compiler, libgo: change mangling scheme

Overhaul the mangling scheme to avoid ambiguities if the package path
contains a dot. Instead of using dot both to separate components and
to mangle characters, use dot only to separate components and use
underscore to mangle characters.

For golang/go#41862

Reviewed-on: https://go-review.googlesource.com/c/gofrontend/+/271726