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[Lang] Support sparse matrix on GPU
Related issue = #2906 Related PR = https://github.com/taichi-dev/taichi/pull/4904
The sparse matrix on GPU is based on the cuSparse library.
In this pr, the user can only build the sparse matrix with CSR format. And the input of the sparse matrix builder is ti.ndarray.
To check the useability, Spmv operation is implemented. More arithmetic operations like (+, -, *) need to be added in the future.
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