* feat: implement timestep bound estimator

* feat: update to the latest slang-hal version

* feat: make the abstract gpu model interface more flexible

* feat(testbed): add gravity and up-axis customization

* feat: add hook state support + trimesh point projection

* wip validation tests

checkpoint

feat: add validation test and comparison generation & visualization

* feat: add proper per-collider boundary condition

* feat: fix dam_break scenario

* fix 2D examples compilation

* feat: address CPIC limitation on non-stick boundary conditions

* Release v0.3.0