[Optimisation] Improve proof compaction, serialisation and portability

[h5law]

Objective

Improve the serializaiblity & portability of the 3 proof types.

Goals

• Decrease the size of the compacted proofs
• Understand the impact of these changes on proof sizes in regular and compacted forms (i.e. benchmarks)
• Create optionality to use compacted or non-compacted proofs for different use cases

Deliverables

• Determine whether we need to introduce protobufs (or other encoding schemes) or improve the custom compression.
• A benchmark suit of tests on regular and compressed proof sizes
  • As objects
  • As serialised byte slices
• Improved compact forms of the proof types
  • Improved serialisation & portability of proofs
• Improve documentation on proofs, how they work, and the additions made from this ticket

Non-goals / Non-deliverables

• Change how proofs are generated, validated, or used
• Make proofs insecure by way of unnecessary changes to their structure

General deliverables

• Comments: Add/update TODOs and comments alongside the source code so it is easier to follow.
• Testing: Add new tests (unit/fuzz/benchmarks) to the test suite.
• Makefile: Add new targets to the Makefile to make the new functionality easier to use.
• Documentation: Update architectural or development READMEs; use mermaid diagrams where appropriate.

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Creator: @h5law
Co-owner: @Olshansk

[Olshansk]

@h5law Made some edits to the issue. PTAL and update if necessary.