feat: commitment proofs

[AaronFeickert]

Description

Adds commitment proofs, which prove knowledge of the opening of a commitment with an optional minimum value assertion.

Closes #6282. Supersedes #6348.

Motivation and Context

This PR adds commitment proofs. These proofs show that the prover knows the opening of a given commitment, optionally shows that the commitment binds to at least a specified minimum value, and bind to an arbitrary message to mitigate replay attacks.

Notably, they do not necessarily assert spend authority.

How Has This Been Tested?

This needs to be tested manually.

What process can a PR reviewer use to test or verify this change?

Test proof verification succeeds against valid values. Test proof verification fails against different commitments, minimum values, and messages.