[libc++] Improve the implementation of std::unreachable

First, use __builtin_unreachable unconditionally. It is implemented by
all the compilers that we support. Clang started supporting it around
Clang 4, and GCC around GCC 4.10.

Also add _LIBCPP_ASSERT so that we will actually get a guaranteed crash
if we reached `std::unreachable()` and assertions have been enabled,
since that's UB that's extremely easy to catch.

Differential Revision: https://reviews.llvm.org/D131620