feat(parser): implement stricter DID Core v1.0 URI parser

[rmlearney-digicatapult]

Existing parser() is more lenient than DID Core v1.0 (and v1.1) describes in §3.1 & §3.2 for DID syntax

Updated parser() to comply with stricter DID Core v1.0 requirements:

• no support for matrix parameters (params removed from ParsedDID)
• RFC 3986 character sets for path/query/fragment
• case-insensitive hex for percent-encoding

Global and per-call caching still enabled, but not through matrix parameters (not in spec)

More flexible per-call caching now allows per-call cache control both positively and negatively even if global is disabled, when previous matrix parameter usage only allowed noCache if global was enabled. Documented in README.md

Added new tests for parser()

Bumped version to 6.0.0

[mirceanis]

Hi, thank you for your submission!

I'd take a slightly different approach.
Instead of introducing strict methods, rather tighten the existing ones.
This may be a breaking change, thus needing a major version bump, but the point is for the functionality that exists here to be compatible with DID Core.

Please update the existing methods to be stricter, instead of introducing new ones.

If too many things break, we can add lenient methods after

[rmlearney-digicatapult]

Hi @mirceanis happy to do that, wanted to take the lower-risk route and not force a major semver