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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commit 0d1140c117

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