Add support for pure names in intro patterns

Notably this support relies on string to identifier conversion, which
works natively using Ltac2 in Coq 8.11+ and with a plugin
(https://github.com/ppedrot/coq-string-ident) in Coq 8.10. To use it,
you must replace intro_patterns.string_to_ident_hook with a real
implementation; see https://gitlab.mpi-sws.org/iris/string-ident for a
working implementation that works with Coq 8.11 (using Ltac2).

The syntax is %H (within a string intro pattern). This is technically
backwards-incompatible, because this was previously supported and parsed
as % and H separately. To restore the old behavior, separate with a
space, eg [% H].