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Nest any route_param requirement, and reject the shapes with no param to attach to

`route_param` nested a lone `requirements:` under the param name only when it
was a Regexp — the shorthand as it was written in 2013, when a Regexp was the
only kind of constraint there was. Anything else, such as the capture types
Mustermann derives from a Class or a Symbol, travelled unwrapped into
`Endpoint#prepare_routes_requirements`, which merges the requirement Hashes of
the namespaces a route sits in, and raised `TypeError: no implicit conversion
of Class into Hash` there. That merge runs when routes are built, so a mistake
in the API's definition surfaced on the first request, from a method that
names neither the route nor the requirement.

Nesting the constraint is what `route_param` is for, so it now nests whatever
it is given. A Hash is refused: keyed by this param it names it twice, and
keyed by another it constrains a capture the namespace does not introduce,
which Mustermann resolves to no constraint at all. Requirements keyed by name
belong on `namespace`, which is also where they are merged.

`namespace` and an endpoint have the opposite constraint — a path can carry
several captures, so there is no param a lone constraint could attach to — and
now reject a non-Hash `requirements` where it is written.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>

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