passages: continuous floor h(s) along the dense route; shell-probe oracle fix (L115, v223)

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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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Fr0zkaandClaude Opus 5.5 committed 2026-10-30 01:48:29 +01:00

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