update proof formats for new core

- update proof format for quantifier instantiation to track original literals
- update proof replay tools with ability to extract proof object

The formats and features are subject to heavy revisions.

Example
```
(set-option :sat.euf true)
(set-option :sat.smt.proof eufproof.smt2)
(declare-fun f (Int) Int)
(declare-const x Int)
(assert (or (= (f (f (f x))) x) (= (f (f x)) x)))
(assert (not (= (f (f (f (f (f (f x)))))) x)))
(check-sat)
```

eufproof.smt2 is:
```
(declare-fun x () Int)
(declare-fun f (Int) Int)
(define-const $24 Int (f x))
(define-const $25 Int (f $24))
(define-const $26 Int (f $25))
(define-const $27 Bool (= $26 x))
(define-const $28 Bool (= $25 x))
(assume $27 $28)
(define-const $30 Int (f $26))
(define-const $31 Int (f $30))
(define-const $32 Int (f $31))
(define-const $33 Bool (= $32 x))
(assume (not $33))
(declare-fun rup () Proof)
(infer (not $33) rup)
(declare-fun euf (Bool Bool Proof Proof Proof Proof) Proof)
(declare-fun cc (Bool) Proof)
(define-const $42 Bool (= $32 $30))
(define-const $43 Proof (cc $42))
(define-const $40 Bool (= $31 $24))
(define-const $41 Proof (cc $40))
(define-const $38 Bool (= $30 $25))
(define-const $39 Proof (cc $38))
(define-const $36 Bool (= $24 $26))
(define-const $37 Proof (cc $36))
(define-const $34 Bool (not $33))
(define-const $44 Proof (euf $34 $28 $37 $39 $41 $43))
(infer (not $28) $33 $44)
(infer (not $28) rup)
(infer $27 rup)
(declare-fun euf (Bool Bool Proof Proof Proof) Proof)
(define-const $49 Bool (= $32 $26))
(define-const $50 Proof (cc $49))
(define-const $47 Bool (= $31 $25))
(define-const $48 Proof (cc $47))
(define-const $45 Bool (= $24 $30))
(define-const $46 Proof (cc $45))
(define-const $51 Proof (euf $34 $27 $46 $48 $50))
(infer $33 $51)
(infer rup)
```

Example of inspecting proof from Python:

```
from z3 import *

def parse(file):
    s = Solver()
    set_option("solver.proof.save", True)
    set_option("solver.proof.check", False)
    s.from_file(file)
    for step in s.proof().children():
        print(step)

parse("../eufproof.smt2")
```

Proof checking (self-validation) is on by default.
Proof saving is off by default.

You can use the proof logs and the proof terms to retrieve quantifier instantiations from the new core.

The self-checker contains a few built-in tuned checkers but falls back to self-checking inferred clauses using SMT.

src/sat/sat_solver/inc_sat_solver.cpp

@@ -48,7 +48,6 @@ Notes:
 
 // incremental SAT solver.
 class inc_sat_solver : public solver {
-    ast_manager&    m;
     mutable sat::solver     m_solver;
     stacked_value<bool> m_has_uninterpreted;
     goal2sat        m_goal2sat;
@@ -87,7 +86,7 @@ class inc_sat_solver : public solver {
     bool is_internalized() const { return m_fmls_head == m_fmls.size(); }
 public:
     inc_sat_solver(ast_manager& m, params_ref const& p, bool incremental_mode):
-        m(m), 
+        solver(m),
         m_solver(p, m.limit()),
         m_has_uninterpreted(false),
         m_fmls(m),
@@ -405,7 +404,7 @@ public:
         return result;
     }
 
-    proof * get_proof() override {
+    proof * get_proof_core() override {
         return nullptr;
     }