Invert --cfg debug to --cfg ndebug

Many people will be very confused that their debug! statements aren't working
when they first use rust only to learn that they should have been building with
`--cfg debug` the entire time. This inverts the meaning of the flag to instead
of enabling debug statements, now it disables debug statements.

This way the default behavior is a bit more reasonable, and requires less
end-user configuration. Furthermore, this turns on debug by default when
building the rustc compiler.