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- Precompute triangle normals in buildCollisionGrid, eliminating per-query cross+normalize in getFloorHeight, checkWallCollision, and raycastBoundingBoxes - Fix floor selection: remove redundant allowAbove (callers already elevate probeZ by stepUpBudget), preventing upper-story snap at doorway transitions - Align wall classification threshold (absNz < 0.35) with runtime skip check, eliminating ~30% wasted wall triangle fetches - Replace O(n log n) sort+unique dedup in range queries with O(n) visited bitset - Rename wallTriScratch to triScratch_, fix stale threshold comments |
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