feat: allow custom hash function in backends

[ivokub]

Description

This PR implements:

• changing the hash function for field-to-hash (used for mapping the commitment to witness in Groth16/PLONK)
• changing the hash function for Fiat-Shamir challenge computation (in PLONK)
• changing the hash function for KZG folding challenge computation (in PLONK)

For this, I added verifier and prover options for setting the hash functions. Additionally, I also added a way to modify verifier configuration using the assertion framework.

When the prover or verifier configuration is not modified then we are using exactly the same hash functions as before, so the proofs should be backwards compatible and most importantly, compatible with the Solidity verifer.

NB! Before merging we should get Consensys/gnark-crypto#464 merged and update the dependencies. Right now in go.mod I'm using the commit from the PR, but it would be better to use a commit from the master branch to avoid conflicts.

Related #847

Type of change

• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

How has this been tested?

• Added PLONK and Groth16 tests for all combinations of custom hash functions
• Checking compatibility of the field-to-hash in feat: wrap existing hash-to-field for implementing hash.Hash interface gnark-crypto#464

How has this been benchmarked?

Not benchmarked.

Checklist:

• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• I have added tests that prove my fix is effective or that my feature works
• I did not modify files generated from templates
• golangci-lint does not output errors locally
• New and existing unit tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[github-actions]

📦 github.com/consensys/gnark/std/gkr
❌ TestMiMCFullDepthNoDepSolve 0s

panic: runtime error: invalid memory address or nil pointer dereference
[signal SIGSEGV: segmentation violation code=0x1 addr=0x0 pc=0xb7588a]

goroutine 158597 [running]:
github.com/consensys/gnark-crypto/ecc/bn254/fr/iop.(*Polynomial).ToCanonical(0x0, 0xc000250c00?, {0xc00048b760?, 0xc0?, 0xfc2d00?})
	/home/runner/go/pkg/mod/github.com/consensys/gnark-crypto@v0.12.2-0.20231018181318-cdaa6aaee7a9/ecc/bn254/fr/iop/polynomial.go:338 +0x2a
github.com/consensys/gnark/backend/plonk/bn254.(*instance).computeNumerator.func6(0x0)
	/home/runner/work/gnark/gnark/backend/plonk/bn254/prove.go:1005 +0xc5
github.com/consensys/gnark/backend/plonk/bn254.batchApply.func1(0xc000014740?)
	/home/runner/work/gnark/gnark/backend/plonk/bn254/prove.go:1101 +0x31
created by github.com/consensys/gnark/backend/plonk/bn254.batchApply in goroutine 157232
	/home/runner/work/gnark/gnark/backend/plonk/bn254/prove.go:1100 +0x12b

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