LONG article, with source code and graphics references.
Disclosure: Yes, I did use AI tools to help me write this, especially to author the diagrams and to explain some things and find references that frankly, it did a better job than I could on. The content is mine and human, just like the original algorithms. This article is the product of several weeks of research, digging and writing work on and off, so it's not a one-shot "slop" product.