Optimization: Tiles version of efc_contact kernels

[Kenny-Vilella]

List of change:

• Unified efc_contact_elliptic and efc_contact_pyramidal into a single pipeline of 3 kernels.
• Init kernel to setup the contact <-> constraint interop
• Jac kernel to calculate the Jacobian, the heavy work
• Update kernel to update the efc row
• Removed the while loop in the jac calculation and instead precalculate this

In total one more kernel and 1 more model property and 2 more data properties.

Will add perf number and some more description later on.

[Kenny-Vilella]

Some perf number from my RTX 4080, median of 5 runs:

Environment	Step time (main)	Step time (this PR)	Δ %
aloha_cloth	2296.62	2179.47	-5.0
aloha_pot	0.60	0.60	~
aloha_sdf	4.21	4.21	~
apptronik_apollo_flat	0.47	0.47	~
apptronik_apollo_hfield	0.82	0.82	~
apptronik_apollo_terrain	1.81	1.83	1.0
cloth	516.82	539.72	-2.0
franka_emika_panda	0.07	0.07	~
humanoid	0.38	0.36	-4.3
three_humanoids	3.40	3.32	-2.3

[Kenny-Vilella]

@thowell I saw that you have recently changed the make_constraint function to prepare for sparse Jacobian.

This PR tries to optimize the two efc_contact kernels, basically decreases by 50% the time of the efc_contact kernels.

I wonder what are the critical functionalities that I should maintain for the sparse Jacobian?
Or should I just put this on pause until the change for the sparse Jacobian are all in?

[thowell]

@Kenny-Vilella with the sparse constraint jacobian implemented now, do we intend to revist these optimizations?

[Kenny-Vilella]

@thowell Yes it will be revisited.
I have two other small optimizations first, and then will move to try that.
But if you have some idea please go ahead.

[Kenny-Vilella]

@thowell Closing this PR for now.
I have something in preparation but the sparse perf is not yet where it should be: currently about 25% perf improvement for the make_constraint on the three humanoids, but let's aim higher.

On the dense case, 40% perf improvement for the make_constraint on the humanoid.