Matterwave said:
Obviously changing from a compact manifold to a non-compact one seems like the manifold must "tear" or something, so it seems to be a good assumption that the universe can't switch between the 3 cases, but what is the actual mathematical or physical argument for why?
Yes, this can be looked at from a topological point of view.
Topologically, k = -1 and k = 0 FLRW universes both have spatial sections that are (homeomorphic to) ##\mathbb{R}^3##, so, topologically, these spacetimes are both ##\mathbb{R}^4##, while k = 1 FLRW universes have spatial sections that are ##\mathbb{S}^3##, so, topologically, these k = 1 spacetimes are ##\mathbb{R} \times \mathbb{S}^3##.
There are theorems that show spacetimes that have topology change also have singularities, possible naked; see Visser's advanced book on wormholes.
These theorems don't apply to k = -1 and k = 0 universe, however, since they have the same topology. For a k = -1 universe, pick a particular spatial section, and discard everything to the future of this section. For a k = 0 universe, pick a particular spatial section, and discard everything to the past of this section. Join the universes along these spatial hypersurfaces using the hypersurface junction formalism; see Poisson's book.
I haven't done this, but I am sure that you find at the joining hypersurface that, mathematically, the spacetime curavture is singular, and that, physically, the stress-energy tensor is singular. To join these spacetimes, a (hyper)surface layer of stress-energy is needed analogous to a surface layer of charge in electromagnetism.