Allow block cloning across encrypted datasets

Allow block cloning across encrypted datasets

When two datasets share the same master encryption key, it is safe
to clone encrypted blocks. Currently only snapshots and clones
of a dataset share with it the same encryption key.

Added a test for:
- Clone from encrypted sibling to encrypted sibling with
  non encrypted parent
- Clone from encrypted parent to inherited encrypted child
- Clone from child to sibling with encrypted parent
- Clone from snapshot to the original datasets
- Clone from foreign snapshot to a foreign dataset
- Cloning from non-encrypted to encrypted datasets
- Cloning from encrypted to non-encrypted datasets

Reviewed-by: Alexander Motin <mav@FreeBSD.org>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Original-patch-by: Pawel Jakub Dawidek <pawel@dawidek.net>
Signed-off-by: Kay Pedersen <mail@mkwg.de>
Closes #15544