research: tunnel reach study (L129, no-go; found a units mismatch in v225 bounds)

BuildPassageSpatialIndices adds the 4.335 m reach in core-voxel units, so the broadphase reaches ~1.08 m while
the sweep cutoff says 4 m. Physically-correct 2 m bounds are larger than v225's and 4.9-9.9% slower; captures at
all L125 poses pixel-identical. Patch kept.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1

Standalone/Research/WorldAssemblerM3/Linux129/RunL129MouthCaptures.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+"""Render matching baseline and L129 close views of each tunnel mouth."""
+from __future__ import annotations
+
+import hashlib
+import importlib.util
+import json
+import os
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[4]
+RESEARCH = Path(__file__).resolve().parent
+CAPTURES = RESEARCH / "captures/L129-mouth"
+SAVED = ROOT / "Saved/Linux/l129/captures/mouth-closeups"
+BASE_LAYOUT = ROOT / "Saved/Linux/l125/hashes/owner4-surface-world-w12-clang.layout.json"
+AFTER_LAYOUT = ROOT / "Saved/Linux/l129/hashes/owner4-surface-world-w12-clang.layout.json"
+HELPER_PATH = ROOT / "Standalone/Research/WorldAssemblerM3/Linux113/RunL113Captures.py"
+
+SPEC = importlib.util.spec_from_file_location("l113_capture_helpers", HELPER_PATH)
+if SPEC is None or SPEC.loader is None:
+    raise SystemExit("cannot load verified capture helpers")
+HELPERS = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(HELPERS)
+
+HELPERS.RESEARCH = RESEARCH
+HELPERS.CAPTURES = CAPTURES
+HELPERS.SAVED = SAVED
+HELPERS.BINARIES = {
+    "before": ROOT / "Saved/Linux/l125/bin/VoxelForgeCoreHeadless-l125-clang",
+    "after": ROOT / "Saved/Linux/l129/bin/VoxelForgeCoreHeadless-l129-clang",
+}
+HELPERS.RENDERERS = {
+    "before": ROOT / "Saved/Linux/l125/bin/VoxelForgeOffscreenCapture-l125-clang",
+    "after": ROOT / "Saved/Linux/l129/bin/VoxelForgeOffscreenCapture-l129-clang",
+}
+
+
+def main() -> int:
+    required = [BASE_LAYOUT, AFTER_LAYOUT, *HELPERS.BINARIES.values(),
+                *HELPERS.RENDERERS.values()]
+    if any(not path.is_file() for path in required):
+        raise SystemExit("missing baseline/candidate layout or capture binary")
+    before_layout = json.loads(BASE_LAYOUT.read_text(encoding="utf-8"))
+    after_layout = json.loads(AFTER_LAYOUT.read_text(encoding="utf-8"))
+    if before_layout["passages"] != after_layout["passages"]:
+        raise RuntimeError("baseline and candidate passage routes differ")
+
+    views = [view for view in HELPERS.make_views(before_layout, [],
+        use_derived_shape=True, use_spline=True, include_open_air=False)
+        if view["kind"] == "mouth"]
+    if len(views) != 2 * len(before_layout["passages"]):
+        raise RuntimeError("unexpected mouth camera count")
+
+    rows = []
+    CAPTURES.mkdir(parents=True, exist_ok=True)
+    SAVED.mkdir(parents=True, exist_ok=True)
+    for view in views:
+        for variant, layout in (("before", before_layout), ("after", after_layout)):
+            row = HELPERS.capture(variant, view, layout)
+            row["variant"] = "L125-v225" if variant == "before" else "L129-v226"
+            row["view"] = view["name"]
+            image = ROOT / "Standalone/Research/WorldAssemblerM3/Linux129" / row["capture"]
+            row["image_sha256"] = hashlib.sha256(image.read_bytes()).hexdigest()
+            rows.append(row)
+
+    index = CAPTURES / "capture-index.json"
+    index.write_text(json.dumps({"captures": rows}, indent=2) + "\n", encoding="utf-8")
+    old_rows = {row["view"]: row for row in rows if row["variant"] == "L125-v225"}
+    new_rows = {row["view"]: row for row in rows if row["variant"] == "L129-v226"}
+    html = ["<!doctype html><meta charset='utf-8'>",
+        "<title>L125 / L129 mouth close-ups</title>",
+        "<style>body{font:14px system-ui;margin:24px;background:#17191d;color:#eee}"
+        "section{margin:28px 0}div{display:grid;grid-template-columns:1fr 1fr;gap:12px}"
+        "img{width:100%;height:auto}p{color:#bbb}</style>",
+        "<h1>L125 v225 / L129 v226 tunnel mouths</h1>"]
+    for name in old_rows:
+        old, new = old_rows[name], new_rows[name]
+        old_path = os.path.relpath(RESEARCH / old["capture"], CAPTURES)
+        new_path = os.path.relpath(RESEARCH / new["capture"], CAPTURES)
+        equality = "pixel-identical" if old["image_sha256"] == new["image_sha256"] else "pixels differ"
+        html.extend(["<section>", f"<h2>{old['passage']} — {old['station']}</h2>",
+            f"<p>{equality}; {old['pixel_quality_status']} / {new['pixel_quality_status']}</p>",
+            "<div>", f"<figure><figcaption>L125 v225</figcaption><img src='{old_path}'></figure>",
+            f"<figure><figcaption>L129 v226</figcaption><img src='{new_path}'></figure>",
+            "</div>", "</section>"])
+    (CAPTURES / "COMPARE.html").write_text("\n".join(html) + "\n", encoding="utf-8")
+    print(f"[L129MouthCaptures] views={len(views)} paired={len(rows)//2} "
+          f"index={index.relative_to(ROOT)}", flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())