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

Compute multiple contact points/contact surfaces #721

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	13m 13s
CI on ubuntu / py 3.9 with pip	13m 21s
CI on ubuntu / py 3.10 with pip	13m 27s
CI on ubuntu / py 3.11 with pip	13m 28s
CI on ubuntu / py 3.12 with pip	13m 54s
CI on macos / py 3.8 with pip	54s
CI on macos / py 3.9 with pip	6m 48s
CI on macos / py 3.10 with pip	6m 38s
CI on macos / py 3.11 with pip	7m 39s
CI on macos / py 3.12 with pip	6m 25s
	1h 35m 47s