go/types, types2: better error message for some inference failures

go/types, types2: better error message for some inference failures

For a unification failure involving a constraint, rather than just
reporting (for instance)

        S does not match []E

now report the inferred type for the type parameter, use spec
terminology when referring to the constraint, and print the
constraint in full:

        S (type func()) does not satisfy ~[]E

There's more we can do, but this is better than what we had.

For #60542.

Change-Id: I033369fa0dfc475f0ec0da0582e8cbefb109f3cf
Reviewed-on: https://go-review.googlesource.com/c/go/+/499639
Reviewed-by: Robert Griesemer <gri@google.com>
Run-TryBot: Robert Griesemer <gri@google.com>
Auto-Submit: Robert Griesemer <gri@google.com>
TryBot-Result: Gopher Robot <gobot@golang.org>
Reviewed-by: Robert Findley <rfindley@google.com>