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