(ctx, ["bar"])
    _report("flip: pre_drag converged", result.status == kcsolve.SolveStatus.Success)

    for pr in result.placements:
        if pr.id == "bar":
            baseline_quat = tuple(pr.placement.quaternion)
            print(
                f"  pre_drag baseline: ({baseline_quat[0]:+.4f},"
                f"{baseline_quat[1]:+.4f},{baseline_quat[2]:+.4f},"
                f"{baseline_quat[3]:+.4f})"
            )

    # Now feed drag steps where we alternate hemispheres in the dragged
    # placement to see if the solver output flips
    test_drags = [
        ("same hemisphere", q_pos),
        ("opposite hemisphere", q_neg),
        ("back to same", q_pos),
        ("opposite again", q_neg),
        ("large rotation pos", _axis_angle_quat((0, 0, 1), math.radians(170))),
        (
            "large rotation neg",
            tuple(-c for c in _axis_angle_quat((0, 0, 1), math.radians(170))),
        ),
    ]

    for name, drag_q in test_drags:
        pr = kcsolve.SolveResult.PartResult()
        pr.id = "bar"
        pr.placement = kcsolve.Transform()
        pr.placement.position = [10.0, 0.0, 0.0]
        pr.placement.quaternion = list(drag_q)

        result = solver.drag_step([pr])

        for rpr in result.placements:
            if rpr.id == "bar":
                out_q = tuple(rpr.placement.quaternion)
                angle_cpp = _rotation_angle_cpp(baseline_quat, out_q)
                angle_abs = _rotation_angle_abs(baseline_quat, out_q)
                ok = angle_cpp <= 91.0

                _report(
                    f"flip: {name}",
                    ok,
                    f"C++={angle_cpp:.1f} |w|={angle_abs:.1f} "
                    f"in_w={drag_q[0]:+.4f} out_w={out_q[0]:+.4f}",
                )
                if ok:
                    baseline_quat = out_q
                break

    solver.post_drag()


# ── Run all ──────────────────────────────────────────────────────────


def run_all():
    print("\n" + "=" * 70)
    print("  Console Test: Planar + Cylindrical Drag (#338 / #339)")
    print("  Realistic geometry + C++ validator simulation")
    print("=" * 70)

    test_validator_function()
    test_drag_realistic()
    test_drag_negated_init()
    test_live_assembly()
    test_hemisphere_flip_direct()

    # Summary
    passed = sum(1 for _, p in _results if p)
    total = len(_results)
    print(f"\n{'=' * 70}")
    print(f"  {passed}/{total} passed")
    if passed < total:
        failed = [n for n, p in _results if not p]
        print(f"  FAILED ({len(failed)}):")
        for f in failed:
            print(f"    - {f}")
    print("=" * 70 + "\n")


run_all()