[wpimath] Rewrite DARE solver (#5328)

I timed the DARE unit tests, and the new solver is 0 to 100% faster in
all cases (that is, it's at least as fast as Drake's and up to 2x faster
in some cases).

The new solver is also much simpler, takes less time to compile, and
drops the libwpimath.so size from 325 MB to 301 MB.

I think most of the compilation time is coming from the eigenvalue
decompositions used to enforce argument preconditions.

wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java

@@ -54,7 +54,7 @@ public final class WPIMathJNI {
    * @param inputs Number of inputs in B matrix.
    * @param S Array storage for DARE solution.
    */
-  public static native void discreteAlgebraicRiccatiEquation(
+  public static native void dare(
       double[] A, double[] B, double[] Q, double[] R, int states, int inputs, double[] S);
 
   /**