Spring Security Use MvcRequestMatcher by default if Spring MVC is present

In some places, like XML configuration (AuthorizationFilterParser, FilterChainBeanDefinitionParser, MatcherType), the default RequestMatcher implementation is AntPathRequestMatcher. We should switch the default to MvcRequestMatcher if Spring MVC is on the classpath.

See: - https://github.com/spring-projects/spring-security/issues/11347