core: coarser smooth-route tolerance + shell support bound (L119, evaluator v224)

Chord error 2.5 -> 10 cm, shell work skipped outside the 0-0.75 m band. Sweep pairs -39%, prepare -60%,
near-ready 3-8% faster than L115 but still +13..+22% vs L109. Floor offset 7.88 mm; captures match L115
by eye; fast tier, walk audits, Clang/GCC W1/W8/W12 determinism green. Not for merge yet.

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

Standalone/Research/WorldAssemblerM3/Linux119/captures/COMPARE.html

@@ -0,0 +1,30 @@
+<!doctype html>
+<html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1">
+<title>L115 / L119 tunnel capture comparison</title>
+<style>body{font:16px system-ui,sans-serif;max-width:1400px;margin:2rem auto;padding:0 1rem;color:#202124}h1{margin-bottom:.25rem}article{border-top:1px solid #bbb;padding:1rem 0 1.5rem}.pair{display:grid;grid-template-columns:1fr 1fr;gap:1rem}figure{margin:0}figcaption{font-weight:650;margin:.25rem 0}img{width:100%;height:auto;display:block;background:#eee}p{margin:.25rem 0 .75rem;color:#555}@media(max-width:700px){.pair{grid-template-columns:1fr}}</style>
+<h1>L115 and L119 tunnel captures</h1>
+<p>The same 23 view names and camera poses are paired side by side. Select an image to open it full size.</p>
+<article><h2>passage/0-1/0 · rock-floor/401.7m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-1.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-1.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-rock-floor-station-1.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-rock-floor-station-1.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · rock-floor/792.8m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-2.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-2.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-rock-floor-station-2.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-rock-floor-station-2.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · rock-floor/1634.5m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-3.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-3.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-rock-floor-station-3.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-rock-floor-station-3.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · rock-floor/27.0m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-1.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-1.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-rock-floor-station-1.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-rock-floor-station-1.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · rock-floor/52.9m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-2.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-2.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-rock-floor-station-2.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-rock-floor-station-2.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · rock-floor/78.9m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-3.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-3.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-rock-floor-station-3.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-rock-floor-station-3.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · rock-floor/323.4m · rock-floor-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-1.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-1.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-rock-floor-station-1.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-rock-floor-station-1.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · rock-floor/333.4m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-2.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-2.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-rock-floor-station-2.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-rock-floor-station-2.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · rock-floor/343.4m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-3.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-3.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-rock-floor-station-3.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-rock-floor-station-3.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · section-1/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-1-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-1-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · section-1/4m-interior-wall · open-air-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · section-2/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-2-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-2-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · section-2/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · section-3/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-3-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-3-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/0-1/0 · section-3/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · section-1/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-1-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-1-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · section-1/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · section-2/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-2-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-2-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/1-2/0 · section-2/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · section-1/4m-outside · open-air-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-1-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-1-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · section-1/4m-interior-wall · open-air-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · section-2/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-2-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-2-4m-outside.png"></a></figure></div></article>
+<article><h2>passage/2-3/0 · section-2/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"></a></figure></div></article>
+</html>

Standalone/Research/WorldAssemblerM3/Linux119/captures/L119/INDEX.md

@@ -0,0 +1,27 @@
+# L119 captures (L115 view set)
+
+The 23 L115 camera poses were rendered with the L119 binary. Floor anchors require an upward normal alignment of at least 0.85, target-to-floor distance at most 0.25 m, and camera-to-floor distance between 2.0 and 3.2 m. Open-air sections have outside and interior wall close-ups at 4 m.
+
+- [passage/0-1/0 rock-floor/401.7m](L115/L115/passage-0-1-0-rock-floor-station-1.png) — rock-floor-close; 122294 triangles; pass
+- [passage/0-1/0 rock-floor/792.8m](L115/L115/passage-0-1-0-rock-floor-station-2.png) — rock-floor-close; 586092 triangles; pass
+- [passage/0-1/0 rock-floor/1634.5m](L115/L115/passage-0-1-0-rock-floor-station-3.png) — rock-floor-close; 137288 triangles; pass
+- [passage/1-2/0 rock-floor/27.0m](L115/L115/passage-1-2-0-rock-floor-station-1.png) — rock-floor-close; 652056 triangles; pass
+- [passage/1-2/0 rock-floor/52.9m](L115/L115/passage-1-2-0-rock-floor-station-2.png) — rock-floor-close; 636162 triangles; pass
+- [passage/1-2/0 rock-floor/78.9m](L115/L115/passage-1-2-0-rock-floor-station-3.png) — rock-floor-close; 580472 triangles; pass
+- [passage/2-3/0 rock-floor/323.4m](L115/L115/passage-2-3-0-rock-floor-station-1.png) — rock-floor-close; 474964 triangles; low_contrast_geometry_visible
+- [passage/2-3/0 rock-floor/333.4m](L115/L115/passage-2-3-0-rock-floor-station-2.png) — rock-floor-close; 494504 triangles; pass
+- [passage/2-3/0 rock-floor/343.4m](L115/L115/passage-2-3-0-rock-floor-station-3.png) — rock-floor-close; 485356 triangles; pass
+- [passage/0-1/0 section-1/4m-outside](L115/L115/passage-0-1-0-openair-1-4m-outside.png) — open-air-close; 275333 triangles; pass
+- [passage/0-1/0 section-1/4m-interior-wall](L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png) — open-air-close; 308012 triangles; low_contrast_geometry_visible
+- [passage/0-1/0 section-2/4m-outside](L115/L115/passage-0-1-0-openair-2-4m-outside.png) — open-air-close; 275333 triangles; pass
+- [passage/0-1/0 section-2/4m-interior-wall](L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png) — open-air-close; 345026 triangles; pass
+- [passage/0-1/0 section-3/4m-outside](L115/L115/passage-0-1-0-openair-3-4m-outside.png) — open-air-close; 149234 triangles; pass
+- [passage/0-1/0 section-3/4m-interior-wall](L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png) — open-air-close; 148100 triangles; pass
+- [passage/1-2/0 section-1/4m-outside](L115/L115/passage-1-2-0-openair-1-4m-outside.png) — open-air-close; 620814 triangles; pass
+- [passage/1-2/0 section-1/4m-interior-wall](L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png) — open-air-close; 609757 triangles; pass
+- [passage/1-2/0 section-2/4m-outside](L115/L115/passage-1-2-0-openair-2-4m-outside.png) — open-air-close; 584542 triangles; pass
+- [passage/1-2/0 section-2/4m-interior-wall](L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png) — open-air-close; 572258 triangles; pass
+- [passage/2-3/0 section-1/4m-outside](L115/L115/passage-2-3-0-openair-1-4m-outside.png) — open-air-close; 104612 triangles; low_contrast_geometry_visible
+- [passage/2-3/0 section-1/4m-interior-wall](L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png) — open-air-close; 94962 triangles; low_contrast_geometry_visible
+- [passage/2-3/0 section-2/4m-outside](L115/L115/passage-2-3-0-openair-2-4m-outside.png) — open-air-close; 475860 triangles; pass
+- [passage/2-3/0 section-2/4m-interior-wall](L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png) — open-air-close; 486480 triangles; pass