Optimize func_solve_init#25
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Use direct lower-triangle indexing for Hessian computation
Eliminates redundant upper-triangle calculations in diagonal tiles
Reduces computation overhead in func_hessian_direct_tiled
Add parallel initialization strategy for constraint Jacobian
Parallelize over (constraints × envs) when GPU is under-saturated (n_envs < GPU cores)
Auto-detects AMD/NVIDIA hardware and adjusts parallelization accordingly
Implements _initialize_Jaref_parallel() for better GPU utilization