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
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