Port: Support custom pathToRegexpModule on app.options to master branch

This issue tracks porting the custom pathToRegexpModule feature to the master branch.

## Background
- Original PR: #290 and https://github.com/eggjs/core/pull/292
- Dependencies:
- eggjs/router#18
- eggjs/egg-path-matching#11
- https://github.com/eggjs/security/pull/102

## Task
- [ ] Port the custom pathToRegexpModule feature to master branch after the PR is merged

## References
- Original discussion: https://github.com/eggjs/core/pull/290#issuecomment-

```bash
npm ls path-to-regexp
egg@3.30.1
├─┬ egg-core@5.4.1 -> ./node_modules/.store/egg-core@5.4.1/node_modules/egg-core
│ ├─┬ @eggjs/router@2.1.1 -> ./node_modules/.store/@eggjs+router@2.1.1/node_modules/@eggjs/router
│ │ └── path-to-regexp@1.9.0 -> ./node_modules/.store/path-to-regexp@1.9.0/node_modules/path-to-regexp
│ └─┬ egg-path-matching@1.1.0 -> ./node_modules/.store/egg-path-matching@1.1.0/node_modules/egg-path-matching
│ └── path-to-regexp@1.9.0 -> ./node_modules/.store/path-to-regexp@1.9.0/node_modules/path-to-regexp
├─┬ egg-multipart@3.4.0 -> ./node_modules/.store/egg-multipart@3.4.0/node_modules/egg-multipart
│ └─┬ egg-path-matching@1.1.0 -> ./node_modules/.store/egg-path-matching@1.1.0/node_modules/egg-path-matching
│ └── path-to-regexp@1.9.0 deduped -> ./node_modules/.store/path-to-regexp@1.9.0/node_modules/path-to-regexp
└─┬ egg-security@3.7.0 -> ./node_modules/.store/egg-security@3.7.0/node_modules/egg-security
└─┬ egg-path-matching@1.1.0 -> ./node_modules/.store/egg-path-matching@1.1.0/node_modules/egg-path-matching
└── path-to-regexp@1.9.0 deduped -> ./node_modules/.store/path-to-regexp@1.9.0/node_modules/path-to-regexp
```