Improve routing - routes order

[mabar]

If routes /foo/bar and /foo/{var} are defined then route /foo/bar should always match for /foo/bar url, no matter in which order are controllers registered. We should also check for collisions.

See also swagger docs

[mabar]

Also /foo and /foo/{bar}/baz should work.
Order should be corrected during Schema building, solving that in SimpleRouter would cause performance decrease.

It would be also nice to replace this with endpoints grouping to reduce schema lookups