demux_mkv, chapters: change millisecond arithmetic to ns

demux_mkv kept various integer timestamps in millisecond units.
Matroska timestamp arithmetic is however specified in nanoseconds
(even though files typically use 1 ms precision), and using ms units
instead of that only made things more complex. Based on the demux_mkv
example the general demuxer-level chapter structure also used ms
units. Change the demux_mkv arithmetic and demuxer chapter structures
to use nanoseconds instead. This also fixes a seeking problem in
demux_mkv with files using a TimecodeScale other than the usual
1000000 (confusion between ms and TimecodeScale*ns units).

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