Add assumption-based unsat cores. (#6427)

Add assumption-based unsat cores. (#6427)

This PR adds an assumption-based unsat cores option. If enabled it will
disable proof logging in the SAT solver and adds input assertions as
assumptions to the SAT solver. When an unsat core is requested we
extract the unsat core in terms of the unsat assumption in the SAT
solver. Assumption-based unsat cores use the proof infrastructure to map
the input assumptions back to the original assertions.