Surely the galloping pulse of “Don Quixote” on Thursday night was helped along by all the spectator hearts beating in time with the music. For it was an audience of captives that watched this satisfying production by the Ballet Nacional de Cuba at the Kennedy Center Opera House, an audience helplessly in thrall to that timeworn Ludwig Minkus score revitalized by dancing that made you fall in love with ballet all over again. “Don Quixote” is a fiesta for firebrands, and the Cubans did not disappoint.