[SPARK-18243][SQL] Port Hive writing to use FileFormat interface

## What changes were proposed in this pull request?

Inserting data into Hive tables has its own implementation that is distinct from data sources: `InsertIntoHiveTable`, `SparkHiveWriterContainer` and `SparkHiveDynamicPartitionWriterContainer`.

Note that one other major difference is that data source tables write directly to the final destination without using some staging directory, and then Spark itself adds the partitions/tables to the catalog. Hive tables actually write to some staging directory, and then call Hive metastore's loadPartition/loadTable function to load those data in. So we still need to keep `InsertIntoHiveTable` to put this special logic. In the future, we should think of writing to the hive table location directly, so that we don't need to call `loadTable`/`loadPartition` at the end and remove `InsertIntoHiveTable`.

This PR removes `SparkHiveWriterContainer` and `SparkHiveDynamicPartitionWriterContainer`, and create a `HiveFileFormat` to implement the write logic. In the future, we should also implement the read logic in `HiveFileFormat`.

## How was this patch tested?

existing tests

Author: Wenchen Fan <wenchen@databricks.com>

Closes #16517 from cloud-fan/insert-hive.