Code Optimizations and Reverse AD support

[jmurphy6895]

• Added compile_rotation, compile_translation, and compile_direction — an opt-in API that extracts raw closures from the internal FunctionWrapper layer, producing zero-overhead, AD-transparent callables for use in hot loops (e.g., ODE right-hand sides).

• Added ChainRulesCore and Mooncake package extensions that define rrule pullbacks for all 12 public transformation functions (vector3/6/9/12, rotation3/6/9/12, direction3/6/9/12), enabling reverse-mode AD through Zygote and Mooncake.

• Cached graph path lookups inside FrameSystem so that repeated transformation calls no longer re-traverse the graph on every evaluation. The cache is lazily rebuilt after topology changes.

• Fixed root-node self-edge bug (!isnothing(parentid) → parentid != id), fix Direction{O} → Translation{O} in direction construction, and relax Vararg{<:Number} → Vararg{Number} in Translation constructors.

• New ad_rules.jl tests: Zygote and Mooncake gradients match ForwardDiff/FiniteDiff

• New compiled.jl tests: compiled callables match FrameSystem outputs across identity, multi-hop, reverse, cross-axes, and order-selection cases; ForwardDiff differentiates through compiled callables