feat(acvm)!: switch to accepting public inputs as a map

[TomAFrench]

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Description

Summary of changes

verify_from_cs and verify_with_vk now accept a BTreeMap<Witness, FieldElement>. This is used in combination with the explicit ABI->Witness map in noir-lang/noir#851 to handle multiple ABI fields (params + return value) being mapped to the same witness index semantically.

I've reverted the change to verify_from_cs as we should leave it unchanged until we remove it.

Dependency additions / changes

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Test additions / changes

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Checklist

• I have tested the changes locally.
• I have formatted the changes with Prettier and/or cargo fmt with default settings.
• I have linked this PR to the issue(s) that it resolves.
• I have reviewed the changes on GitHub, line by line.
• I have ensured all changes are covered in the description.

Additional context

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[TomAFrench]

Approved by @kevaundray in person (also a reminder to set up branch protection!)