passages: XY-smooth spline with planned height profile + open-air half-pipe (L112, v219)
Dense centripetal spline in XY, height piecewise-linear on the planner's certified profile, radius/floor depth blended; open air = floor slab + 1 m side walls, no roof; audits sample the generated centreline. All walk audits pass (grades <= 15 deg, headroom, shell, mouths, ripple); Clang/GCC W1/W8/W12 deterministic; fast tier PASS; Linux UE builds. Chevron rings gone. Open issues: jagged spikes along the half-pipe wall tops, visible step lines on the trough floor; near-ready +7..+10% vs L109 (candidate list p95 4 -> 22). Not merged. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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