Build hpp-fcl for Mac OS X/Linux via pip

Merge pull request #535 from lmontaut/louis/topic/simplify-internals #527

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	12m 0s
CI on ubuntu / py 3.9 with pip	11m 36s
CI on ubuntu / py 3.10 with pip	11m 27s
CI on ubuntu / py 3.11 with pip	11m 42s
CI on ubuntu / py 3.12 with pip	11m 37s
CI on macos / py 3.8 with pip	20m 22s
CI on macos / py 3.9 with pip	17m 19s
CI on macos / py 3.10 with pip	15m 48s
CI on macos / py 3.11 with pip	11m 19s
CI on macos / py 3.12 with pip	11m 6s
	2h 14m 16s