ConcealmentMeter: add per-collider AABB broadphase in the voxel loop

Cache each environment candidate's world AABB once per evaluation and gate
the expensive per-voxel tests (Collider.ClosestPoint, ContainsWorld, concave
raycast) behind a cheap bounds.Contains prefilter. Collapses the hot loop
from O(voxel x colliders) worth of ClosestPoint/raycast calls to O(voxel x
few) for dense collider clusters (VHACD hulls, furniture), removing the
framedrop when overlapping many colliders. Conservative AABB test never
drops a real hit, so EmbeddedPercent is identical, just cheaper.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Assets/Scripts/Components/Concealment/ConcealmentMeter.cs

@@ -88,6 +88,15 @@ public class ConcealmentMeter : MonoBehaviour
     private readonly List<MeshCollider> _concave = new List<MeshCollider>();
     private readonly List<ConcealmentVolume> _volumes = new List<ConcealmentVolume>();
 
+    // World AABBs parallel to _convex/_concave/_volumes, fetched ONCE per eval. The per-voxel hot loop
+    // rejects a candidate with a cheap Bounds.Contains before the expensive ClosestPoint / raycast /
+    // InverseTransformPoint. A point inside a collider is always inside its world AABB, so this is a
+    // conservative filter -> never a false negative, only fewer expensive tests. This is what keeps cost
+    // ~O(voxels) instead of O(voxels x colliders) when the body overlaps many colliders (e.g. VHACD hulls).
+    private readonly List<Bounds> _convexBounds = new List<Bounds>();
+    private readonly List<Bounds> _concaveBounds = new List<Bounds>();
+    private readonly List<Bounds> _volumeBounds = new List<Bounds>();
+
     private readonly List<Vector3> _gizPos = new List<Vector3>();
     private readonly List<bool> _gizEmbedded = new List<bool>();
     private float _gizVoxelWorld;
@@ -273,6 +282,9 @@ public class ConcealmentMeter : MonoBehaviour
         _terrains.Clear();
         _concave.Clear();
         _volumes.Clear();
+        _convexBounds.Clear();
+        _concaveBounds.Clear();
+        _volumeBounds.Clear();
 
         // Baked concealment volumes are authoritative for the (open-shell) furniture they cover;
         // gathered from the registry independent of colliders so they need no specific collider type.
@@ -282,7 +294,8 @@ public class ConcealmentMeter : MonoBehaviour
             ConcealmentVolume v = vols[i];
             if (!v || !v.HasBake) continue;
             if (characterRoot && (v.transform == characterRoot || v.transform.IsChildOf(characterRoot))) continue;
-            if (v.WorldBounds.Intersects(wb)) _volumes.Add(v);
+            Bounds vb = v.WorldBounds; // getter recomputes a matrix transform -> take it once, reuse as the hot-loop filter
+            if (vb.Intersects(wb)) { _volumes.Add(v); _volumeBounds.Add(vb); }
         }
 
         int n = Physics.OverlapBoxNonAlloc(wb.center, wb.extents, _overlap, Quaternion.identity,
@@ -311,11 +324,15 @@ public class ConcealmentMeter : MonoBehaviour
                 // A baked ConcealmentVolume or ConcealmentColliderBaker supersedes raycast parity for this object.
                 if (includeConcaveMeshColliders && !mc.GetComponentInParent<ConcealmentVolume>()
                     && !mc.GetComponentInParent<ConcealmentColliderBaker>())
+                {
                     _concave.Add(mc);
+                    _concaveBounds.Add(mc.bounds);
+                }
                 continue; // concave can't use ClosestPoint
             }
 
             _convex.Add(col); // Box / Sphere / Capsule / convex MeshCollider
+            _convexBounds.Add(col.bounds);
         }
     }
 
@@ -323,12 +340,16 @@ public class ConcealmentMeter : MonoBehaviour
     {
         for (int i = 0; i < _volumes.Count; i++)
         {
-            if (_volumes[i].ContainsWorld(p)) return true;
+            // AABB reject first: skips the ContainsWorld InverseTransformPoint matrix mult for far voxels.
+            if (_volumeBounds[i].Contains(p) && _volumes[i].ContainsWorld(p)) return true;
         }
 
         for (int i = 0; i < _convex.Count; i++)
         {
-            if ((_convex[i].ClosestPoint(p) - p).sqrMagnitude <= InsideEpsSqr) return true;
+            // AABB reject first: ClosestPoint (esp. on convex MeshColliders / VHACD hulls) is the dominant
+            // per-voxel cost; a point outside the collider's world AABB cannot be inside it.
+            if (_convexBounds[i].Contains(p) &&
+                (_convex[i].ClosestPoint(p) - p).sqrMagnitude <= InsideEpsSqr) return true;
         }
 
         if (includeTerrain)
@@ -348,7 +369,8 @@ public class ConcealmentMeter : MonoBehaviour
         {
             for (int i = 0; i < _concave.Count; i++)
             {
-                if (InsideConcave(_concave[i], p)) return true;
+                // AABB reject first: InsideConcave fires a raycast loop up to 1000 units per voxel -> gate hard.
+                if (_concaveBounds[i].Contains(p) && InsideConcave(_concave[i], p)) return true;
             }
         }