This repo is mostly AI-generated and built for fast visualization, not for code quality.

• q: quit
• 1-6: switch pages between 1 math overview, 2 fusion overview, 3 innovation lab, 4 H lab, 5 R lab, and 6 H(x) lab
• space: pause or resume animation on pages 1-5
• r: reset the current demo state on the current page
• mouse wheel: zoom around cursor
• left drag: pan, except while dragging an interactive widget
• middle drag: pan anywhere in the viewport
• h, j, k, l: fine pan nudges

• Fusion overview (2): p toggles the execution timeline, n steps forward, b steps backward, and u/o move through saved frames
• Innovation lab (3): drag the measurement handle with the left mouse button to override the generated sample; g restores the auto-generated measurement
• H lab (4): hover a matrix cell and use the mouse wheel to adjust it, left click to cycle common values, right click to zero it; p, v, and m load the position, velocity, and mixed presets
• R lab (5): drag the slider handles to change the covariance entries
• H(x) lab (6): same matrix editing controls as the H lab; p, v, and m load presets, space advances one debugger step, and shift+space toggles autoplay

• In the fusion overview, click a measurement matrix panel to open the matching H or R lab
• Click an innovation vector panel to open the innovation lab
• Click the predicted state marker to jump straight to the H(x) lab

• raylib
• a C compiler such as cc/clang
• optional: pkg-config so the Makefile can auto-detect Raylib flags; otherwise it falls back to RAYLIB_DIR

make
make run