passages: continuous floor h(s) along the dense route; shell-probe oracle fix (L115, v223)
Floor height from the planner profile h(s) by horizontal projection + arc-length interpolation; adjacent fine segments share endpoint values. Floor zero-crossing offsets max 7.8 mm (L114: up to 73 mm); rock-floor close-ups show no ribs. The 2 L114 shell misses were oracle false positives (points inside an overlapping bore); the oracle now checks every overlapping span; no gate relaxed. Fast tier PASS; Clang/GCC W1/W8/W12 deterministic. Speed regression grows: near-ready +17..+31% vs L109 (fine-segment/sample pairs 49.0M vs 19.8M). Not merged. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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