The forward bounding-box gap check (gap < 0) incorrectly skipped obstacles
for irregular shapes like SULLYS-003 whose narrow handle extends past an
adjacent part's BB edge while the wide body still needs contact detection.
Replaced with a reverse-direction gap check that only skips obstacles the
moving part has entirely cleared. Also fixed edge distance check to prevent
overshooting the work area boundary when already at the limit.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
AJ Isaacs
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