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add domainpad for pixel spacing inside axis domains
`domain` is a plot fraction, so the gap it leaves between subplots grows and
shrinks with the figure while a subplot title does not. domainpad reserves a
fixed number of pixels inside the domain edges instead, resolved at draw time.
Applied in ax.setScale to _offset and _length rather than to ax.domain, so the
domain keeps meaning what the user typed and anything referenced to
`<axis> domain` follows the padded area without new drawing code.
Along with it:
- scattergl, splom and the rangeslider rebuilt the plot rect from `domain` and
so did not see the pad; they now read _offset and _length
- pads that do not fit are backed off together, since setScale already throws
on a negative length
- updateDomain scales the padded length rather than the raw span, so a
scaleanchor ratio stays exact when the constraint shrinks a padded axis
Refs #7835
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