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Collision.HasOverlap re-triangulates both polygons on every call; Qwen measured that as its dominant cost (over 400 s -> ~110 s on a 219-part job once cached). TriangulatedRegion (from Qwen's TriSet) triangulates a part once and takes translation as a parameter; it returns null when it cannot decide so callers fall back to Collision, which stays the reference. EdgeGridPolygon (from Qwen's FastPoly) certifies clearly disjoint shells and never reports Clear for an overlap. A seeded harness of 100,000 decisions (concave shapes, arcs, holes, touching contacts) finds 0 mismatches against Collision.HasOverlap. Co-Authored-By: Codex <noreply@openai.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>