Changelog

The canvas now runs as one monolithic ODE by default — every coupled Simulation compound and its glue is flattened and solved by a single solver (the Simulink mental model). Co-simulation (ZOH-coupled independent units under a master scheduler) becomes an explicit opt-in.

A feedback cycle with no state block is no longer rejected — it is torn and solved as $r(x)=g(x)-x=0$. Wiring cos's output back into its input solves $\cos (x)=x\to 0.739085$. A graph-agnostic nonlinear core (Newton / Broyden / fixed-point / Anderson / Brent / Bisection) drives both static dataflow and the ODE residual.

Drive a running live simulation with keyboard and mouse — press a key to fire a thruster, hold to open a valve, steer a setpoint with the mouse. The Input Event node retunes live through the zero-recompile parameter path, with a draggable on-screen HUD showing each binding's live value.

Canvas wiring is now a three-stage net pipeline: a single trunk per output net with perpendicular taps, lane-nudging for parallel runs of different signals, and junction dots derived from final geometry so they can never strand off a wire.

The ODE residual cache moved to a seed-free FxHash; explicit RK steppers reuse one stage buffer (bit-identical trajectories); saves are atomic with SHA-256 integrity; and Criterion benchmarks plus a CI workflow make "maximum speed" a measured, regression-guarded property.

A modular nav-rail shell (Home / Projects / Hardware / Learn) wired to real seams, with searchable, pinnable recent projects and drag-and-drop .cap opening.