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 similar to Kotlin and XML:

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

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

	return http.build();
}

Future tickets like #16509 are taking a look at a first-class way to represent the servlet inside the authorization DSL. This builder is still helpful since there are many other places in the Java DSL where request matchers are provided that may need the servlet path specified.

[rwinch]

Thanks for all of your work on this @jzheaux! I've provided feedback below:

[rwinch]

Thanks for all your work on this! I've provided (optional) feedback. Feel free to merge once you are comfortable.

[jzheaux]

This was merged manually in 588220a and 7d301f8