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

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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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Fr0zkaandClaude Opus 5.5 committed 2026-10-30 23:09:27 +01:00
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Standalone/Research/WorldAssemblerM3/Linux129/captures/L129-mouth/COMPARE.html
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<!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>
<section>
<h2>passage/0-1/0 — upper-mouth</h2>
<p>pixel-identical; pass / pass</p>
<div>
<figure><figcaption>L125 v225</figcaption><img src='before/passage-0-1-0-upper-mouth.png'></figure>
<figure><figcaption>L129 v226</figcaption><img src='after/passage-0-1-0-upper-mouth.png'></figure>
</div>
</section>
<section>
<h2>passage/0-1/0 — lower-mouth</h2>
<p>pixel-identical; pass / pass</p>
<div>
<figure><figcaption>L125 v225</figcaption><img src='before/passage-0-1-0-lower-mouth.png'></figure>
<figure><figcaption>L129 v226</figcaption><img src='after/passage-0-1-0-lower-mouth.png'></figure>
</div>
</section>
<section>
<h2>passage/1-2/0 — upper-mouth</h2>
<p>pixel-identical; pass / pass</p>
<div>
<figure><figcaption>L125 v225</figcaption><img src='before/passage-1-2-0-upper-mouth.png'></figure>
<figure><figcaption>L129 v226</figcaption><img src='after/passage-1-2-0-upper-mouth.png'></figure>
</div>
</section>
<section>
<h2>passage/1-2/0 — lower-mouth</h2>
<p>pixel-identical; pass / pass</p>
<div>
<figure><figcaption>L125 v225</figcaption><img src='before/passage-1-2-0-lower-mouth.png'></figure>
<figure><figcaption>L129 v226</figcaption><img src='after/passage-1-2-0-lower-mouth.png'></figure>
</div>
</section>
<section>
<h2>passage/2-3/0 — upper-mouth</h2>
<p>pixel-identical; pass / pass</p>
<div>
<figure><figcaption>L125 v225</figcaption><img src='before/passage-2-3-0-upper-mouth.png'></figure>
<figure><figcaption>L129 v226</figcaption><img src='after/passage-2-3-0-upper-mouth.png'></figure>
</div>
</section>
<section>
<h2>passage/2-3/0 — lower-mouth</h2>
<p>pixel-identical; low_contrast_geometry_visible / low_contrast_geometry_visible</p>
<div>
<figure><figcaption>L125 v225</figcaption><img src='before/passage-2-3-0-lower-mouth.png'></figure>
<figure><figcaption>L129 v226</figcaption><img src='after/passage-2-3-0-lower-mouth.png'></figure>
</div>
</section>