Add PathPatternRequestMatcher

[jzheaux]

This PR adds PathPatternRequestMatcher, a request matcher that doesn't require HandlerMappingIntrospector.

Also, it adds a servlet-aware builder for specifying the servlet path (using this request matcher) in a way that looks quite similar to Kotlin and XML:

import static org.springframework.security.web.servlet.util.matcher.ServletRequestMatcherBuilders.servletPath;

@Bean
SecurityFilterChain appEndpoints(HttpSecurity http) {
	http
		.authorizeHttpRequests((authorize) -> authorize
			.requestMatchers(servletPath("/spring-mvc").pattern("/admin/**")).hasAuthority("admin")
			.requestMatchers(servletPath("/spring-mvc").pattern("/my/controller/**")).hasAuthority("controller")
			.anyRequest().authenticated()
		);

	return http.build();
}