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fix: resolve relative URIs against their base
- re-implement the `PathUtil` class to fix various URI resolution issues - remove the 3-arg `resolveRelativeReference` method - systematically resolve URI references in Content Documents against the base URI - the base URI is initially set to the document path, and overriden with `xml:base` attributes or HTML’s `base` element - add more exhaustive tests for URI normalization/resolution logic What this PR doesn’t do: - cleanup the many uses of paths strings, where we should really use URIs. The `PathUtil` code is mostly a hack, when we should rely on more robust URI normalization/resolution logic from URIs. - implement proper base resolution logic (`xml:base` should be deprecated, and only the first `base` element should be taken into account). See also w3c/epub-specs#1217. Fixes #527
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