v8.21.0

ModelingToolkit v8.21.0

Diff since v8.20.0

Closed issues:

• OptimizationSystem ignores constraint (#1134)
• Equality and inequality constraints are silently ignored (#1579)
• ODESystem Metadata (#1744)
• selectively disabling unit validation on specific equations is awkward (#1763)
• Automated sparse Jacobian webpage = hard to navigate (#1772)
• don't override Symbolics.jl sharding heuristics (#1782)
• Constraints in nested systems are ignored (#1785)

Merged pull requests:

• Refactor to pull graph manipulation out of pantelides (#1766) (@Keno)
• [Awaiting Review] Add metadata field to systems (#1768) (@xtalax)
• Fix accidental aliasing between mm and structure.graph (#1769) (@Keno)
• Enable MathJax to fix the Latex prints (#1774) (@ChrisRackauckas)
• Don't show the monster sparse jacobian (#1775) (@ChrisRackauckas)
• Minor refactor: Be consistent about alias_eliminate_graph! return type (#1776) (@Keno)
• Update Validation.md (#1778) (@lamorton)
• set default parallel kwarg to nothing instead of SerialForm (#1783) (@wsphillips)
• Improves OptimizationSystem (#1787) (@ValentinKaisermayer)
• allow bit flagging for system checks (#1789) (@wsphillips)
• doc cov (#1790) (@ArnoStrouwen)
• [skip ci] badges (#1791) (@ArnoStrouwen)
• More robust README example (#1793) (@ChrisRackauckas)
• Update plot and format README (#1795) (@YingboMa)
• MassInstallAction: Install the Invalidations workflow on this repository (#1796) (@devmotion)