GRAILS-11512 - improve the handling of URL mappings which contain hyphens
GRAILS-11526 - improve URL mapping extension handling
Merge branch '2.3.x' into 2.4.x

Conflicts:
	grails-test-suite-web/src/test/groovy/org/codehaus/groovy/grails/web/mapping/RegexUrlMappingTests.groovy