Resubmission of #2001. This switches the `sed` invocations to use `-E`,
extended regex syntax, which is better standardized across platforms.
I guess.
Same test plan:
```
make -C lib clean libzstd.pc
cat lib/libzstd.pc
echo # should fail
make -C lib clean libzstd.pc LIBDIR=/foo
make -C lib clean libzstd.pc INCLUDEDIR=/foo
make -C lib clean libzstd.pc LIBDIR=/usr/localfoo
make -C lib clean libzstd.pc INCLUDEDIR=/usr/localfoo
make -C lib clean libzstd.pc LIBDIR=/usr/local/lib prefix=/foo
make -C lib clean libzstd.pc INCLUDEDIR=/usr/local/include prefix=/foo
echo # should succeed
make -C lib clean libzstd.pc LIBDIR=/usr/local/foo
make -C lib clean libzstd.pc INCLUDEDIR=/usr/local/foo
make -C lib clean libzstd.pc LIBDIR=/usr/local/
make -C lib clean libzstd.pc INCLUDEDIR=/usr/local/
make -C lib clean libzstd.pc LIBDIR=/usr/local
make -C lib clean libzstd.pc INCLUDEDIR=/usr/local
make -C lib clean libzstd.pc LIBDIR=/tmp/foo prefix=/tmp
make -C lib clean libzstd.pc INCLUDEDIR=/tmp/foo prefix=/tmp
make -C lib clean libzstd.pc LIBDIR=/tmp/foo prefix=/tmp/foo
make -C lib clean libzstd.pc INCLUDEDIR=/tmp/foo prefix=/tmp/foo
echo # should also succeed
make -C lib clean libzstd.pc prefix=/foo LIBDIR=/foo/bar INCLUDEDIR=/foo/
cat lib/libzstd.pc
mkdir out
cd out
cmake ../build/cmake
make
cat lib/libzstd.pc
```
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