Split ProcessAssertions module from SmtEngine (#4210)

Split ProcessAssertions module from SmtEngine (#4210)

This is a step towards refactoring the SmtEngine. It splits several core components of SmtEnginePrivate to its own independent module, ProcessAssertions which is responsible for applying preprocessing passes , simplification and expand definitions.

The main change involved moving these functions from SmtEnginePrivate to this new class. A few other minor changes were done to make this move:

A few things changed order within processAssertions to allow SmtEnginePrivate-specific things to happen outside of the main scope of processAssertions.
processAssertions had some logic to catch incompatible options and silently disable options. This was moved to setDefaults.
A few data members in SmtEngine were moved to ProcessAssertions.
Two utilities that were sitting in smt_engine.cpp were moved to their own files.
Another refactoring step will be to make ProcessAssertions take only the utilities it needs instead of taking a SmtEngine reference. This requires further detangling of Options.