Synchronize with ark-algebra

[weikengchen]

Description

I am trying to resolve some of the circular dependencies challenges, and this is one of the steps.

We fix the non-R1CS part first. Then, after r1cs-std and its long line of dependencies are stable, we do the R1CS part.

Closes #80

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Before we can merge this PR, please make sure that all the following items have been checked off. If any of the checklist items are not applicable, please leave them but write a little note why.

• [x] Targeted PR against correct branch (main)
• [x] Linked to Github issue with discussion and accepted design OR have an explanation in the PR that describes this work.
• [x] Re-reviewed Files changed in the Github PR explorer

N/A:

• [ ] Wrote unit tests
• [ ] Updated relevant documentation in the code
• [ ] Added a relevant changelog entry to the Pending section in CHANGELOG.md

[weikengchen]

:) just realized that merge requires all the tests to pass -> let us wait for a few PRs to be stable before moving forward, otherwise our patches.io will need to resort to small branches.

[weikengchen]

This PR now contains all changes needed for the PR to pass, though it relies on a few branches of pending PRs in other repos.