[WIP] Add FATROP solver support to Moco

[nickbianco]

Fixes issue #3787

Brief summary of changes

Testing I've completed

• [perf-win]

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Performance analysis

Platform: Windows, self-hosted runner

Test Name	lhs [secs]	stderr [secs]	rhs [secs]	stderr [secs]	Speedup
Arm26	0.34	0.00	0.33	0.00	1.01
ellipsoid_wrap	4.07	0.00	4.08	0.00	1.00
ellipsoid_wrap_function_based_paths	3.40	0.01	3.42	0.00	1.00
Gait2354	0.40	0.00	0.42	0.00	0.97
MocoSlidingMass	1.40	0.00	2.86	0.00	0.49
MocoSquatToStand	13.22	0.03	55.87	0.70	0.24
passive_dynamic	5.52	0.01	5.45	0.00	1.01
passive_dynamic_noanalysis	3.35	0.00	3.34	0.00	1.00
RajagopalModel	7.89	0.02	7.85	0.00	1.00
ToyDropLanding	12.33	0.01	12.39	0.01	1.00
ToyDropLanding_fbp_stepwisereg	11.02	0.00	11.19	0.01	0.98
ToyDropLanding_function_based_paths	11.24	0.03	11.28	0.02	1.00
ToyDropLanding_nomuscles	0.55	0.00	0.58	0.00	0.95

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