OpenAPI 3.x.y support: add support for `pipeDelimited` style for object encoding

[char0n]

OpenAPI 3.1.0 added support for the object type for pipeDelimited style values. This change is specific to Parameter Object. OpenAPI 3.0 also aligned with this in 3.0.4 release.

OpenAPI 3.0.x

OpenAPI 3.1.0

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The goal of this issue is to add support for pipeDelimited style into encodeObject OpenAPI 3.1.0 variant of the function.