SEO Friendly URLs

Added code to allow SEO-friendly controller/action names to resolve correctly.  For example,if you have a controller called MyController and an action called MyAction, with my change you could visit:

http://somedomain.com/my-controller/my-action

and it will still resolve to the correct controller/action on the file system.  My change essentially strips dashes out when resolving the name for a controller or action.

This was tested both with a hard-coded string for loading the view, as well as with the built-in functions getControllerName and getActionName as:

$this->loadView($this->getControllerName() . '/' . $this->getActionName());