[0.5.0] - 2022-10-31

• Add smoothed particle hydrodynamics (SPH) example, see example_sph.py
• Add support for accessing array.shape inside kernels, e.g.: width = arr.shape[0]
• Add dependency tracking to hot-reload modules if dependencies were modified
• Add lazy acquisition of CUDA kernel contexts (save ~300Mb of GPU memory in MGPU environments)
• Add BVH object, see wp.Bvh and bvh_query_ray(), bvh_query_aabb() functions
• Add component index operations for spatial_vector, spatial_matrix types
• Add wp.lerp() and wp.smoothstep() builtins
• Add wp.optim module with implementation of the Adam optimizer for float and vector types
• Add support for transient Python modules (fix for Houdini integration)
• Add wp.length_sq(), wp.trace() for vector / matrix types respectively
• Add missing adjoints for wp.quat_rpy(), wp.determinant()
• Add wp.atomic_min(), wp.atomic_max() operators
• Add vectorized version of warp.sim.model.add_cloth_mesh()
• Add NVDB volume allocation API, see wp.Volume.allocate(), and wp.Volume.allocate_by_tiles()
• Add NVDB volume write methods, see wp.volume_store_i(), wp.volume_store_f(), wp.volume_store_v()
• Add MGPU documentation
• Add example showing how to compute Jacobian of multiple environements in parallel, see example_jacobian_ik.py
• Add wp.Tape.zero() support for wp.struct types
• Make SampleBrowser an optional dependency for Kit extension
• Make wp.Mesh object accept both 1d and 2d arrays of face vertex indices
• Fix for reloading of class member kernel / function definitions using importlib.reload()
• Fix for hashing of wp.constants() not invalidating kernels
• Fix for reload when multiple .ptx versions are present
• Improved error reporting during code-gen