Replace Jacobi 3x3 eigensolver with closed form Cardano solution#758
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The iterative Jacobi solver (5 sweeps x 3 rotations) used Python level loops, each issuing small CUDA kernels whose launch overhead dominated wall time. Replace with Cardano's formula for eigenvalues and projector products for eigenvectors, reducing pseudo_inertia overhead from 232 ms to 97 ms per collection (4096 envs x 12 bodies, 24 calls, RTX 5070 Ti). Fixes #757
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The iterative Jacobi eigensolver in
dr.pseudo_inertiaused Python level loops (5 sweeps x 3 rotations), each issuing small CUDA kernels whose launch overhead dominated wall time. This replaces it with Cardano's formula for eigenvalues and projector products for eigenvectors, eliminating all loops.Benchmark (RTX 5070 Ti, 4096 envs x 12 bodies, 24 calls per collection):
Fixes #757