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Replaces the encoder's 11 expect()/unreachable!() calls on internal invariants with handling that can't panic: the rate-control state is passed in rather than re-borrowed, inter decisions without a reference frame fall back to intra, per-plane results are bound directly, and the writer's impossible branches become debug_asserts. Denies the panic lints in the crate. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>