* Implement Nova IVC's new & prove_step methods
Implement Nova IVC's new & prove_step methods (without CycleFold part yet)
* transcript.absorb_point err handling, and update C.xy() usage
* add transcript usage to IVC prove, add NovaTranscript trait extending Transcript trait, refactor NIFS.P to allow absorbing in transcript inbetween
* Implement Nova's IVC.V method (without CycleFold part yet)
* clippy lints
* move challenge r computation in-circuit
* reuse computed points with coordinates over CF (non-native) to save constraints in AugmentedFCircuit
(constraint count went down ~6k)
* rm 128 bit constant
* add params to Errors
* Updates from review suggestions. Additionally refactored nova/nifs fold, and rm transcript from nova/IVC.
- Updates from PR suggestions
- Additionally updated:
- in nova/nifs.rs: reuse folded_committed_instance for verify_folded_instance, computationally is the same, but reusing the same code so avoiding duplication and having an error on one of the two versions.
- in nova/ivc.rs: remove transcript from IVC (not needed, it uses the RO)
* Implement Nova's NIFS.Verify circuits (with CycleFold)
- Add circuit for NIFS.Verify on the main curve to check the folded `u`
& `x`
- Add circuit for NIFS.Verify on the CycleFold's auxiliary curve to
check the folded `cm(E)` & `cm(W)`
- Add transcript.get_challenge_nbits
- Add tests for utils::vec.rs
* replace bls12-377 & bw6-761 by pallas & vesta curves (only affects tests)
We will use pallas & vesta curves (for tests only, the non-tests code
uses generics) for the logic that does not require pairings, and while
Grumpkin is not available
(https://github.com/privacy-scaling-explorations/folding-schemes/issues/12).
* update links to papers to markdown style
